{
 "schema": "robofish.scene_gym.gallery/2",
 "source_count": 25,
 "example_count": 100,
 "robot_simulation_count": 200,
 "successful_simulations": 179,
 "families": {
  "wipe_region": 23,
  "clear_then_press": 16,
  "open_drawer": 15,
  "pick_place": 15,
  "stack": 16,
  "push_slide": 15
 },
 "quality": {
  "simulations": {
   "expected": 200,
   "built": 200,
   "successful": 179,
   "failed": [
    "076ba87d0375-aloha",
    "253f1fee3218-aloha",
    "2dc6b900f28a-aloha",
    "3ef58ce66d4a-aloha",
    "42af38b3f9a7-aloha",
    "42c5832852b7-aloha",
    "42c5832852b7-panda",
    "483a7f2c65ce-aloha",
    "492ec32fd8ba-aloha",
    "4eccd8cc43d6-aloha",
    "67fb183fe83d-aloha",
    "6ab7a8edb1aa-aloha",
    "7d80615eab28-aloha",
    "842f1fccfa9d-aloha",
    "95d53b8b4be5-aloha",
    "960ed9587c2a-aloha",
    "96517ae02ddb-aloha",
    "9a3285ca0d33-aloha",
    "a0ab6775764e-aloha",
    "becaeb78d898-aloha",
    "de21f5cdbe22-aloha"
   ]
  },
  "unique_physics_hashes": 200,
  "shared_layouts_across_recordings": 0,
  "duplicate_task_configurations": 0,
  "families": {
   "wipe_region": 23,
   "clear_then_press": 16,
   "open_drawer": 15,
   "pick_place": 15,
   "stack": 16,
   "push_slide": 15
  },
  "min_families_per_recording": 4,
  "missing_simulations": [],
  "reward_contract_violations": [],
  "controls_without_executed_shortcut": 38,
  "first_layout_success": 129,
  "success_by_robot": {
   "panda": 99,
   "aloha": 80
  },
  "scenes_missing_inventory_objects": [],
  "physical_objects_per_scene": {
   "min": 4,
   "median": 7.0,
   "max": 11
  },
  "observed_objects_per_scene_median": 5.0,
  "attempts": {
   "6": 29,
   "1": 129,
   "4": 7,
   "2": 19,
   "3": 11,
   "5": 5
  },
  "failures": []
 },
 "examples": [
  {
   "example_id": "0bf534f19455117ffe70c56718e52c8916a76eba9b921bbd5ae20897d3ad4ffa",
   "recording_id": 173,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "wooden dining table",
   "human_action": true,
   "description": "In the footage: Wipe the visible wooden dining-table surface with the light cloth held under the right hand.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d76 cm patch (square to the table edge) on the wooden dining table among the blue tumbler and the clear drinking glass and sweep it row by row at 2\u201310 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 2\u201310 N, no object moved >2 cm, peak force \u226430 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 173,
    "contributor_id": 1,
    "video": "media/source-173-1af2b8f7beac.mp4",
    "poster": "media/source-173.jpg",
    "source_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
    "interval_s": [
     8.174222,
     13.409778
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 173,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/173_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
     "original_video_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
     "modifications": "Clipped to 8.17\u201313.41 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
      "duration_s": 5.24,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 7,
    "flat_decor": 1,
    "observed": 8,
    "added_context": 0,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "0bf534f19455-panda",
     "video": "media/sim-0bf534f19455-panda-s0.mp4",
     "poster": "media/sim-0bf534f19455-panda-s0.jpg",
     "trajectory": "trajectories/0bf534f19455-panda.json",
     "recipe": "recipes/0bf534f19455-panda.json",
     "seed": 0,
     "steps": 377,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0008
      ],
      [
       0.08,
       0.0034
      ],
      [
       0.12,
       0.0074
      ],
      [
       0.16,
       0.0117
      ],
      [
       0.2,
       0.0159
      ],
      [
       0.24,
       0.0204
      ],
      [
       0.28,
       0.0254
      ],
      [
       0.32,
       0.0306
      ],
      [
       0.36,
       0.0361
      ],
      [
       0.4,
       0.0419
      ],
      [
       0.44,
       0.048
      ],
      [
       0.48,
       0.0543
      ],
      [
       0.52,
       0.061
      ],
      [
       0.56,
       0.0679
      ],
      [
       0.6,
       0.075
      ],
      [
       0.64,
       0.0824
      ],
      [
       0.68,
       0.09
      ],
      [
       0.72,
       0.0978
      ],
      [
       0.76,
       0.1057
      ],
      [
       0.8,
       0.1135
      ],
      [
       0.84,
       0.1212
      ],
      [
       0.88,
       0.1285
      ],
      [
       0.92,
       0.1345
      ],
      [
       0.96,
       0.1397
      ],
      [
       1.0,
       0.1442
      ],
      [
       1.04,
       0.1471
      ],
      [
       1.08,
       0.1481
      ],
      [
       1.12,
       0.1475
      ],
      [
       1.16,
       0.1461
      ],
      [
       1.2,
       0.1447
      ],
      [
       1.24,
       0.1433
      ],
      [
       1.28,
       0.1418
      ],
      [
       1.32,
       0.1407
      ],
      [
       1.36,
       0.1402
      ],
      [
       1.4,
       0.1403
      ],
      [
       1.44,
       0.1407
      ],
      [
       1.48,
       0.1412
      ],
      [
       1.52,
       0.1414
      ],
      [
       1.56,
       0.1416
      ],
      [
       1.6,
       0.1419
      ],
      [
       1.64,
       0.1427
      ],
      [
       1.68,
       0.1437
      ],
      [
       1.72,
       0.1449
      ],
      [
       1.76,
       0.146
      ],
      [
       1.8,
       0.1469
      ],
      [
       1.84,
       0.1476
      ],
      [
       1.88,
       0.1481
      ],
      [
       1.92,
       0.1484
      ],
      [
       1.96,
       0.1488
      ],
      [
       2.0,
       0.1492
      ],
      [
       2.04,
       0.1497
      ],
      [
       2.08,
       0.15
      ],
      [
       2.12,
       0.15
      ],
      [
       2.16,
       0.15
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.3119
      ],
      [
       2.68,
       0.3119
      ],
      [
       2.72,
       0.3119
      ],
      [
       2.76,
       0.3119
      ],
      [
       2.8,
       0.3119
      ],
      [
       2.84,
       0.3119
      ],
      [
       2.88,
       0.3119
      ],
      [
       2.92,
       0.3119
      ],
      [
       2.96,
       0.3119
      ],
      [
       3.0,
       0.3119
      ],
      [
       3.04,
       0.3119
      ],
      [
       3.08,
       0.3119
      ],
      [
       3.12,
       0.3119
      ],
      [
       3.16,
       0.3119
      ],
      [
       3.2,
       0.3119
      ],
      [
       3.24,
       0.3119
      ],
      [
       3.28,
       0.3119
      ],
      [
       3.32,
       0.3119
      ],
      [
       3.36,
       0.3119
      ],
      [
       3.4,
       0.3119
      ],
      [
       3.44,
       0.3119
      ],
      [
       3.48,
       0.3119
      ],
      [
       3.52,
       0.3119
      ],
      [
       3.56,
       0.3119
      ],
      [
       3.6,
       0.3119
      ],
      [
       3.64,
       0.3119
      ],
      [
       3.68,
       0.3119
      ],
      [
       3.72,
       0.3119
      ],
      [
       3.76,
       0.5548
      ],
      [
       3.8,
       0.5548
      ],
      [
       3.84,
       0.5548
      ],
      [
       3.88,
       0.5548
      ],
      [
       3.92,
       0.5548
      ],
      [
       3.96,
       0.5548
      ],
      [
       4.0,
       0.5548
      ],
      [
       4.04,
       0.5548
      ],
      [
       4.08,
       0.5548
      ],
      [
       4.12,
       0.5548
      ],
      [
       4.16,
       0.6357
      ],
      [
       4.2,
       0.6357
      ],
      [
       4.24,
       0.6357
      ],
      [
       4.28,
       0.6357
      ],
      [
       4.32,
       0.6357
      ],
      [
       4.36,
       0.6357
      ],
      [
       4.4,
       0.6357
      ],
      [
       4.44,
       0.6357
      ],
      [
       4.48,
       0.7167
      ],
      [
       4.52,
       0.7167
      ],
      [
       4.56,
       0.7167
      ],
      [
       4.6,
       0.7167
      ],
      [
       4.64,
       0.7167
      ],
      [
       4.68,
       0.7167
      ],
      [
       4.72,
       0.7167
      ],
      [
       4.76,
       0.7167
      ],
      [
       4.8,
       0.7167
      ],
      [
       4.84,
       0.7167
      ],
      [
       4.88,
       0.7167
      ],
      [
       4.92,
       0.7167
      ],
      [
       4.96,
       0.7167
      ],
      [
       5.0,
       0.7976
      ],
      [
       5.04,
       0.7976
      ],
      [
       5.08,
       0.7976
      ],
      [
       5.12,
       0.7976
      ],
      [
       5.16,
       0.7976
      ],
      [
       5.2,
       0.7976
      ],
      [
       5.24,
       0.7976
      ],
      [
       5.28,
       0.7976
      ],
      [
       5.32,
       0.7976
      ],
      [
       5.36,
       0.7976
      ],
      [
       5.4,
       0.7976
      ],
      [
       5.44,
       0.7976
      ],
      [
       5.48,
       0.7976
      ],
      [
       5.52,
       0.7976
      ],
      [
       5.56,
       0.7976
      ],
      [
       5.6,
       0.7976
      ],
      [
       5.64,
       0.7976
      ],
      [
       5.68,
       0.7976
      ],
      [
       5.72,
       0.7976
      ],
      [
       5.76,
       0.7976
      ],
      [
       5.8,
       0.7976
      ],
      [
       5.84,
       0.7976
      ],
      [
       5.88,
       0.7976
      ],
      [
       5.92,
       0.7976
      ],
      [
       5.96,
       0.7976
      ],
      [
       6.0,
       0.7976
      ],
      [
       6.04,
       0.7976
      ],
      [
       6.08,
       0.7976
      ],
      [
       6.12,
       0.7976
      ],
      [
       6.16,
       0.7976
      ],
      [
       6.2,
       0.7976
      ],
      [
       6.24,
       0.7976
      ],
      [
       6.28,
       0.7976
      ],
      [
       6.32,
       0.7976
      ],
      [
       6.36,
       0.7976
      ],
      [
       6.4,
       0.7976
      ],
      [
       6.44,
       0.7976
      ],
      [
       6.48,
       0.7976
      ],
      [
       6.52,
       0.7976
      ],
      [
       6.56,
       0.7976
      ],
      [
       6.6,
       0.7976
      ],
      [
       6.64,
       0.7976
      ],
      [
       6.68,
       0.7976
      ],
      [
       6.72,
       0.7976
      ],
      [
       6.76,
       0.7976
      ],
      [
       6.8,
       0.7976
      ],
      [
       6.84,
       0.7976
      ],
      [
       6.88,
       0.7976
      ],
      [
       6.92,
       0.7976
      ],
      [
       6.96,
       0.7976
      ],
      [
       7.0,
       0.7976
      ],
      [
       7.04,
       0.7976
      ],
      [
       7.08,
       0.7976
      ],
      [
       7.12,
       0.7976
      ],
      [
       7.16,
       0.7976
      ],
      [
       7.2,
       0.7976
      ],
      [
       7.24,
       0.8786
      ],
      [
       7.28,
       0.8786
      ],
      [
       7.32,
       0.8786
      ],
      [
       7.36,
       0.8786
      ],
      [
       7.4,
       0.8786
      ],
      [
       7.44,
       0.8786
      ],
      [
       7.48,
       0.8786
      ],
      [
       7.52,
       0.8786
      ],
      [
       7.54,
       0.919
      ]
     ],
     "total_reward": 1.9138,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "47dfe80dc7ea614083bf172c0fafcfdb16f813ca6623049d85fbcf9c353d523e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.25,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3119047619047619,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 377,
       "return": 1.9137671489442662,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    },
    "aloha": {
     "gym_id": "0bf534f19455-aloha",
     "video": "media/sim-0bf534f19455-aloha-s0.mp4",
     "poster": "media/sim-0bf534f19455-aloha-s0.jpg",
     "trajectory": "trajectories/0bf534f19455-aloha.json",
     "recipe": "recipes/0bf534f19455-aloha.json",
     "seed": 0,
     "steps": 571,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0013
      ],
      [
       0.12,
       0.0032
      ],
      [
       0.18,
       0.0054
      ],
      [
       0.24,
       0.0079
      ],
      [
       0.3,
       0.0106
      ],
      [
       0.36,
       0.0137
      ],
      [
       0.42,
       0.0171
      ],
      [
       0.48,
       0.0209
      ],
      [
       0.54,
       0.025
      ],
      [
       0.6,
       0.0296
      ],
      [
       0.66,
       0.0347
      ],
      [
       0.72,
       0.0406
      ],
      [
       0.78,
       0.0474
      ],
      [
       0.84,
       0.0549
      ],
      [
       0.9,
       0.0633
      ],
      [
       0.96,
       0.0726
      ],
      [
       1.02,
       0.0831
      ],
      [
       1.08,
       0.0948
      ],
      [
       1.14,
       0.108
      ],
      [
       1.2,
       0.1227
      ],
      [
       1.26,
       0.1358
      ],
      [
       1.32,
       0.1416
      ],
      [
       1.38,
       0.1438
      ],
      [
       1.44,
       0.1454
      ],
      [
       1.5,
       0.1468
      ],
      [
       1.56,
       0.1484
      ],
      [
       1.62,
       0.15
      ],
      [
       1.68,
       0.15
      ],
      [
       1.74,
       0.3119
      ],
      [
       1.8,
       0.3119
      ],
      [
       1.86,
       0.3119
      ],
      [
       1.92,
       0.3119
      ],
      [
       1.98,
       0.3119
      ],
      [
       2.04,
       0.3119
      ],
      [
       2.1,
       0.3119
      ],
      [
       2.16,
       0.3119
      ],
      [
       2.22,
       0.3119
      ],
      [
       2.28,
       0.3119
      ],
      [
       2.34,
       0.3119
      ],
      [
       2.4,
       0.3119
      ],
      [
       2.46,
       0.3119
      ],
      [
       2.52,
       0.3119
      ],
      [
       2.58,
       0.3119
      ],
      [
       2.64,
       0.3119
      ],
      [
       2.7,
       0.3119
      ],
      [
       2.76,
       0.3119
      ],
      [
       2.82,
       0.3119
      ],
      [
       2.88,
       0.3119
      ],
      [
       2.94,
       0.3119
      ],
      [
       3.0,
       0.3119
      ],
      [
       3.06,
       0.3119
      ],
      [
       3.12,
       0.3119
      ],
      [
       3.18,
       0.3119
      ],
      [
       3.24,
       0.3119
      ],
      [
       3.3,
       0.4738
      ],
      [
       3.36,
       0.4738
      ],
      [
       3.42,
       0.4738
      ],
      [
       3.48,
       0.5952
      ],
      [
       3.54,
       0.5952
      ],
      [
       3.6,
       0.5952
      ],
      [
       3.66,
       0.5952
      ],
      [
       3.72,
       0.5952
      ],
      [
       3.78,
       0.5952
      ],
      [
       3.84,
       0.5952
      ],
      [
       3.9,
       0.5952
      ],
      [
       3.96,
       0.5952
      ],
      [
       4.02,
       0.5952
      ],
      [
       4.08,
       0.5952
      ],
      [
       4.14,
       0.5952
      ],
      [
       4.2,
       0.5952
      ],
      [
       4.26,
       0.5946
      ],
      [
       4.32,
       0.5933
      ],
      [
       4.38,
       0.592
      ],
      [
       4.44,
       0.5911
      ],
      [
       4.5,
       0.5904
      ],
      [
       4.56,
       0.589
      ],
      [
       4.62,
       0.5863
      ],
      [
       4.68,
       0.5826
      ],
      [
       4.74,
       0.5794
      ],
      [
       4.8,
       0.5771
      ],
      [
       4.86,
       0.5756
      ],
      [
       4.92,
       0.5751
      ],
      [
       4.98,
       0.5757
      ],
      [
       5.04,
       0.5766
      ],
      [
       5.1,
       0.5773
      ],
      [
       5.16,
       0.5776
      ],
      [
       5.22,
       0.5778
      ],
      [
       5.28,
       0.578
      ],
      [
       5.34,
       0.5782
      ],
      [
       5.4,
       0.5784
      ],
      [
       5.46,
       0.5786
      ],
      [
       5.52,
       0.5788
      ],
      [
       5.58,
       0.579
      ],
      [
       5.64,
       0.5792
      ],
      [
       5.7,
       0.5794
      ],
      [
       5.76,
       0.5799
      ],
      [
       5.82,
       0.5823
      ],
      [
       5.88,
       0.5864
      ],
      [
       5.94,
       0.591
      ],
      [
       6.0,
       0.5946
      ],
      [
       6.06,
       0.5952
      ],
      [
       6.12,
       0.5952
      ],
      [
       6.18,
       0.5952
      ],
      [
       6.24,
       0.5952
      ],
      [
       6.3,
       0.5952
      ],
      [
       6.36,
       0.5952
      ],
      [
       6.42,
       0.5952
      ],
      [
       6.48,
       0.5952
      ],
      [
       6.54,
       0.5952
      ],
      [
       6.6,
       0.5952
      ],
      [
       6.66,
       0.5952
      ],
      [
       6.72,
       0.5952
      ],
      [
       6.78,
       0.5952
      ],
      [
       6.84,
       0.5952
      ],
      [
       6.9,
       0.5952
      ],
      [
       6.96,
       0.5952
      ],
      [
       7.02,
       0.5952
      ],
      [
       7.08,
       0.5952
      ],
      [
       7.14,
       0.5952
      ],
      [
       7.2,
       0.5952
      ],
      [
       7.26,
       0.5952
      ],
      [
       7.32,
       0.5952
      ],
      [
       7.38,
       0.5952
      ],
      [
       7.44,
       0.5952
      ],
      [
       7.5,
       0.5952
      ],
      [
       7.56,
       0.5952
      ],
      [
       7.62,
       0.5952
      ],
      [
       7.68,
       0.5952
      ],
      [
       7.74,
       0.5952
      ],
      [
       7.8,
       0.5952
      ],
      [
       7.86,
       0.5952
      ],
      [
       7.92,
       0.5952
      ],
      [
       7.98,
       0.5952
      ],
      [
       8.04,
       0.5952
      ],
      [
       8.1,
       0.5952
      ],
      [
       8.16,
       0.5952
      ],
      [
       8.22,
       0.5952
      ],
      [
       8.28,
       0.5952
      ],
      [
       8.34,
       0.5952
      ],
      [
       8.4,
       0.5952
      ],
      [
       8.46,
       0.5952
      ],
      [
       8.52,
       0.5952
      ],
      [
       8.58,
       0.7167
      ],
      [
       8.64,
       0.7167
      ],
      [
       8.7,
       0.7167
      ],
      [
       8.76,
       0.7167
      ],
      [
       8.82,
       0.7167
      ],
      [
       8.88,
       0.7167
      ],
      [
       8.94,
       0.7167
      ],
      [
       9.0,
       0.7167
      ],
      [
       9.06,
       0.7167
      ],
      [
       9.12,
       0.7167
      ],
      [
       9.18,
       0.7167
      ],
      [
       9.24,
       0.7167
      ],
      [
       9.3,
       0.7167
      ],
      [
       9.36,
       0.7167
      ],
      [
       9.42,
       0.7167
      ],
      [
       9.48,
       0.7167
      ],
      [
       9.54,
       0.7167
      ],
      [
       9.6,
       0.7167
      ],
      [
       9.66,
       0.8381
      ],
      [
       9.72,
       0.8381
      ],
      [
       9.78,
       0.8381
      ],
      [
       9.84,
       0.8381
      ],
      [
       9.9,
       0.8381
      ],
      [
       9.96,
       0.8381
      ],
      [
       10.02,
       0.8381
      ],
      [
       10.08,
       0.8381
      ],
      [
       10.14,
       0.8381
      ],
      [
       10.2,
       0.8381
      ],
      [
       10.26,
       0.8381
      ],
      [
       10.32,
       0.8381
      ],
      [
       10.38,
       0.8381
      ],
      [
       10.44,
       0.8381
      ],
      [
       10.5,
       0.8381
      ],
      [
       10.56,
       0.8381
      ],
      [
       10.62,
       0.8381
      ],
      [
       10.68,
       0.8381
      ],
      [
       10.74,
       0.8381
      ],
      [
       10.8,
       0.8381
      ],
      [
       10.86,
       0.8381
      ],
      [
       10.92,
       0.8381
      ],
      [
       10.98,
       0.8381
      ],
      [
       11.04,
       0.8381
      ],
      [
       11.1,
       0.8381
      ],
      [
       11.16,
       0.8381
      ],
      [
       11.22,
       0.8381
      ],
      [
       11.28,
       0.8381
      ],
      [
       11.34,
       0.8381
      ],
      [
       11.4,
       0.8381
      ],
      [
       11.42,
       0.919
      ]
     ],
     "total_reward": 1.8852,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "16dd0f5c4e8db179b84317e8eaf576cdbfd940f19a7e0bbd4119ca670530f92d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013043864373322666,
       "final_progress": 0.0013043864373322666,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.09820664525963264,
       "final_progress": 0.09820664525963264,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.5684501428411585,
       "final_progress": 0.5952380952380952,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 571,
       "return": 1.8852037608627006,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    }
   }
  },
  {
   "example_id": "a71dda5197f29cd21d46bb417f91a64070ead712401fd6bd05d197cefa256a1e",
   "recording_id": 173,
   "task_number": 2,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "wooden dining table",
   "human_action": false,
   "description": "Lift the foam block off the red spot on the wooden dining table, set it aside among the black wire holder and the white food container, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the foam block off the red spot on the wooden dining table, set it aside among the black wire holder and the white food container, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 173,
    "contributor_id": 1,
    "video": "media/source-173-1af2b8f7beac.mp4",
    "poster": "media/source-173.jpg",
    "source_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
    "interval_s": [
     8.174222,
     13.409778
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 173,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/173_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
     "original_video_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
     "modifications": "Clipped to 8.17\u201313.41 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
      "duration_s": 5.24,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 8,
    "flat_decor": 1,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "a71dda5197f2-panda",
     "video": "media/sim-a71dda5197f2-panda-s0.mp4",
     "poster": "media/sim-a71dda5197f2-panda-s0.jpg",
     "trajectory": "trajectories/a71dda5197f2-panda.json",
     "recipe": "recipes/a71dda5197f2-panda.json",
     "seed": 0,
     "steps": 464,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0039
      ],
      [
       0.84,
       0.0083
      ],
      [
       0.88,
       0.0132
      ],
      [
       0.92,
       0.0179
      ],
      [
       0.96,
       0.0217
      ],
      [
       1.0,
       0.0251
      ],
      [
       1.04,
       0.0284
      ],
      [
       1.08,
       0.0321
      ],
      [
       1.12,
       0.0361
      ],
      [
       1.16,
       0.0404
      ],
      [
       1.2,
       0.0446
      ],
      [
       1.24,
       0.0489
      ],
      [
       1.28,
       0.0533
      ],
      [
       1.32,
       0.0576
      ],
      [
       1.36,
       0.062
      ],
      [
       1.4,
       0.0663
      ],
      [
       1.44,
       0.0702
      ],
      [
       1.48,
       0.0732
      ],
      [
       1.52,
       0.0756
      ],
      [
       1.56,
       0.0778
      ],
      [
       1.6,
       0.0802
      ],
      [
       1.64,
       0.0826
      ],
      [
       1.68,
       0.085
      ],
      [
       1.72,
       0.0873
      ],
      [
       1.76,
       0.0897
      ],
      [
       1.8,
       0.0923
      ],
      [
       1.84,
       0.0951
      ],
      [
       1.88,
       0.0986
      ],
      [
       1.92,
       0.0967
      ],
      [
       1.96,
       0.0954
      ],
      [
       2.0,
       0.0957
      ],
      [
       2.04,
       0.0963
      ],
      [
       2.08,
       0.0968
      ],
      [
       2.12,
       0.0969
      ],
      [
       2.16,
       0.097
      ],
      [
       2.2,
       0.097
      ],
      [
       2.24,
       0.097
      ],
      [
       2.28,
       0.097
      ],
      [
       2.32,
       0.0971
      ],
      [
       2.36,
       0.0971
      ],
      [
       2.4,
       0.0971
      ],
      [
       2.44,
       0.0969
      ],
      [
       2.48,
       0.0967
      ],
      [
       2.52,
       0.0967
      ],
      [
       2.56,
       0.0967
      ],
      [
       2.6,
       0.0968
      ],
      [
       2.64,
       0.0968
      ],
      [
       2.68,
       0.0969
      ],
      [
       2.72,
       0.0969
      ],
      [
       2.76,
       0.097
      ],
      [
       2.8,
       0.097
      ],
      [
       2.84,
       0.097
      ],
      [
       2.88,
       0.0971
      ],
      [
       2.92,
       0.0971
      ],
      [
       2.96,
       0.0972
      ],
      [
       3.0,
       0.5489
      ],
      [
       3.04,
       0.5461
      ],
      [
       3.08,
       0.5395
      ],
      [
       3.12,
       0.5288
      ],
      [
       3.16,
       0.5144
      ],
      [
       3.2,
       0.4992
      ],
      [
       3.24,
       0.4842
      ],
      [
       3.28,
       0.4692
      ],
      [
       3.32,
       0.4542
      ],
      [
       3.36,
       0.4387
      ],
      [
       3.4,
       0.4231
      ],
      [
       3.44,
       0.4078
      ],
      [
       3.48,
       0.3921
      ],
      [
       3.52,
       0.3756
      ],
      [
       3.56,
       0.3561
      ],
      [
       3.6,
       0.3318
      ],
      [
       3.64,
       0.3054
      ],
      [
       3.68,
       0.3452
      ],
      [
       3.72,
       0.4021
      ],
      [
       3.76,
       0.4703
      ],
      [
       3.8,
       0.5429
      ],
      [
       3.84,
       0.6
      ],
      [
       3.88,
       0.6
      ],
      [
       3.92,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.0,
       0.6
      ],
      [
       4.04,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.12,
       0.6
      ],
      [
       4.16,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.24,
       0.6
      ],
      [
       4.28,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.68,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.84,
       0.6
      ],
      [
       8.88,
       0.6533
      ],
      [
       8.92,
       0.7067
      ],
      [
       8.96,
       0.76
      ],
      [
       9.0,
       0.6267
      ],
      [
       9.04,
       0.68
      ],
      [
       9.08,
       0.7333
      ],
      [
       9.12,
       0.7867
      ],
      [
       9.16,
       0.84
      ],
      [
       9.2,
       0.8933
      ],
      [
       9.24,
       0.9467
      ],
      [
       9.28,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "0e209a71b04231ef46d92ff5e95b713e29d9ea0b2d037a902a7ed2484fc0abbd",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 7.244333339651021e-05,
       "final_progress": 7.244333339651021e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.0653091773654972,
       "final_progress": 0.0653091773654972,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 464,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx76",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    },
    "aloha": {
     "gym_id": "a71dda5197f2-aloha",
     "video": "media/sim-a71dda5197f2-aloha-s0.mp4",
     "poster": "media/sim-a71dda5197f2-aloha-s0.jpg",
     "trajectory": "trajectories/a71dda5197f2-aloha.json",
     "recipe": "recipes/a71dda5197f2-aloha.json",
     "seed": 0,
     "steps": 782,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0008
      ],
      [
       0.16,
       0.0021
      ],
      [
       0.24,
       0.0036
      ],
      [
       0.32,
       0.0054
      ],
      [
       0.4,
       0.0074
      ],
      [
       0.48,
       0.0098
      ],
      [
       0.56,
       0.0124
      ],
      [
       0.64,
       0.0154
      ],
      [
       0.72,
       0.0187
      ],
      [
       0.8,
       0.0222
      ],
      [
       0.88,
       0.0261
      ],
      [
       0.96,
       0.0304
      ],
      [
       1.04,
       0.0349
      ],
      [
       1.12,
       0.0403
      ],
      [
       1.2,
       0.0468
      ],
      [
       1.28,
       0.0547
      ],
      [
       1.36,
       0.0624
      ],
      [
       1.44,
       0.0667
      ],
      [
       1.52,
       0.0721
      ],
      [
       1.6,
       0.0787
      ],
      [
       1.68,
       0.0855
      ],
      [
       1.76,
       0.0917
      ],
      [
       1.84,
       0.0924
      ],
      [
       1.92,
       0.0916
      ],
      [
       2.0,
       0.0914
      ],
      [
       2.08,
       0.0911
      ],
      [
       2.16,
       0.0913
      ],
      [
       2.24,
       0.0915
      ],
      [
       2.32,
       0.0918
      ],
      [
       2.4,
       0.0922
      ],
      [
       2.48,
       0.0928
      ],
      [
       2.56,
       0.0932
      ],
      [
       2.64,
       0.0936
      ],
      [
       2.72,
       0.0939
      ],
      [
       2.8,
       0.0941
      ],
      [
       2.88,
       0.0943
      ],
      [
       2.96,
       0.0945
      ],
      [
       3.04,
       0.0948
      ],
      [
       3.12,
       0.095
      ],
      [
       3.2,
       0.0951
      ],
      [
       3.28,
       0.0953
      ],
      [
       3.36,
       0.0953
      ],
      [
       3.44,
       0.0952
      ],
      [
       3.52,
       0.0951
      ],
      [
       3.6,
       0.095
      ],
      [
       3.68,
       0.0949
      ],
      [
       3.76,
       0.0946
      ],
      [
       3.84,
       0.0944
      ],
      [
       3.92,
       0.094
      ],
      [
       4.0,
       0.0936
      ],
      [
       4.08,
       0.0933
      ],
      [
       4.16,
       0.093
      ],
      [
       4.24,
       0.0928
      ],
      [
       4.32,
       0.0927
      ],
      [
       4.4,
       0.0926
      ],
      [
       4.48,
       0.0925
      ],
      [
       4.56,
       0.0924
      ],
      [
       4.64,
       0.0924
      ],
      [
       4.72,
       0.0924
      ],
      [
       4.8,
       0.0923
      ],
      [
       4.88,
       0.0923
      ],
      [
       4.96,
       0.0923
      ],
      [
       5.04,
       0.0923
      ],
      [
       5.12,
       0.0924
      ],
      [
       5.2,
       0.0925
      ],
      [
       5.28,
       0.0926
      ],
      [
       5.36,
       0.0927
      ],
      [
       5.44,
       0.0927
      ],
      [
       5.52,
       0.0926
      ],
      [
       5.6,
       0.0926
      ],
      [
       5.68,
       0.0925
      ],
      [
       5.76,
       0.0923
      ],
      [
       5.84,
       0.0921
      ],
      [
       5.92,
       0.092
      ],
      [
       6.0,
       0.0921
      ],
      [
       6.08,
       0.0926
      ],
      [
       6.16,
       0.0926
      ],
      [
       6.24,
       0.0926
      ],
      [
       6.32,
       0.0932
      ],
      [
       6.4,
       0.0933
      ],
      [
       6.48,
       0.0937
      ],
      [
       6.56,
       0.094
      ],
      [
       6.64,
       0.0941
      ],
      [
       6.72,
       0.0941
      ],
      [
       6.8,
       0.0941
      ],
      [
       6.88,
       0.0941
      ],
      [
       6.96,
       0.0941
      ],
      [
       7.04,
       0.0942
      ],
      [
       7.12,
       0.094
      ],
      [
       7.2,
       0.094
      ],
      [
       7.28,
       0.0938
      ],
      [
       7.36,
       0.0939
      ],
      [
       7.44,
       0.0938
      ],
      [
       7.52,
       0.0937
      ],
      [
       7.6,
       0.0937
      ],
      [
       7.68,
       0.0937
      ],
      [
       7.76,
       0.0939
      ],
      [
       7.84,
       0.0939
      ],
      [
       7.92,
       0.0939
      ],
      [
       8.0,
       0.0939
      ],
      [
       8.08,
       0.0939
      ],
      [
       8.16,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.04,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.28,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.44,
       0.6
      ],
      [
       9.52,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.68,
       0.6
      ],
      [
       9.76,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.92,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.16,
       0.6
      ],
      [
       10.24,
       0.6
      ],
      [
       10.32,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.48,
       0.6
      ],
      [
       10.56,
       0.6
      ],
      [
       10.64,
       0.6
      ],
      [
       10.72,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.88,
       0.6
      ],
      [
       10.96,
       0.6
      ],
      [
       11.04,
       0.6
      ],
      [
       11.12,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.28,
       0.6
      ],
      [
       11.36,
       0.6
      ],
      [
       11.44,
       0.6
      ],
      [
       11.52,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.68,
       0.6
      ],
      [
       11.76,
       0.6
      ],
      [
       11.84,
       0.6
      ],
      [
       11.92,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.08,
       0.6
      ],
      [
       12.16,
       0.6
      ],
      [
       12.24,
       0.6
      ],
      [
       12.32,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.48,
       0.6
      ],
      [
       12.56,
       0.6
      ],
      [
       12.64,
       0.6
      ],
      [
       12.72,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.88,
       0.6
      ],
      [
       12.96,
       0.6
      ],
      [
       13.04,
       0.6
      ],
      [
       13.12,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.28,
       0.6
      ],
      [
       13.36,
       0.6
      ],
      [
       13.44,
       0.6
      ],
      [
       13.52,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.68,
       0.6
      ],
      [
       13.76,
       0.6
      ],
      [
       13.84,
       0.6
      ],
      [
       13.92,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.08,
       0.6
      ],
      [
       14.16,
       0.6
      ],
      [
       14.24,
       0.6
      ],
      [
       14.32,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.48,
       0.6
      ],
      [
       14.56,
       0.6
      ],
      [
       14.64,
       0.6
      ],
      [
       14.72,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.88,
       0.6
      ],
      [
       14.96,
       0.6
      ],
      [
       15.04,
       0.68
      ],
      [
       15.12,
       0.7867
      ],
      [
       15.2,
       0.8933
      ],
      [
       15.28,
       0.6267
      ],
      [
       15.36,
       0.6267
      ],
      [
       15.44,
       0.7333
      ],
      [
       15.52,
       0.84
      ],
      [
       15.6,
       0.9467
      ],
      [
       15.64,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "a545549edf1cc198d37b4912c6cca587f9aee1d4db7101e9042416b78231b52f",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0004161185611897045,
       "final_progress": 0.0004161185611897045,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0405534476628053,
       "final_progress": 0.0405534476628053,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.06690590598216621,
       "final_progress": 0.06690590598216621,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 782,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx76",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    }
   }
  },
  {
   "example_id": "756273db6de5dfde477bac26b0d01d07ff2398783bc21931590c75147fd862f0",
   "recording_id": 173,
   "task_number": 3,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "wooden dining table",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the wooden dining table among the white food container and the black wire holder and pull the drawer 6 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the wooden dining table among the white food container and the black wire holder and pull the drawer 6 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22656 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 173,
    "contributor_id": 1,
    "video": "media/source-173-1af2b8f7beac.mp4",
    "poster": "media/source-173.jpg",
    "source_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
    "interval_s": [
     8.174222,
     13.409778
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 173,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/173_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
     "original_video_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
     "modifications": "Clipped to 8.17\u201313.41 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
      "duration_s": 5.24,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 8,
    "flat_decor": 1,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "756273db6de5-panda",
     "video": "media/sim-756273db6de5-panda-s0.mp4",
     "poster": "media/sim-756273db6de5-panda-s0.jpg",
     "trajectory": "trajectories/756273db6de5-panda.json",
     "recipe": "recipes/756273db6de5-panda.json",
     "seed": 0,
     "steps": 272,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0007
      ],
      [
       1.3,
       0.0018
      ],
      [
       1.32,
       0.0029
      ],
      [
       1.34,
       0.0042
      ],
      [
       1.36,
       0.0055
      ],
      [
       1.38,
       0.0069
      ],
      [
       1.4,
       0.0084
      ],
      [
       1.42,
       0.01
      ],
      [
       1.44,
       0.0118
      ],
      [
       1.46,
       0.0136
      ],
      [
       1.48,
       0.0156
      ],
      [
       1.5,
       0.0177
      ],
      [
       1.52,
       0.0199
      ],
      [
       1.54,
       0.0222
      ],
      [
       1.56,
       0.0246
      ],
      [
       1.58,
       0.0272
      ],
      [
       1.6,
       0.0299
      ],
      [
       1.62,
       0.0328
      ],
      [
       1.64,
       0.0357
      ],
      [
       1.66,
       0.0387
      ],
      [
       1.68,
       0.0417
      ],
      [
       1.7,
       0.0446
      ],
      [
       1.72,
       0.0474
      ],
      [
       1.74,
       0.0501
      ],
      [
       1.76,
       0.0526
      ],
      [
       1.78,
       0.055
      ],
      [
       1.8,
       0.0572
      ],
      [
       1.82,
       0.0593
      ],
      [
       1.84,
       0.0612
      ],
      [
       1.86,
       0.063
      ],
      [
       1.88,
       0.0647
      ],
      [
       1.9,
       0.0662
      ],
      [
       1.92,
       0.0677
      ],
      [
       1.94,
       0.0691
      ],
      [
       1.96,
       0.0704
      ],
      [
       1.98,
       0.0717
      ],
      [
       2.0,
       0.0728
      ],
      [
       2.02,
       0.0739
      ],
      [
       2.04,
       0.075
      ],
      [
       2.06,
       0.076
      ],
      [
       2.08,
       0.0769
      ],
      [
       2.1,
       0.0777
      ],
      [
       2.12,
       0.0785
      ],
      [
       2.14,
       0.0792
      ],
      [
       2.16,
       0.08
      ],
      [
       2.18,
       0.0807
      ],
      [
       2.2,
       0.0813
      ],
      [
       2.22,
       0.082
      ],
      [
       2.24,
       0.0827
      ],
      [
       2.26,
       0.0833
      ],
      [
       2.28,
       0.084
      ],
      [
       2.3,
       0.0847
      ],
      [
       2.32,
       0.0854
      ],
      [
       2.34,
       0.0861
      ],
      [
       2.36,
       0.0868
      ],
      [
       2.38,
       0.0875
      ],
      [
       2.4,
       0.0883
      ],
      [
       2.42,
       0.089
      ],
      [
       2.44,
       0.0898
      ],
      [
       2.46,
       0.0905
      ],
      [
       2.48,
       0.0913
      ],
      [
       2.5,
       0.0921
      ],
      [
       2.52,
       0.0929
      ],
      [
       2.54,
       0.0937
      ],
      [
       2.56,
       0.0946
      ],
      [
       2.58,
       0.0954
      ],
      [
       2.6,
       0.0963
      ],
      [
       2.62,
       0.0971
      ],
      [
       2.64,
       0.098
      ],
      [
       2.66,
       0.0989
      ],
      [
       2.68,
       0.0998
      ],
      [
       2.7,
       0.1007
      ],
      [
       2.72,
       0.1017
      ],
      [
       2.74,
       0.1026
      ],
      [
       2.76,
       0.1036
      ],
      [
       2.78,
       0.1046
      ],
      [
       2.8,
       0.1056
      ],
      [
       2.82,
       0.1066
      ],
      [
       2.84,
       0.1076
      ],
      [
       2.86,
       0.1087
      ],
      [
       2.88,
       0.1098
      ],
      [
       2.9,
       0.1109
      ],
      [
       2.92,
       0.1121
      ],
      [
       2.94,
       0.1133
      ],
      [
       2.96,
       0.1146
      ],
      [
       2.98,
       0.1157
      ],
      [
       3.0,
       0.1167
      ],
      [
       3.02,
       0.1176
      ],
      [
       3.04,
       0.1182
      ],
      [
       3.06,
       0.1188
      ],
      [
       3.08,
       0.1192
      ],
      [
       3.1,
       0.1195
      ],
      [
       3.12,
       0.1197
      ],
      [
       3.14,
       0.1197
      ],
      [
       3.16,
       0.1196
      ],
      [
       3.18,
       0.1195
      ],
      [
       3.2,
       0.1195
      ],
      [
       3.22,
       0.1197
      ],
      [
       3.24,
       0.1202
      ],
      [
       3.26,
       0.1208
      ],
      [
       3.28,
       0.1216
      ],
      [
       3.3,
       0.1226
      ],
      [
       3.32,
       0.1236
      ],
      [
       3.34,
       0.1246
      ],
      [
       3.36,
       0.1257
      ],
      [
       3.38,
       0.1268
      ],
      [
       3.4,
       0.1279
      ],
      [
       3.42,
       0.1289
      ],
      [
       3.44,
       0.1299
      ],
      [
       3.46,
       0.1309
      ],
      [
       3.48,
       0.132
      ],
      [
       3.5,
       0.1332
      ],
      [
       3.52,
       0.1344
      ],
      [
       3.54,
       0.1358
      ],
      [
       3.56,
       0.1374
      ],
      [
       3.58,
       0.139
      ],
      [
       3.6,
       0.1407
      ],
      [
       3.62,
       0.1425
      ],
      [
       3.64,
       0.1444
      ],
      [
       3.66,
       0.1465
      ],
      [
       3.68,
       0.1484
      ],
      [
       3.7,
       0.1484
      ],
      [
       3.72,
       0.1469
      ],
      [
       3.74,
       0.1458
      ],
      [
       3.76,
       0.1457
      ],
      [
       3.78,
       0.146
      ],
      [
       3.8,
       0.1464
      ],
      [
       3.82,
       0.1469
      ],
      [
       3.84,
       0.1473
      ],
      [
       3.86,
       0.1476
      ],
      [
       3.88,
       0.1477
      ],
      [
       3.9,
       0.1477
      ],
      [
       3.92,
       0.1477
      ],
      [
       3.94,
       0.1476
      ],
      [
       3.96,
       0.1475
      ],
      [
       3.98,
       0.1474
      ],
      [
       4.0,
       0.1472
      ],
      [
       4.02,
       0.1471
      ],
      [
       4.04,
       0.147
      ],
      [
       4.06,
       0.1468
      ],
      [
       4.08,
       0.1467
      ],
      [
       4.1,
       0.1466
      ],
      [
       4.12,
       0.1465
      ],
      [
       4.14,
       0.1464
      ],
      [
       4.16,
       0.1483
      ],
      [
       4.18,
       0.1538
      ],
      [
       4.2,
       0.1605
      ],
      [
       4.22,
       0.1683
      ],
      [
       4.24,
       0.1768
      ],
      [
       4.26,
       0.1862
      ],
      [
       4.28,
       0.1966
      ],
      [
       4.3,
       0.2084
      ],
      [
       4.32,
       0.2216
      ],
      [
       4.34,
       0.236
      ],
      [
       4.36,
       0.2513
      ],
      [
       4.38,
       0.2617
      ],
      [
       4.4,
       0.2675
      ],
      [
       4.42,
       0.2721
      ],
      [
       4.44,
       0.2767
      ],
      [
       4.46,
       0.2819
      ],
      [
       4.48,
       0.293
      ],
      [
       4.5,
       0.2997
      ],
      [
       4.52,
       0.307
      ],
      [
       4.54,
       0.3151
      ],
      [
       4.56,
       0.325
      ],
      [
       4.58,
       0.3376
      ],
      [
       4.6,
       0.3523
      ],
      [
       4.62,
       0.3681
      ],
      [
       4.64,
       0.3846
      ],
      [
       4.66,
       0.4014
      ],
      [
       4.68,
       0.4186
      ],
      [
       4.7,
       0.4362
      ],
      [
       4.72,
       0.4545
      ],
      [
       4.74,
       0.4733
      ],
      [
       4.76,
       0.4926
      ],
      [
       4.78,
       0.5125
      ],
      [
       4.8,
       0.533
      ],
      [
       4.82,
       0.5542
      ],
      [
       4.84,
       0.5761
      ],
      [
       4.86,
       0.5987
      ],
      [
       4.88,
       0.6219
      ],
      [
       4.9,
       0.6457
      ],
      [
       4.92,
       0.67
      ],
      [
       4.94,
       0.6949
      ],
      [
       4.96,
       0.7204
      ],
      [
       4.98,
       0.7464
      ],
      [
       5.0,
       0.773
      ],
      [
       5.02,
       0.8001
      ],
      [
       5.04,
       0.8277
      ],
      [
       5.06,
       0.8559
      ],
      [
       5.08,
       0.8845
      ],
      [
       5.1,
       0.9136
      ],
      [
       5.12,
       0.9432
      ],
      [
       5.14,
       0.9734
      ],
      [
       5.16,
       1.0
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       1.0
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       1.0
      ],
      [
       5.34,
       1.0
      ],
      [
       5.36,
       1.0
      ],
      [
       5.38,
       1.0
      ],
      [
       5.4,
       1.0
      ],
      [
       5.42,
       1.0
      ],
      [
       5.44,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8b354ef003d9f04e8cb3fe95a6a7f881a7dee974cc82892df75b0009a390d8a3",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 6.577219012336142e-05,
       "final_progress": 7.10785800809562e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.09288233844404238,
       "final_progress": 0.002128886652039803,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.08409746034870783,
       "final_progress": 0.08410276673866542,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 272,
       "return": 1.9999946936100423,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx76",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    },
    "aloha": {
     "gym_id": "756273db6de5-aloha",
     "video": "media/sim-756273db6de5-aloha-s0.mp4",
     "poster": "media/sim-756273db6de5-aloha-s0.jpg",
     "trajectory": "trajectories/756273db6de5-aloha.json",
     "recipe": "recipes/756273db6de5-aloha.json",
     "seed": 0,
     "steps": 330,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0014
      ],
      [
       0.08,
       0.0039
      ],
      [
       0.12,
       0.0069
      ],
      [
       0.16,
       0.01
      ],
      [
       0.2,
       0.0133
      ],
      [
       0.24,
       0.0166
      ],
      [
       0.28,
       0.02
      ],
      [
       0.32,
       0.0235
      ],
      [
       0.36,
       0.0271
      ],
      [
       0.4,
       0.0306
      ],
      [
       0.44,
       0.0342
      ],
      [
       0.48,
       0.0377
      ],
      [
       0.52,
       0.0413
      ],
      [
       0.56,
       0.0447
      ],
      [
       0.6,
       0.048
      ],
      [
       0.64,
       0.0512
      ],
      [
       0.68,
       0.0542
      ],
      [
       0.72,
       0.057
      ],
      [
       0.76,
       0.0594
      ],
      [
       0.8,
       0.0615
      ],
      [
       0.84,
       0.0622
      ],
      [
       0.88,
       0.0615
      ],
      [
       0.92,
       0.0614
      ],
      [
       0.96,
       0.0618
      ],
      [
       1.0,
       0.0622
      ],
      [
       1.04,
       0.0624
      ],
      [
       1.08,
       0.0625
      ],
      [
       1.12,
       0.0625
      ],
      [
       1.16,
       0.0624
      ],
      [
       1.2,
       0.0622
      ],
      [
       1.24,
       0.0619
      ],
      [
       1.28,
       0.0615
      ],
      [
       1.32,
       0.061
      ],
      [
       1.36,
       0.0604
      ],
      [
       1.4,
       0.0599
      ],
      [
       1.44,
       0.0594
      ],
      [
       1.48,
       0.0589
      ],
      [
       1.52,
       0.0585
      ],
      [
       1.56,
       0.0582
      ],
      [
       1.6,
       0.0579
      ],
      [
       1.64,
       0.0578
      ],
      [
       1.68,
       0.0577
      ],
      [
       1.72,
       0.0578
      ],
      [
       1.76,
       0.058
      ],
      [
       1.8,
       0.0583
      ],
      [
       1.84,
       0.0587
      ],
      [
       1.88,
       0.0592
      ],
      [
       1.92,
       0.0599
      ],
      [
       1.96,
       0.0607
      ],
      [
       2.0,
       0.0615
      ],
      [
       2.04,
       0.0625
      ],
      [
       2.08,
       0.0636
      ],
      [
       2.12,
       0.0649
      ],
      [
       2.16,
       0.0662
      ],
      [
       2.2,
       0.0677
      ],
      [
       2.24,
       0.0693
      ],
      [
       2.28,
       0.071
      ],
      [
       2.32,
       0.0729
      ],
      [
       2.36,
       0.0749
      ],
      [
       2.4,
       0.0771
      ],
      [
       2.44,
       0.0794
      ],
      [
       2.48,
       0.0819
      ],
      [
       2.52,
       0.0846
      ],
      [
       2.56,
       0.0875
      ],
      [
       2.6,
       0.0906
      ],
      [
       2.64,
       0.0938
      ],
      [
       2.68,
       0.0973
      ],
      [
       2.72,
       0.1005
      ],
      [
       2.76,
       0.1008
      ],
      [
       2.8,
       0.1018
      ],
      [
       2.84,
       0.1025
      ],
      [
       2.88,
       0.1027
      ],
      [
       2.92,
       0.103
      ],
      [
       2.96,
       0.1033
      ],
      [
       3.0,
       0.1034
      ],
      [
       3.04,
       0.1035
      ],
      [
       3.08,
       0.1036
      ],
      [
       3.12,
       0.1046
      ],
      [
       3.16,
       0.1047
      ],
      [
       3.2,
       0.1047
      ],
      [
       3.24,
       0.1047
      ],
      [
       3.28,
       0.1048
      ],
      [
       3.32,
       0.105
      ],
      [
       3.36,
       0.1051
      ],
      [
       3.4,
       0.1053
      ],
      [
       3.44,
       0.1055
      ],
      [
       3.48,
       0.1058
      ],
      [
       3.52,
       0.1062
      ],
      [
       3.56,
       0.1063
      ],
      [
       3.6,
       0.1066
      ],
      [
       3.64,
       0.1071
      ],
      [
       3.68,
       0.1076
      ],
      [
       3.72,
       0.1083
      ],
      [
       3.76,
       0.1097
      ],
      [
       3.8,
       0.1135
      ],
      [
       3.84,
       0.1234
      ],
      [
       3.88,
       0.1381
      ],
      [
       3.92,
       0.183
      ],
      [
       3.96,
       0.2445
      ],
      [
       4.0,
       0.2436
      ],
      [
       4.04,
       0.25
      ],
      [
       4.08,
       0.2613
      ],
      [
       4.12,
       0.2737
      ],
      [
       4.16,
       0.2844
      ],
      [
       4.2,
       0.2971
      ],
      [
       4.24,
       0.3012
      ],
      [
       4.28,
       0.3002
      ],
      [
       4.32,
       0.3015
      ],
      [
       4.36,
       0.3173
      ],
      [
       4.4,
       0.3467
      ],
      [
       4.44,
       0.3814
      ],
      [
       4.48,
       0.4177
      ],
      [
       4.52,
       0.455
      ],
      [
       4.56,
       0.4927
      ],
      [
       4.6,
       0.5305
      ],
      [
       4.64,
       0.5687
      ],
      [
       4.68,
       0.6072
      ],
      [
       4.72,
       0.6463
      ],
      [
       4.76,
       0.6848
      ],
      [
       4.8,
       0.7205
      ],
      [
       4.84,
       0.7532
      ],
      [
       4.88,
       0.777
      ],
      [
       4.92,
       0.7917
      ],
      [
       4.96,
       0.8006
      ],
      [
       5.0,
       0.8063
      ],
      [
       5.04,
       0.8106
      ],
      [
       5.08,
       0.8143
      ],
      [
       5.12,
       0.8182
      ],
      [
       5.16,
       0.8223
      ],
      [
       5.2,
       0.8267
      ],
      [
       5.24,
       0.8312
      ],
      [
       5.28,
       0.8361
      ],
      [
       5.32,
       0.8412
      ],
      [
       5.36,
       0.8466
      ],
      [
       5.4,
       0.8522
      ],
      [
       5.44,
       0.8582
      ],
      [
       5.48,
       0.8644
      ],
      [
       5.52,
       0.8708
      ],
      [
       5.56,
       0.8776
      ],
      [
       5.6,
       0.8848
      ],
      [
       5.64,
       0.8923
      ],
      [
       5.68,
       0.8999
      ],
      [
       5.72,
       0.9075
      ],
      [
       5.76,
       0.915
      ],
      [
       5.8,
       0.9222
      ],
      [
       5.84,
       0.9293
      ],
      [
       5.88,
       0.9362
      ],
      [
       5.92,
       0.9429
      ],
      [
       5.96,
       0.9494
      ],
      [
       6.0,
       0.9558
      ],
      [
       6.04,
       0.9619
      ],
      [
       6.08,
       0.968
      ],
      [
       6.12,
       0.9739
      ],
      [
       6.16,
       0.9797
      ],
      [
       6.2,
       0.9853
      ],
      [
       6.24,
       0.9907
      ],
      [
       6.28,
       0.9958
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "41f2e31f8cc155c685aacf00178b9a8e533fcf7a31d57708f8d4f0c158d57bfb",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0015988948908658319,
       "final_progress": 0.0015999902884392255,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.04245741801762113,
       "final_progress": 0.04245851341519453,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 1.315938020082003e-05,
       "final_progress": 1.4254777774210482e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 330,
       "return": 1.9999989046024265,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx76",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    }
   }
  },
  {
   "example_id": "3ef58ce66d4ad65e4c9a6d2da5ffcea97df48c9d692ec712ee33e5536d35ed9a",
   "recording_id": 173,
   "task_number": 4,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "wooden dining table",
   "human_action": false,
   "description": "Grasp the puzzle cube from among the clear drinking glass and the patterned card box, lift it clear and set it down on the white food container on the wooden dining table.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the puzzle cube from among the clear drinking glass and the patterned card box, lift it clear and set it down on the white food container on the wooden dining table.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 173,
    "contributor_id": 1,
    "video": "media/source-173-1af2b8f7beac.mp4",
    "poster": "media/source-173.jpg",
    "source_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
    "interval_s": [
     8.174222,
     13.409778
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 173,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/173_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
     "original_video_sha256": "2e550770fe2c3c0c5505e5531760fe1a6768d9692a10e0f412c52e4cef27f67f",
     "modifications": "Clipped to 8.17\u201313.41 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
      "duration_s": 5.24,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "1af2b8f7beac1445e1a6d04fbde4f2754078fb6b855c91444bb31e657eda6999",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 8,
    "flat_decor": 1,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "3ef58ce66d4a-panda",
     "video": "media/sim-3ef58ce66d4a-panda-s0.mp4",
     "poster": "media/sim-3ef58ce66d4a-panda-s0.jpg",
     "trajectory": "trajectories/3ef58ce66d4a-panda.json",
     "recipe": "recipes/3ef58ce66d4a-panda.json",
     "seed": 0,
     "steps": 363,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0053
      ],
      [
       0.92,
       0.0119
      ],
      [
       0.96,
       0.0189
      ],
      [
       1.0,
       0.0266
      ],
      [
       1.04,
       0.0347
      ],
      [
       1.08,
       0.0431
      ],
      [
       1.12,
       0.0514
      ],
      [
       1.16,
       0.0593
      ],
      [
       1.2,
       0.0667
      ],
      [
       1.24,
       0.0733
      ],
      [
       1.28,
       0.0792
      ],
      [
       1.32,
       0.0846
      ],
      [
       1.36,
       0.0897
      ],
      [
       1.4,
       0.0942
      ],
      [
       1.44,
       0.098
      ],
      [
       1.48,
       0.1012
      ],
      [
       1.52,
       0.1045
      ],
      [
       1.56,
       0.1073
      ],
      [
       1.6,
       0.1091
      ],
      [
       1.64,
       0.11
      ],
      [
       1.68,
       0.1102
      ],
      [
       1.72,
       0.1099
      ],
      [
       1.76,
       0.1092
      ],
      [
       1.8,
       0.108
      ],
      [
       1.84,
       0.1066
      ],
      [
       1.88,
       0.1049
      ],
      [
       1.92,
       0.1028
      ],
      [
       1.96,
       0.1009
      ],
      [
       2.0,
       0.1011
      ],
      [
       2.04,
       0.1022
      ],
      [
       2.08,
       0.105
      ],
      [
       2.12,
       0.109
      ],
      [
       2.16,
       0.1133
      ],
      [
       2.2,
       0.118
      ],
      [
       2.24,
       0.1232
      ],
      [
       2.28,
       0.1291
      ],
      [
       2.32,
       0.1357
      ],
      [
       2.36,
       0.1426
      ],
      [
       2.4,
       0.1471
      ],
      [
       2.44,
       0.1456
      ],
      [
       2.48,
       0.1459
      ],
      [
       2.52,
       0.1468
      ],
      [
       2.56,
       0.1472
      ],
      [
       2.6,
       0.1474
      ],
      [
       2.64,
       0.1474
      ],
      [
       2.68,
       0.1473
      ],
      [
       2.72,
       0.1474
      ],
      [
       2.76,
       0.1474
      ],
      [
       2.8,
       0.1474
      ],
      [
       2.84,
       0.1474
      ],
      [
       2.88,
       0.1474
      ],
      [
       2.92,
       0.1474
      ],
      [
       2.96,
       0.1472
      ],
      [
       3.0,
       0.1473
      ],
      [
       3.04,
       0.1474
      ],
      [
       3.08,
       0.1474
      ],
      [
       3.12,
       0.1475
      ],
      [
       3.16,
       0.1475
      ],
      [
       3.2,
       0.1476
      ],
      [
       3.24,
       0.1476
      ],
      [
       3.28,
       0.1477
      ],
      [
       3.32,
       0.1477
      ],
      [
       3.36,
       0.1478
      ],
      [
       3.4,
       0.4255
      ],
      [
       3.44,
       0.4252
      ],
      [
       3.48,
       0.4251
      ],
      [
       3.52,
       0.4251
      ],
      [
       3.56,
       0.4252
      ],
      [
       3.6,
       0.4254
      ],
      [
       3.64,
       0.4258
      ],
      [
       3.68,
       0.4269
      ],
      [
       3.72,
       0.4282
      ],
      [
       3.76,
       0.4292
      ],
      [
       3.8,
       0.4296
      ],
      [
       3.84,
       0.4293
      ],
      [
       3.88,
       0.4288
      ],
      [
       3.92,
       0.4281
      ],
      [
       3.96,
       0.4267
      ],
      [
       4.0,
       0.4244
      ],
      [
       4.04,
       0.4191
      ],
      [
       4.08,
       0.4097
      ],
      [
       4.12,
       0.4078
      ],
      [
       4.16,
       0.425
      ],
      [
       4.2,
       0.4605
      ],
      [
       4.24,
       0.5008
      ],
      [
       4.28,
       0.5404
      ],
      [
       4.32,
       0.5812
      ],
      [
       4.36,
       0.6249
      ],
      [
       4.4,
       0.6709
      ],
      [
       4.44,
       0.7185
      ],
      [
       4.48,
       0.7672
      ],
      [
       4.52,
       0.8166
      ],
      [
       4.56,
       0.8657
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       1.0
      ],
      [
       6.12,
       1.0
      ],
      [
       6.16,
       1.0
      ],
      [
       6.2,
       1.0
      ],
      [
       6.24,
       1.0
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.26,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "bcc7b51cf719ac919d013d63dd6b5a2837a6833602328863e24f249fc43ccb3c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.0306620070197363e-06,
       "final_progress": 3.0306620070197354e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.02373183426737459,
       "final_progress": 0.02373183426737459,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 363,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx76",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "goal_support",
       "label": "white food container"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    },
    "aloha": {
     "gym_id": "3ef58ce66d4a-aloha",
     "video": "media/sim-3ef58ce66d4a-aloha-s5.mp4",
     "poster": "media/sim-3ef58ce66d4a-aloha-s5.jpg",
     "trajectory": "trajectories/3ef58ce66d4a-aloha.json",
     "recipe": "recipes/3ef58ce66d4a-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0106
      ],
      [
       0.28,
       0.0278
      ],
      [
       0.42,
       0.0443
      ],
      [
       0.56,
       0.057
      ],
      [
       0.7,
       0.0649
      ],
      [
       0.84,
       0.0694
      ],
      [
       0.98,
       0.0726
      ],
      [
       1.12,
       0.0758
      ],
      [
       1.26,
       0.0768
      ],
      [
       1.4,
       0.0802
      ],
      [
       1.54,
       0.0862
      ],
      [
       1.68,
       0.0952
      ],
      [
       1.82,
       0.1051
      ],
      [
       1.96,
       0.1121
      ],
      [
       2.1,
       0.1189
      ],
      [
       2.24,
       0.1183
      ],
      [
       2.38,
       0.1183
      ],
      [
       2.52,
       0.1186
      ],
      [
       2.66,
       0.1193
      ],
      [
       2.8,
       0.1202
      ],
      [
       2.94,
       0.1212
      ],
      [
       3.08,
       0.1225
      ],
      [
       3.22,
       0.1242
      ],
      [
       3.36,
       0.1267
      ],
      [
       3.5,
       0.1311
      ],
      [
       3.64,
       0.1433
      ],
      [
       3.78,
       0.1425
      ],
      [
       3.92,
       0.1417
      ],
      [
       4.06,
       0.1409
      ],
      [
       4.2,
       0.1409
      ],
      [
       4.34,
       0.141
      ],
      [
       4.48,
       0.1411
      ],
      [
       4.62,
       0.1412
      ],
      [
       4.76,
       0.1413
      ],
      [
       4.9,
       0.1413
      ],
      [
       5.04,
       0.1413
      ],
      [
       5.18,
       0.1413
      ],
      [
       5.32,
       0.1413
      ],
      [
       5.46,
       0.1413
      ],
      [
       5.6,
       0.1413
      ],
      [
       5.74,
       0.1413
      ],
      [
       5.88,
       0.1413
      ],
      [
       6.02,
       0.1413
      ],
      [
       6.16,
       0.1413
      ],
      [
       6.3,
       0.1413
      ],
      [
       6.44,
       0.1413
      ],
      [
       6.58,
       0.1413
      ],
      [
       6.72,
       0.1413
      ],
      [
       6.86,
       0.1413
      ],
      [
       7.0,
       0.1413
      ],
      [
       7.14,
       0.1413
      ],
      [
       7.28,
       0.1412
      ],
      [
       7.42,
       0.1411
      ],
      [
       7.56,
       0.1412
      ],
      [
       7.7,
       0.1411
      ],
      [
       7.84,
       0.1408
      ],
      [
       7.98,
       0.1408
      ],
      [
       8.12,
       0.1408
      ],
      [
       8.26,
       0.1405
      ],
      [
       8.4,
       0.1407
      ],
      [
       8.54,
       0.141
      ],
      [
       8.68,
       0.1409
      ],
      [
       8.82,
       0.4
      ],
      [
       8.96,
       0.4
      ],
      [
       9.1,
       0.4
      ],
      [
       9.24,
       0.4
      ],
      [
       9.38,
       0.4
      ],
      [
       9.52,
       0.4
      ],
      [
       9.66,
       0.4
      ],
      [
       9.8,
       0.4
      ],
      [
       9.94,
       0.4
      ],
      [
       10.08,
       0.4
      ],
      [
       10.22,
       0.4
      ],
      [
       10.36,
       0.4
      ],
      [
       10.5,
       0.4
      ],
      [
       10.64,
       0.4
      ],
      [
       10.78,
       0.4
      ],
      [
       10.92,
       0.4
      ],
      [
       11.06,
       0.4
      ],
      [
       11.2,
       0.4
      ],
      [
       11.34,
       0.4
      ],
      [
       11.48,
       0.4
      ],
      [
       11.62,
       0.4
      ],
      [
       11.76,
       0.4543
      ],
      [
       11.9,
       0.5755
      ],
      [
       12.04,
       0.6523
      ],
      [
       12.18,
       0.6796
      ],
      [
       12.32,
       0.6734
      ],
      [
       12.46,
       0.6528
      ],
      [
       12.6,
       0.6382
      ],
      [
       12.74,
       0.6412
      ],
      [
       12.88,
       0.664
      ],
      [
       13.02,
       0.6872
      ],
      [
       13.16,
       0.7139
      ],
      [
       13.3,
       0.7496
      ],
      [
       13.44,
       0.7935
      ],
      [
       13.58,
       0.8445
      ],
      [
       13.72,
       0.9
      ],
      [
       13.86,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.14,
       0.9
      ],
      [
       14.28,
       0.9
      ],
      [
       14.42,
       0.9
      ],
      [
       14.56,
       0.9
      ],
      [
       14.7,
       0.9
      ],
      [
       14.84,
       0.9
      ],
      [
       14.98,
       0.9
      ],
      [
       15.12,
       0.9
      ],
      [
       15.26,
       0.9
      ],
      [
       15.4,
       0.9
      ],
      [
       15.54,
       0.9
      ],
      [
       15.68,
       0.9
      ],
      [
       15.82,
       0.9
      ],
      [
       15.96,
       0.9
      ],
      [
       16.1,
       0.9
      ],
      [
       16.24,
       0.9
      ],
      [
       16.38,
       0.9
      ],
      [
       16.52,
       0.9
      ],
      [
       16.66,
       0.9
      ],
      [
       16.8,
       0.9
      ],
      [
       16.94,
       0.9
      ],
      [
       17.08,
       0.9
      ],
      [
       17.22,
       0.9
      ],
      [
       17.36,
       0.9
      ],
      [
       17.5,
       0.9
      ],
      [
       17.64,
       0.9
      ],
      [
       17.78,
       0.9
      ],
      [
       17.92,
       0.9
      ],
      [
       18.06,
       0.9
      ],
      [
       18.2,
       0.9
      ],
      [
       18.34,
       0.9
      ],
      [
       18.48,
       0.9
      ],
      [
       18.62,
       0.9
      ],
      [
       18.76,
       0.9
      ],
      [
       18.9,
       0.9
      ],
      [
       19.04,
       0.9
      ],
      [
       19.18,
       0.9
      ],
      [
       19.32,
       0.9
      ],
      [
       19.46,
       0.9
      ],
      [
       19.6,
       1.0
      ],
      [
       19.74,
       0.9
      ],
      [
       19.88,
       0.9
      ],
      [
       20.02,
       0.9
      ],
      [
       20.16,
       0.8925
      ],
      [
       20.3,
       0.8708
      ],
      [
       20.44,
       0.8504
      ],
      [
       20.58,
       0.8323
      ],
      [
       20.72,
       0.8208
      ],
      [
       20.86,
       0.7995
      ],
      [
       21.0,
       0.7743
      ],
      [
       21.14,
       0.7508
      ],
      [
       21.28,
       0.7254
      ],
      [
       21.42,
       0.698
      ],
      [
       21.56,
       0.6684
      ],
      [
       21.7,
       0.6486
      ],
      [
       21.84,
       0.6461
      ],
      [
       21.98,
       0.6472
      ],
      [
       22.12,
       0.6512
      ],
      [
       22.26,
       0.6589
      ],
      [
       22.4,
       0.6624
      ],
      [
       22.54,
       0.6681
      ],
      [
       22.68,
       0.6788
      ],
      [
       22.82,
       0.6935
      ],
      [
       22.96,
       0.7137
      ],
      [
       23.1,
       0.716
      ],
      [
       23.24,
       0.7136
      ],
      [
       23.38,
       0.7131
      ],
      [
       23.52,
       0.7133
      ],
      [
       23.66,
       0.713
      ],
      [
       23.8,
       0.7134
      ],
      [
       23.94,
       0.7131
      ],
      [
       24.0,
       0.7133
      ]
     ],
     "total_reward": 0.5806,
     "initial_progress": 0.0,
     "final_progress": 0.7133,
     "physics_sha256": "b5e4c945b81aabb26c4be2b5dc76c66eae0315ea737369510fe5dc44960c1483",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0010374246423674681,
       "final_progress": 0.0010374246423674681,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.013926079231103299,
       "final_progress": 0.013926079231103299,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7673550140371115,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.09282072589819912,
       "final_progress": 0.5928207258981991
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5,
       "final_progress": 1.0
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8570063361222531,
       "final_progress": 0.9
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8982584731704985,
       "final_progress": 0.8982584731704985
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7940606579482609,
       "final_progress": 0.8222925663817047
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.580609502466336,
       "final_progress": 0.7132544884292241
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "puzzle_cube_ctx76",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "white_food_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "goal_support",
       "label": "white food container"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "patterned_card_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned card box"
      },
      {
       "name": "black_wire_holder_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire holder"
      },
      {
       "name": "white_food_container_1",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white food container"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "blue_tumbler_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue tumbler"
      }
     ]
    }
   }
  },
  {
   "example_id": "c363f30b289c3dcbb3e5315f70577cff04d5d3cfa67c369a83871330a56ec360",
   "recording_id": 271,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "wooden dining tabletop",
   "human_action": true,
   "description": "In the footage: Wipe the visible wooden dining tabletop with the light pink wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 10\u00d76 cm patch (turned 20\u00b0) on the wooden dining tabletop among the white canister and the glass bottle and sweep it row by row at 2\u201310 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 2\u201310 N, no object moved >2 cm, peak force \u226430 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 271,
    "contributor_id": 1,
    "video": "media/source-271-71817e7bd684.mp4",
    "poster": "media/source-271.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 271,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/271_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "201e09c787b37b12cdf8a28005ffddb91214aaf33f26d56a5dd5a565b3a762fa",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "flagged",
     "provider_flag_reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
    "provider_qc": {
     "status": "flagged",
     "reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ]
    }
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 8,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 0,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "c363f30b289c-panda",
     "video": "media/sim-c363f30b289c-panda-s0.mp4",
     "poster": "media/sim-c363f30b289c-panda-s0.jpg",
     "trajectory": "trajectories/c363f30b289c-panda.json",
     "recipe": "recipes/c363f30b289c-panda.json",
     "seed": 0,
     "steps": 341,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0002
      ],
      [
       0.08,
       0.0015
      ],
      [
       0.12,
       0.0045
      ],
      [
       0.16,
       0.0079
      ],
      [
       0.2,
       0.0109
      ],
      [
       0.24,
       0.0141
      ],
      [
       0.28,
       0.0177
      ],
      [
       0.32,
       0.0216
      ],
      [
       0.36,
       0.0255
      ],
      [
       0.4,
       0.0297
      ],
      [
       0.44,
       0.034
      ],
      [
       0.48,
       0.0386
      ],
      [
       0.52,
       0.0433
      ],
      [
       0.56,
       0.0482
      ],
      [
       0.6,
       0.0533
      ],
      [
       0.64,
       0.0585
      ],
      [
       0.68,
       0.0639
      ],
      [
       0.72,
       0.0694
      ],
      [
       0.76,
       0.075
      ],
      [
       0.8,
       0.0805
      ],
      [
       0.84,
       0.0861
      ],
      [
       0.88,
       0.0916
      ],
      [
       0.92,
       0.0971
      ],
      [
       0.96,
       0.1027
      ],
      [
       1.0,
       0.1085
      ],
      [
       1.04,
       0.1143
      ],
      [
       1.08,
       0.1203
      ],
      [
       1.12,
       0.1262
      ],
      [
       1.16,
       0.1323
      ],
      [
       1.2,
       0.1383
      ],
      [
       1.24,
       0.1433
      ],
      [
       1.28,
       0.1419
      ],
      [
       1.32,
       0.141
      ],
      [
       1.36,
       0.1432
      ],
      [
       1.4,
       0.1441
      ],
      [
       1.44,
       0.1439
      ],
      [
       1.48,
       0.1437
      ],
      [
       1.52,
       0.143
      ],
      [
       1.56,
       0.1416
      ],
      [
       1.6,
       0.1403
      ],
      [
       1.64,
       0.1397
      ],
      [
       1.68,
       0.1398
      ],
      [
       1.72,
       0.1402
      ],
      [
       1.76,
       0.1407
      ],
      [
       1.8,
       0.141
      ],
      [
       1.84,
       0.1414
      ],
      [
       1.88,
       0.142
      ],
      [
       1.92,
       0.1429
      ],
      [
       1.96,
       0.144
      ],
      [
       2.0,
       0.1451
      ],
      [
       2.04,
       0.1462
      ],
      [
       2.08,
       0.147
      ],
      [
       2.12,
       0.1476
      ],
      [
       2.16,
       0.1479
      ],
      [
       2.2,
       0.1483
      ],
      [
       2.24,
       0.1487
      ],
      [
       2.28,
       0.1492
      ],
      [
       2.32,
       0.1497
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.3767
      ],
      [
       2.96,
       0.3767
      ],
      [
       3.0,
       0.3767
      ],
      [
       3.04,
       0.3767
      ],
      [
       3.08,
       0.3767
      ],
      [
       3.12,
       0.3767
      ],
      [
       3.16,
       0.3767
      ],
      [
       3.2,
       0.3767
      ],
      [
       3.24,
       0.3767
      ],
      [
       3.28,
       0.3767
      ],
      [
       3.32,
       0.3767
      ],
      [
       3.36,
       0.3767
      ],
      [
       3.4,
       0.3767
      ],
      [
       3.44,
       0.3767
      ],
      [
       3.48,
       0.3767
      ],
      [
       3.52,
       0.3767
      ],
      [
       3.56,
       0.3767
      ],
      [
       3.6,
       0.3767
      ],
      [
       3.64,
       0.3767
      ],
      [
       3.68,
       0.3767
      ],
      [
       3.72,
       0.3767
      ],
      [
       3.76,
       0.3767
      ],
      [
       3.8,
       0.3767
      ],
      [
       3.84,
       0.3767
      ],
      [
       3.88,
       0.3767
      ],
      [
       3.92,
       0.3767
      ],
      [
       3.96,
       0.3767
      ],
      [
       4.0,
       0.3767
      ],
      [
       4.04,
       0.3767
      ],
      [
       4.08,
       0.3767
      ],
      [
       4.12,
       0.3767
      ],
      [
       4.16,
       0.3767
      ],
      [
       4.2,
       0.3767
      ],
      [
       4.24,
       0.3767
      ],
      [
       4.28,
       0.3767
      ],
      [
       4.32,
       0.3767
      ],
      [
       4.36,
       0.3767
      ],
      [
       4.4,
       0.3767
      ],
      [
       4.44,
       0.3767
      ],
      [
       4.48,
       0.3767
      ],
      [
       4.52,
       0.3767
      ],
      [
       4.56,
       0.3767
      ],
      [
       4.6,
       0.3767
      ],
      [
       4.64,
       0.6033
      ],
      [
       4.68,
       0.6033
      ],
      [
       4.72,
       0.6033
      ],
      [
       4.76,
       0.6033
      ],
      [
       4.8,
       0.6033
      ],
      [
       4.84,
       0.66
      ],
      [
       4.88,
       0.66
      ],
      [
       4.92,
       0.66
      ],
      [
       4.96,
       0.66
      ],
      [
       5.0,
       0.66
      ],
      [
       5.04,
       0.7167
      ],
      [
       5.08,
       0.7167
      ],
      [
       5.12,
       0.7167
      ],
      [
       5.16,
       0.7167
      ],
      [
       5.2,
       0.7167
      ],
      [
       5.24,
       0.7167
      ],
      [
       5.28,
       0.7733
      ],
      [
       5.32,
       0.7733
      ],
      [
       5.36,
       0.7733
      ],
      [
       5.4,
       0.7733
      ],
      [
       5.44,
       0.7733
      ],
      [
       5.48,
       0.7733
      ],
      [
       5.52,
       0.7733
      ],
      [
       5.56,
       0.7733
      ],
      [
       5.6,
       0.7733
      ],
      [
       5.64,
       0.7733
      ],
      [
       5.68,
       0.83
      ],
      [
       5.72,
       0.83
      ],
      [
       5.76,
       0.83
      ],
      [
       5.8,
       0.83
      ],
      [
       5.84,
       0.83
      ],
      [
       5.88,
       0.83
      ],
      [
       5.92,
       0.83
      ],
      [
       5.96,
       0.83
      ],
      [
       6.0,
       0.83
      ],
      [
       6.04,
       0.83
      ],
      [
       6.08,
       0.83
      ],
      [
       6.12,
       0.83
      ],
      [
       6.16,
       0.83
      ],
      [
       6.2,
       0.83
      ],
      [
       6.24,
       0.83
      ],
      [
       6.28,
       0.83
      ],
      [
       6.32,
       0.83
      ],
      [
       6.36,
       0.83
      ],
      [
       6.4,
       0.83
      ],
      [
       6.44,
       0.83
      ],
      [
       6.48,
       0.83
      ],
      [
       6.52,
       0.83
      ],
      [
       6.56,
       0.83
      ],
      [
       6.6,
       0.83
      ],
      [
       6.64,
       0.83
      ],
      [
       6.68,
       0.83
      ],
      [
       6.72,
       0.83
      ],
      [
       6.76,
       0.83
      ],
      [
       6.8,
       0.83
      ],
      [
       6.82,
       0.9433
      ]
     ],
     "total_reward": 1.8896,
     "initial_progress": 0.0,
     "final_progress": 0.9433,
     "physics_sha256": "40ddd4c2b494026d5c2f72fac911891f46f7a64317811e1ad61d3f887ed2a155",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.20333333333333325,
       "final_progress": 0.4533333333333333,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.37666666666666665,
       "final_progress": 0.37666666666666665,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 341,
       "return": 1.8896003316967251,
       "final_progress": 0.9433333333333334
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal cup"
      }
     ]
    },
    "aloha": {
     "gym_id": "c363f30b289c-aloha",
     "video": "media/sim-c363f30b289c-aloha-s0.mp4",
     "poster": "media/sim-c363f30b289c-aloha-s0.jpg",
     "trajectory": "trajectories/c363f30b289c-aloha.json",
     "recipe": "recipes/c363f30b289c-aloha.json",
     "seed": 0,
     "steps": 379,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0005
      ],
      [
       0.08,
       0.0019
      ],
      [
       0.12,
       0.0037
      ],
      [
       0.16,
       0.0057
      ],
      [
       0.2,
       0.0079
      ],
      [
       0.24,
       0.0103
      ],
      [
       0.28,
       0.0129
      ],
      [
       0.32,
       0.0158
      ],
      [
       0.36,
       0.0188
      ],
      [
       0.4,
       0.0221
      ],
      [
       0.44,
       0.0256
      ],
      [
       0.48,
       0.0294
      ],
      [
       0.52,
       0.0334
      ],
      [
       0.56,
       0.0378
      ],
      [
       0.6,
       0.0424
      ],
      [
       0.64,
       0.0473
      ],
      [
       0.68,
       0.0525
      ],
      [
       0.72,
       0.0581
      ],
      [
       0.76,
       0.0638
      ],
      [
       0.8,
       0.0699
      ],
      [
       0.84,
       0.0762
      ],
      [
       0.88,
       0.0829
      ],
      [
       0.92,
       0.0899
      ],
      [
       0.96,
       0.0974
      ],
      [
       1.0,
       0.1054
      ],
      [
       1.04,
       0.114
      ],
      [
       1.08,
       0.1234
      ],
      [
       1.12,
       0.1318
      ],
      [
       1.16,
       0.1362
      ],
      [
       1.2,
       0.1379
      ],
      [
       1.24,
       0.1386
      ],
      [
       1.28,
       0.1393
      ],
      [
       1.32,
       0.14
      ],
      [
       1.36,
       0.1407
      ],
      [
       1.4,
       0.1413
      ],
      [
       1.44,
       0.1419
      ],
      [
       1.48,
       0.1424
      ],
      [
       1.52,
       0.1428
      ],
      [
       1.56,
       0.1431
      ],
      [
       1.6,
       0.1432
      ],
      [
       1.64,
       0.1429
      ],
      [
       1.68,
       0.1422
      ],
      [
       1.72,
       0.141
      ],
      [
       1.76,
       0.1395
      ],
      [
       1.8,
       0.1377
      ],
      [
       1.84,
       0.1356
      ],
      [
       1.88,
       0.1331
      ],
      [
       1.92,
       0.1308
      ],
      [
       1.96,
       0.1293
      ],
      [
       2.0,
       0.1288
      ],
      [
       2.04,
       0.1289
      ],
      [
       2.08,
       0.1289
      ],
      [
       2.12,
       0.1286
      ],
      [
       2.16,
       0.1287
      ],
      [
       2.2,
       0.129
      ],
      [
       2.24,
       0.1296
      ],
      [
       2.28,
       0.1301
      ],
      [
       2.32,
       0.1307
      ],
      [
       2.36,
       0.1313
      ],
      [
       2.4,
       0.132
      ],
      [
       2.44,
       0.1326
      ],
      [
       2.48,
       0.1332
      ],
      [
       2.52,
       0.134
      ],
      [
       2.56,
       0.1357
      ],
      [
       2.6,
       0.1384
      ],
      [
       2.64,
       0.1422
      ],
      [
       2.68,
       0.1467
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.04,
       0.15
      ],
      [
       3.08,
       0.15
      ],
      [
       3.12,
       0.15
      ],
      [
       3.16,
       0.15
      ],
      [
       3.2,
       0.15
      ],
      [
       3.24,
       0.15
      ],
      [
       3.28,
       0.15
      ],
      [
       3.32,
       0.3767
      ],
      [
       3.36,
       0.3767
      ],
      [
       3.4,
       0.3767
      ],
      [
       3.44,
       0.3767
      ],
      [
       3.48,
       0.3767
      ],
      [
       3.52,
       0.3767
      ],
      [
       3.56,
       0.3767
      ],
      [
       3.6,
       0.3767
      ],
      [
       3.64,
       0.3767
      ],
      [
       3.68,
       0.3767
      ],
      [
       3.72,
       0.3767
      ],
      [
       3.76,
       0.3767
      ],
      [
       3.8,
       0.3767
      ],
      [
       3.84,
       0.3767
      ],
      [
       3.88,
       0.3767
      ],
      [
       3.92,
       0.3767
      ],
      [
       3.96,
       0.3767
      ],
      [
       4.0,
       0.3767
      ],
      [
       4.04,
       0.3767
      ],
      [
       4.08,
       0.3767
      ],
      [
       4.12,
       0.3767
      ],
      [
       4.16,
       0.3767
      ],
      [
       4.2,
       0.3767
      ],
      [
       4.24,
       0.49
      ],
      [
       4.28,
       0.49
      ],
      [
       4.32,
       0.49
      ],
      [
       4.36,
       0.49
      ],
      [
       4.4,
       0.49
      ],
      [
       4.44,
       0.49
      ],
      [
       4.48,
       0.49
      ],
      [
       4.52,
       0.49
      ],
      [
       4.56,
       0.49
      ],
      [
       4.6,
       0.49
      ],
      [
       4.64,
       0.49
      ],
      [
       4.68,
       0.6033
      ],
      [
       4.72,
       0.6033
      ],
      [
       4.76,
       0.6033
      ],
      [
       4.8,
       0.6033
      ],
      [
       4.84,
       0.6033
      ],
      [
       4.88,
       0.6033
      ],
      [
       4.92,
       0.6033
      ],
      [
       4.96,
       0.6033
      ],
      [
       5.0,
       0.6033
      ],
      [
       5.04,
       0.6033
      ],
      [
       5.08,
       0.6033
      ],
      [
       5.12,
       0.6033
      ],
      [
       5.16,
       0.66
      ],
      [
       5.2,
       0.66
      ],
      [
       5.24,
       0.66
      ],
      [
       5.28,
       0.66
      ],
      [
       5.32,
       0.66
      ],
      [
       5.36,
       0.66
      ],
      [
       5.4,
       0.66
      ],
      [
       5.44,
       0.66
      ],
      [
       5.48,
       0.66
      ],
      [
       5.52,
       0.66
      ],
      [
       5.56,
       0.7167
      ],
      [
       5.6,
       0.7167
      ],
      [
       5.64,
       0.7167
      ],
      [
       5.68,
       0.7167
      ],
      [
       5.72,
       0.7167
      ],
      [
       5.76,
       0.7167
      ],
      [
       5.8,
       0.7167
      ],
      [
       5.84,
       0.7167
      ],
      [
       5.88,
       0.7167
      ],
      [
       5.92,
       0.7167
      ],
      [
       5.96,
       0.7167
      ],
      [
       6.0,
       0.7167
      ],
      [
       6.04,
       0.7167
      ],
      [
       6.08,
       0.7167
      ],
      [
       6.12,
       0.7167
      ],
      [
       6.16,
       0.7167
      ],
      [
       6.2,
       0.7167
      ],
      [
       6.24,
       0.7167
      ],
      [
       6.28,
       0.7167
      ],
      [
       6.32,
       0.7167
      ],
      [
       6.36,
       0.7167
      ],
      [
       6.4,
       0.7167
      ],
      [
       6.44,
       0.7167
      ],
      [
       6.48,
       0.7167
      ],
      [
       6.52,
       0.83
      ],
      [
       6.56,
       0.83
      ],
      [
       6.6,
       0.83
      ],
      [
       6.64,
       0.83
      ],
      [
       6.68,
       0.83
      ],
      [
       6.72,
       0.83
      ],
      [
       6.76,
       0.83
      ],
      [
       6.8,
       0.83
      ],
      [
       6.84,
       0.83
      ],
      [
       6.88,
       0.83
      ],
      [
       6.92,
       0.83
      ],
      [
       6.96,
       0.8867
      ],
      [
       7.0,
       0.8867
      ],
      [
       7.04,
       0.8867
      ],
      [
       7.08,
       0.8867
      ],
      [
       7.12,
       0.8867
      ],
      [
       7.16,
       0.8867
      ],
      [
       7.2,
       0.8867
      ],
      [
       7.24,
       0.8867
      ],
      [
       7.28,
       0.8867
      ],
      [
       7.32,
       0.8867
      ],
      [
       7.36,
       0.8867
      ],
      [
       7.4,
       0.8867
      ],
      [
       7.44,
       0.8867
      ],
      [
       7.48,
       0.8867
      ],
      [
       7.52,
       0.8867
      ],
      [
       7.56,
       0.8867
      ],
      [
       7.58,
       0.9433
      ]
     ],
     "total_reward": 1.8848,
     "initial_progress": 0.0,
     "final_progress": 0.9433,
     "physics_sha256": "7375005907066476c64faaf77379797cad4d6dbd939a9c00bb40361ca016a4b1",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013574317839692262,
       "final_progress": 0.0013574317839692262,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.10484100119630184,
       "final_progress": 0.10484100119630184,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3228911715288446,
       "final_progress": 0.37666666666666665,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 379,
       "return": 1.8847902708083846,
       "final_progress": 0.9433333333333334
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal cup"
      }
     ]
    }
   }
  },
  {
   "example_id": "9165b58747b848aee97acb2ff98641d6918183ec3889a3241f9cb7b87ac74507",
   "recording_id": 271,
   "task_number": 2,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "wooden dining tabletop",
   "human_action": false,
   "description": "Pick up the teal cup and balance it on top of the gelatin box on the wooden dining tabletop among the folded blue towel under canister and the white canister.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the teal cup and balance it on top of the gelatin box on the wooden dining tabletop among the folded blue towel under canister and the white canister.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 271,
    "contributor_id": 1,
    "video": "media/source-271-71817e7bd684.mp4",
    "poster": "media/source-271.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 271,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/271_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "201e09c787b37b12cdf8a28005ffddb91214aaf33f26d56a5dd5a565b3a762fa",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "flagged",
     "provider_flag_reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
    "provider_qc": {
     "status": "flagged",
     "reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ]
    }
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "9165b58747b8-panda",
     "video": "media/sim-9165b58747b8-panda-s0.mp4",
     "poster": "media/sim-9165b58747b8-panda-s0.jpg",
     "trajectory": "trajectories/9165b58747b8-panda.json",
     "recipe": "recipes/9165b58747b8-panda.json",
     "seed": 0,
     "steps": 398,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0029
      ],
      [
       0.4,
       0.0044
      ],
      [
       0.44,
       0.0045
      ],
      [
       0.48,
       0.0049
      ],
      [
       0.52,
       0.006
      ],
      [
       0.56,
       0.0072
      ],
      [
       0.6,
       0.0083
      ],
      [
       0.64,
       0.0095
      ],
      [
       0.68,
       0.0109
      ],
      [
       0.72,
       0.0125
      ],
      [
       0.76,
       0.0143
      ],
      [
       0.8,
       0.0162
      ],
      [
       0.84,
       0.0183
      ],
      [
       0.88,
       0.0206
      ],
      [
       0.92,
       0.023
      ],
      [
       0.96,
       0.0257
      ],
      [
       1.0,
       0.0286
      ],
      [
       1.04,
       0.0317
      ],
      [
       1.08,
       0.035
      ],
      [
       1.12,
       0.0385
      ],
      [
       1.16,
       0.0422
      ],
      [
       1.2,
       0.0461
      ],
      [
       1.24,
       0.0503
      ],
      [
       1.28,
       0.0547
      ],
      [
       1.32,
       0.0592
      ],
      [
       1.36,
       0.064
      ],
      [
       1.4,
       0.069
      ],
      [
       1.44,
       0.0742
      ],
      [
       1.48,
       0.0795
      ],
      [
       1.52,
       0.0849
      ],
      [
       1.56,
       0.0903
      ],
      [
       1.6,
       0.0956
      ],
      [
       1.64,
       0.1008
      ],
      [
       1.68,
       0.1058
      ],
      [
       1.72,
       0.1092
      ],
      [
       1.76,
       0.1117
      ],
      [
       1.8,
       0.114
      ],
      [
       1.84,
       0.1164
      ],
      [
       1.88,
       0.119
      ],
      [
       1.92,
       0.1214
      ],
      [
       1.96,
       0.1239
      ],
      [
       2.0,
       0.1265
      ],
      [
       2.04,
       0.1293
      ],
      [
       2.08,
       0.1323
      ],
      [
       2.12,
       0.1358
      ],
      [
       2.16,
       0.1393
      ],
      [
       2.2,
       0.1435
      ],
      [
       2.24,
       0.1492
      ],
      [
       2.28,
       0.1459
      ],
      [
       2.32,
       0.1459
      ],
      [
       2.36,
       0.1465
      ],
      [
       2.4,
       0.1471
      ],
      [
       2.44,
       0.1474
      ],
      [
       2.48,
       0.1477
      ],
      [
       2.52,
       0.1478
      ],
      [
       2.56,
       0.1478
      ],
      [
       2.6,
       0.1479
      ],
      [
       2.64,
       0.1479
      ],
      [
       2.68,
       0.148
      ],
      [
       2.72,
       0.148
      ],
      [
       2.76,
       0.148
      ],
      [
       2.8,
       0.1478
      ],
      [
       2.84,
       0.1476
      ],
      [
       2.88,
       0.1476
      ],
      [
       2.92,
       0.1476
      ],
      [
       2.96,
       0.1476
      ],
      [
       3.0,
       0.1476
      ],
      [
       3.04,
       0.1475
      ],
      [
       3.08,
       0.1475
      ],
      [
       3.12,
       0.1475
      ],
      [
       3.16,
       0.1475
      ],
      [
       3.2,
       0.1475
      ],
      [
       3.24,
       0.1475
      ],
      [
       3.28,
       0.1475
      ],
      [
       3.32,
       0.1475
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4164
      ],
      [
       4.16,
       0.4478
      ],
      [
       4.2,
       0.4829
      ],
      [
       4.24,
       0.5208
      ],
      [
       4.28,
       0.5606
      ],
      [
       4.32,
       0.6014
      ],
      [
       4.36,
       0.6426
      ],
      [
       4.4,
       0.6838
      ],
      [
       4.44,
       0.7244
      ],
      [
       4.48,
       0.7631
      ],
      [
       4.52,
       0.7987
      ],
      [
       4.56,
       0.829
      ],
      [
       4.6,
       0.8527
      ],
      [
       4.64,
       0.8694
      ],
      [
       4.68,
       0.8822
      ],
      [
       4.72,
       0.8946
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       0.9
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ],
      [
       7.96,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "556d250e23089b1a8d7fa1465545a78f38b1ca0b6ef49613e13e00921f794695",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7905947910814001,
       "final_progress": 0.7905947910814001,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 398,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "task_object",
       "label": "teal cup"
      },
      {
       "name": "gelatin_box_ctx77",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "9165b58747b8-aloha",
     "video": "media/sim-9165b58747b8-aloha-s4.mp4",
     "poster": "media/sim-9165b58747b8-aloha-s4.jpg",
     "trajectory": "trajectories/9165b58747b8-aloha.json",
     "recipe": "recipes/9165b58747b8-aloha.json",
     "seed": 4,
     "steps": 717,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0038
      ],
      [
       0.16,
       0.0099
      ],
      [
       0.24,
       0.0163
      ],
      [
       0.32,
       0.0226
      ],
      [
       0.4,
       0.0288
      ],
      [
       0.48,
       0.0353
      ],
      [
       0.56,
       0.0422
      ],
      [
       0.64,
       0.049
      ],
      [
       0.72,
       0.0556
      ],
      [
       0.8,
       0.0627
      ],
      [
       0.88,
       0.0701
      ],
      [
       0.96,
       0.0772
      ],
      [
       1.04,
       0.085
      ],
      [
       1.12,
       0.0934
      ],
      [
       1.2,
       0.102
      ],
      [
       1.28,
       0.111
      ],
      [
       1.36,
       0.117
      ],
      [
       1.44,
       0.1251
      ],
      [
       1.52,
       0.1389
      ],
      [
       1.6,
       0.1444
      ],
      [
       1.68,
       0.1448
      ],
      [
       1.76,
       0.1453
      ],
      [
       1.84,
       0.1456
      ],
      [
       1.92,
       0.1457
      ],
      [
       2.0,
       0.1456
      ],
      [
       2.08,
       0.1453
      ],
      [
       2.16,
       0.1447
      ],
      [
       2.24,
       0.1438
      ],
      [
       2.32,
       0.1425
      ],
      [
       2.4,
       0.1414
      ],
      [
       2.48,
       0.1409
      ],
      [
       2.56,
       0.1408
      ],
      [
       2.64,
       0.1409
      ],
      [
       2.72,
       0.1412
      ],
      [
       2.8,
       0.1414
      ],
      [
       2.88,
       0.1416
      ],
      [
       2.96,
       0.1417
      ],
      [
       3.04,
       0.1417
      ],
      [
       3.12,
       0.1416
      ],
      [
       3.2,
       0.1414
      ],
      [
       3.28,
       0.1412
      ],
      [
       3.36,
       0.141
      ],
      [
       3.44,
       0.1409
      ],
      [
       3.52,
       0.1408
      ],
      [
       3.6,
       0.1407
      ],
      [
       3.68,
       0.1406
      ],
      [
       3.76,
       0.1406
      ],
      [
       3.84,
       0.1405
      ],
      [
       3.92,
       0.1404
      ],
      [
       4.0,
       0.1403
      ],
      [
       4.08,
       0.1402
      ],
      [
       4.16,
       0.1401
      ],
      [
       4.24,
       0.14
      ],
      [
       4.32,
       0.1399
      ],
      [
       4.4,
       0.1399
      ],
      [
       4.48,
       0.1393
      ],
      [
       4.56,
       0.1393
      ],
      [
       4.64,
       0.1393
      ],
      [
       4.72,
       0.1394
      ],
      [
       4.8,
       0.1395
      ],
      [
       4.88,
       0.1395
      ],
      [
       4.96,
       0.1394
      ],
      [
       5.04,
       0.1393
      ],
      [
       5.12,
       0.1393
      ],
      [
       5.2,
       0.1393
      ],
      [
       5.28,
       0.1392
      ],
      [
       5.36,
       0.1393
      ],
      [
       5.44,
       0.1393
      ],
      [
       5.52,
       0.1392
      ],
      [
       5.6,
       0.1391
      ],
      [
       5.68,
       0.1391
      ],
      [
       5.76,
       0.139
      ],
      [
       5.84,
       0.4
      ],
      [
       5.92,
       0.4
      ],
      [
       6.0,
       0.4
      ],
      [
       6.08,
       0.4
      ],
      [
       6.16,
       0.4
      ],
      [
       6.24,
       0.4
      ],
      [
       6.32,
       0.4
      ],
      [
       6.4,
       0.4
      ],
      [
       6.48,
       0.4
      ],
      [
       6.56,
       0.4
      ],
      [
       6.64,
       0.4
      ],
      [
       6.72,
       0.4
      ],
      [
       6.8,
       0.4
      ],
      [
       6.88,
       0.4
      ],
      [
       6.96,
       0.4
      ],
      [
       7.04,
       0.4
      ],
      [
       7.12,
       0.4
      ],
      [
       7.2,
       0.4
      ],
      [
       7.28,
       0.4
      ],
      [
       7.36,
       0.4
      ],
      [
       7.44,
       0.4081
      ],
      [
       7.52,
       0.4205
      ],
      [
       7.6,
       0.4352
      ],
      [
       7.68,
       0.4523
      ],
      [
       7.76,
       0.472
      ],
      [
       7.84,
       0.4948
      ],
      [
       7.92,
       0.5214
      ],
      [
       8.0,
       0.5529
      ],
      [
       8.08,
       0.5901
      ],
      [
       8.16,
       0.6323
      ],
      [
       8.24,
       0.6782
      ],
      [
       8.32,
       0.7285
      ],
      [
       8.4,
       0.7823
      ],
      [
       8.48,
       0.8367
      ],
      [
       8.56,
       0.8862
      ],
      [
       8.64,
       0.9
      ],
      [
       8.72,
       0.9
      ],
      [
       8.8,
       0.894
      ],
      [
       8.88,
       0.8629
      ],
      [
       8.96,
       0.8312
      ],
      [
       9.04,
       0.801
      ],
      [
       9.12,
       0.7737
      ],
      [
       9.2,
       0.75
      ],
      [
       9.28,
       0.7299
      ],
      [
       9.36,
       0.7136
      ],
      [
       9.44,
       0.7009
      ],
      [
       9.52,
       0.6919
      ],
      [
       9.6,
       0.6865
      ],
      [
       9.68,
       0.6842
      ],
      [
       9.76,
       0.6843
      ],
      [
       9.84,
       0.6855
      ],
      [
       9.92,
       0.6879
      ],
      [
       10.0,
       0.6915
      ],
      [
       10.08,
       0.6968
      ],
      [
       10.16,
       0.7036
      ],
      [
       10.24,
       0.712
      ],
      [
       10.32,
       0.7223
      ],
      [
       10.4,
       0.7344
      ],
      [
       10.48,
       0.748
      ],
      [
       10.56,
       0.763
      ],
      [
       10.64,
       0.7793
      ],
      [
       10.72,
       0.7974
      ],
      [
       10.8,
       0.8184
      ],
      [
       10.88,
       0.8424
      ],
      [
       10.96,
       0.8687
      ],
      [
       11.04,
       0.897
      ],
      [
       11.12,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.36,
       0.9
      ],
      [
       11.44,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.6,
       0.9
      ],
      [
       11.68,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.84,
       0.9
      ],
      [
       11.92,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.08,
       0.9
      ],
      [
       12.16,
       0.9
      ],
      [
       12.24,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.4,
       0.9
      ],
      [
       12.48,
       0.9
      ],
      [
       12.56,
       0.9
      ],
      [
       12.64,
       0.9
      ],
      [
       12.72,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       12.96,
       0.9
      ],
      [
       13.04,
       0.9
      ],
      [
       13.12,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.28,
       0.9
      ],
      [
       13.36,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.52,
       0.9
      ],
      [
       13.6,
       0.9
      ],
      [
       13.68,
       1.0
      ],
      [
       13.76,
       1.0
      ],
      [
       13.84,
       0.9
      ],
      [
       13.92,
       1.0
      ],
      [
       14.0,
       1.0
      ],
      [
       14.08,
       1.0
      ],
      [
       14.16,
       1.0
      ],
      [
       14.24,
       1.0
      ],
      [
       14.32,
       1.0
      ],
      [
       14.34,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c11789bd5edda5d0312af6311506b795f45234f491283582a24a6616d417fe1f",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0010557618583199146,
       "final_progress": 0.0010557618583199146,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 6.911788849595091e-18,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.6618286979479886,
       "final_progress": 0.6618286979479886,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4,
       "final_progress": 0.4
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4,
       "final_progress": 0.4
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7477080028795253,
       "final_progress": 0.7477080028795253
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0060048884394973525,
       "final_progress": 0.0060048884394973525
      },
      {
       "layout_seed": 4,
       "outcome": "success",
       "steps": 717,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "task_object",
       "label": "teal cup"
      },
      {
       "name": "gelatin_box_ctx77",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "10837d348ddc9fc6a782ff2c6271567905c7b143b73aaf947f44439d4899fb1c",
   "recording_id": 271,
   "task_number": 3,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "wooden dining tabletop",
   "human_action": false,
   "description": "Grasp the paper cup from among the black wire rack with glasses and the glass bottle, lift it clear and set it down on the marked zone on the wooden dining tabletop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the paper cup from among the black wire rack with glasses and the glass bottle, lift it clear and set it down on the marked zone on the wooden dining tabletop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 271,
    "contributor_id": 1,
    "video": "media/source-271-71817e7bd684.mp4",
    "poster": "media/source-271.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 271,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/271_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "201e09c787b37b12cdf8a28005ffddb91214aaf33f26d56a5dd5a565b3a762fa",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "flagged",
     "provider_flag_reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
    "provider_qc": {
     "status": "flagged",
     "reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ]
    }
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "10837d348ddc-panda",
     "video": "media/sim-10837d348ddc-panda-s1.mp4",
     "poster": "media/sim-10837d348ddc-panda-s1.jpg",
     "trajectory": "trajectories/10837d348ddc-panda.json",
     "recipe": "recipes/10837d348ddc-panda.json",
     "seed": 1,
     "steps": 392,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0055
      ],
      [
       0.76,
       0.0115
      ],
      [
       0.8,
       0.0154
      ],
      [
       0.84,
       0.0177
      ],
      [
       0.88,
       0.0201
      ],
      [
       0.92,
       0.0235
      ],
      [
       0.96,
       0.0274
      ],
      [
       1.0,
       0.0313
      ],
      [
       1.04,
       0.0353
      ],
      [
       1.08,
       0.0397
      ],
      [
       1.12,
       0.0443
      ],
      [
       1.16,
       0.0491
      ],
      [
       1.2,
       0.0541
      ],
      [
       1.24,
       0.0594
      ],
      [
       1.28,
       0.0648
      ],
      [
       1.32,
       0.0705
      ],
      [
       1.36,
       0.0763
      ],
      [
       1.4,
       0.0822
      ],
      [
       1.44,
       0.0881
      ],
      [
       1.48,
       0.094
      ],
      [
       1.52,
       0.0998
      ],
      [
       1.56,
       0.1051
      ],
      [
       1.6,
       0.1092
      ],
      [
       1.64,
       0.1122
      ],
      [
       1.68,
       0.1149
      ],
      [
       1.72,
       0.1178
      ],
      [
       1.76,
       0.1208
      ],
      [
       1.8,
       0.1238
      ],
      [
       1.84,
       0.1267
      ],
      [
       1.88,
       0.1298
      ],
      [
       1.92,
       0.1331
      ],
      [
       1.96,
       0.1367
      ],
      [
       2.0,
       0.1406
      ],
      [
       2.04,
       0.1454
      ],
      [
       2.08,
       0.1481
      ],
      [
       2.12,
       0.1456
      ],
      [
       2.16,
       0.1458
      ],
      [
       2.2,
       0.1464
      ],
      [
       2.24,
       0.147
      ],
      [
       2.28,
       0.1473
      ],
      [
       2.32,
       0.1475
      ],
      [
       2.36,
       0.1475
      ],
      [
       2.4,
       0.1476
      ],
      [
       2.44,
       0.1476
      ],
      [
       2.48,
       0.1476
      ],
      [
       2.52,
       0.1477
      ],
      [
       2.56,
       0.1478
      ],
      [
       2.6,
       0.1475
      ],
      [
       2.64,
       0.1472
      ],
      [
       2.68,
       0.147
      ],
      [
       2.72,
       0.147
      ],
      [
       2.76,
       0.147
      ],
      [
       2.8,
       0.147
      ],
      [
       2.84,
       0.147
      ],
      [
       2.88,
       0.147
      ],
      [
       2.92,
       0.147
      ],
      [
       2.96,
       0.147
      ],
      [
       3.0,
       0.1469
      ],
      [
       3.04,
       0.1469
      ],
      [
       3.08,
       0.1469
      ],
      [
       3.12,
       0.4
      ],
      [
       3.16,
       0.4
      ],
      [
       3.2,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.32,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.42
      ],
      [
       3.92,
       0.4443
      ],
      [
       3.96,
       0.476
      ],
      [
       4.0,
       0.5101
      ],
      [
       4.04,
       0.5433
      ],
      [
       4.08,
       0.5765
      ],
      [
       4.12,
       0.6106
      ],
      [
       4.16,
       0.6456
      ],
      [
       4.2,
       0.6809
      ],
      [
       4.24,
       0.7162
      ],
      [
       4.28,
       0.7514
      ],
      [
       4.32,
       0.7866
      ],
      [
       4.36,
       0.8209
      ],
      [
       4.4,
       0.8554
      ],
      [
       4.44,
       0.8918
      ],
      [
       4.48,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "030385f531b6abdd6eb8054df3fa62aa7dbbd4278faf37e09a52e60cc53f198b",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.042894329661237456,
       "final_progress": 0.042894329661237456,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7112600421086356,
       "final_progress": 0.7112600421086356
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 392,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx77",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal cup"
      }
     ]
    },
    "aloha": {
     "gym_id": "10837d348ddc-aloha",
     "video": "media/sim-10837d348ddc-aloha-s4.mp4",
     "poster": "media/sim-10837d348ddc-aloha-s4.jpg",
     "trajectory": "trajectories/10837d348ddc-aloha.json",
     "recipe": "recipes/10837d348ddc-aloha.json",
     "seed": 4,
     "steps": 581,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.003
      ],
      [
       0.12,
       0.0086
      ],
      [
       0.18,
       0.0155
      ],
      [
       0.24,
       0.0234
      ],
      [
       0.3,
       0.0321
      ],
      [
       0.36,
       0.0411
      ],
      [
       0.42,
       0.05
      ],
      [
       0.48,
       0.0585
      ],
      [
       0.54,
       0.0655
      ],
      [
       0.6,
       0.0696
      ],
      [
       0.66,
       0.0735
      ],
      [
       0.72,
       0.0774
      ],
      [
       0.78,
       0.0814
      ],
      [
       0.84,
       0.0856
      ],
      [
       0.9,
       0.0901
      ],
      [
       0.96,
       0.0948
      ],
      [
       1.02,
       0.0997
      ],
      [
       1.08,
       0.1048
      ],
      [
       1.14,
       0.1098
      ],
      [
       1.2,
       0.1141
      ],
      [
       1.26,
       0.1192
      ],
      [
       1.32,
       0.125
      ],
      [
       1.38,
       0.1285
      ],
      [
       1.44,
       0.1282
      ],
      [
       1.5,
       0.1293
      ],
      [
       1.56,
       0.1318
      ],
      [
       1.62,
       0.1365
      ],
      [
       1.68,
       0.1407
      ],
      [
       1.74,
       0.1449
      ],
      [
       1.8,
       0.1431
      ],
      [
       1.86,
       0.1436
      ],
      [
       1.92,
       0.1436
      ],
      [
       1.98,
       0.1436
      ],
      [
       2.04,
       0.1436
      ],
      [
       2.1,
       0.1436
      ],
      [
       2.16,
       0.1436
      ],
      [
       2.22,
       0.1436
      ],
      [
       2.28,
       0.1436
      ],
      [
       2.34,
       0.1437
      ],
      [
       2.4,
       0.1437
      ],
      [
       2.46,
       0.1436
      ],
      [
       2.52,
       0.1437
      ],
      [
       2.58,
       0.1435
      ],
      [
       2.64,
       0.1426
      ],
      [
       2.7,
       0.143
      ],
      [
       2.76,
       0.1432
      ],
      [
       2.82,
       0.1434
      ],
      [
       2.88,
       0.1436
      ],
      [
       2.94,
       0.1436
      ],
      [
       3.0,
       0.1437
      ],
      [
       3.06,
       0.1437
      ],
      [
       3.12,
       0.1437
      ],
      [
       3.18,
       0.1438
      ],
      [
       3.24,
       0.1438
      ],
      [
       3.3,
       0.1438
      ],
      [
       3.36,
       0.1438
      ],
      [
       3.42,
       0.1438
      ],
      [
       3.48,
       0.5217
      ],
      [
       3.54,
       0.5363
      ],
      [
       3.6,
       0.5504
      ],
      [
       3.66,
       0.5623
      ],
      [
       3.72,
       0.5714
      ],
      [
       3.78,
       0.5774
      ],
      [
       3.84,
       0.5804
      ],
      [
       3.9,
       0.5805
      ],
      [
       3.96,
       0.5776
      ],
      [
       4.02,
       0.5725
      ],
      [
       4.08,
       0.5658
      ],
      [
       4.14,
       0.5533
      ],
      [
       4.2,
       0.5332
      ],
      [
       4.26,
       0.5105
      ],
      [
       4.32,
       0.4874
      ],
      [
       4.38,
       0.4631
      ],
      [
       4.44,
       0.4434
      ],
      [
       4.5,
       0.4284
      ],
      [
       4.56,
       0.4158
      ],
      [
       4.62,
       0.4062
      ],
      [
       4.68,
       0.4012
      ],
      [
       4.74,
       0.4009
      ],
      [
       4.8,
       0.4
      ],
      [
       4.86,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.98,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.1,
       0.4
      ],
      [
       5.16,
       0.4
      ],
      [
       5.22,
       0.4
      ],
      [
       5.28,
       0.4
      ],
      [
       5.34,
       0.4
      ],
      [
       5.4,
       0.4
      ],
      [
       5.46,
       0.4
      ],
      [
       5.52,
       0.4
      ],
      [
       5.58,
       0.4
      ],
      [
       5.64,
       0.4
      ],
      [
       5.7,
       0.4
      ],
      [
       5.76,
       0.4009
      ],
      [
       5.82,
       0.4273
      ],
      [
       5.88,
       0.4583
      ],
      [
       5.94,
       0.4944
      ],
      [
       6.0,
       0.5366
      ],
      [
       6.06,
       0.5856
      ],
      [
       6.12,
       0.6418
      ],
      [
       6.18,
       0.705
      ],
      [
       6.24,
       0.7743
      ],
      [
       6.3,
       0.8476
      ],
      [
       6.36,
       0.9
      ],
      [
       6.42,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.54,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.66,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.78,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.9,
       0.8986
      ],
      [
       6.96,
       0.8795
      ],
      [
       7.02,
       0.8613
      ],
      [
       7.08,
       0.8449
      ],
      [
       7.14,
       0.8326
      ],
      [
       7.2,
       0.8248
      ],
      [
       7.26,
       0.8212
      ],
      [
       7.32,
       0.8216
      ],
      [
       7.38,
       0.8257
      ],
      [
       7.44,
       0.8332
      ],
      [
       7.5,
       0.8442
      ],
      [
       7.56,
       0.8583
      ],
      [
       7.62,
       0.8754
      ],
      [
       7.68,
       0.895
      ],
      [
       7.74,
       0.9
      ],
      [
       7.8,
       0.9
      ],
      [
       7.86,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.9
      ],
      [
       8.34,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.46,
       0.9
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       0.9
      ],
      [
       8.76,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.94,
       0.9
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       0.9
      ],
      [
       9.36,
       0.9
      ],
      [
       9.42,
       0.9
      ],
      [
       9.48,
       0.9
      ],
      [
       9.54,
       0.9
      ],
      [
       9.6,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.72,
       0.9
      ],
      [
       9.78,
       0.9
      ],
      [
       9.84,
       0.9
      ],
      [
       9.9,
       1.0
      ],
      [
       9.96,
       1.0
      ],
      [
       10.02,
       1.0
      ],
      [
       10.08,
       1.0
      ],
      [
       10.14,
       0.9
      ],
      [
       10.2,
       0.9
      ],
      [
       10.26,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.38,
       0.9
      ],
      [
       10.44,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.56,
       1.0
      ],
      [
       10.62,
       1.0
      ],
      [
       10.68,
       0.9
      ],
      [
       10.74,
       1.0
      ],
      [
       10.8,
       0.9
      ],
      [
       10.86,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       10.98,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.1,
       0.9
      ],
      [
       11.16,
       1.0
      ],
      [
       11.22,
       1.0
      ],
      [
       11.28,
       1.0
      ],
      [
       11.34,
       1.0
      ],
      [
       11.4,
       1.0
      ],
      [
       11.46,
       1.0
      ],
      [
       11.52,
       1.0
      ],
      [
       11.58,
       1.0
      ],
      [
       11.62,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "54a8103f6474837090944614f4d51938a9cdcf542aacbe5c5847cfca1ae443ba",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0012281091625191587,
       "final_progress": 0.0012281091625191587,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.8923113948077916,
       "final_progress": 0.8923113948077916,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.48751522093642297,
       "final_progress": 0.48751522093642297
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9,
       "final_progress": 0.9
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6908507144459998,
       "final_progress": 0.6908507144459998
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5822121885518189,
       "final_progress": 0.5822121885518189
      },
      {
       "layout_seed": 4,
       "outcome": "success",
       "steps": 581,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx77",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal cup"
      }
     ]
    }
   }
  },
  {
   "example_id": "cef1c315e57b0ddd5196367765731023fc791e205726acebbb195a739e41d1e0",
   "recording_id": 271,
   "task_number": 4,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "wooden dining tabletop",
   "human_action": false,
   "description": "Slide the tuna can across the wooden dining tabletop among the clear drinking glass and the black wire rack with glasses onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the tuna can across the wooden dining tabletop among the clear drinking glass and the black wire rack with glasses onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 271,
    "contributor_id": 1,
    "video": "media/source-271-71817e7bd684.mp4",
    "poster": "media/source-271.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 271,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/000/271_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "201e09c787b37b12cdf8a28005ffddb91214aaf33f26d56a5dd5a565b3a762fa",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "flagged",
     "provider_flag_reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "71817e7bd68473a39f0b6e66238b2df0039597a2fecb15effcbac47c69d93923",
    "provider_qc": {
     "status": "flagged",
     "reasons": [
      "Hand presence ratio (0.17) falls below 0.22 threshold",
      "Only frame 2 shows clear hand activity; most frames are static table/surface views",
      "Task match is valid \u2014 frames show cleaning activity (wiping/cleaning a wooden table surface with visible cleaning products and cloth)",
      "Footage quality is acceptable but hand visibility is limited for chest-mounted camera work"
     ]
    }
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "cef1c315e57b-panda",
     "video": "media/sim-cef1c315e57b-panda-s0.mp4",
     "poster": "media/sim-cef1c315e57b-panda-s0.jpg",
     "trajectory": "trajectories/cef1c315e57b-panda.json",
     "recipe": "recipes/cef1c315e57b-panda.json",
     "seed": 0,
     "steps": 472,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0002
      ],
      [
       0.2,
       0.0011
      ],
      [
       0.24,
       0.0028
      ],
      [
       0.28,
       0.0056
      ],
      [
       0.32,
       0.0095
      ],
      [
       0.36,
       0.0142
      ],
      [
       0.4,
       0.0196
      ],
      [
       0.44,
       0.0254
      ],
      [
       0.48,
       0.0316
      ],
      [
       0.52,
       0.0381
      ],
      [
       0.56,
       0.0448
      ],
      [
       0.6,
       0.0517
      ],
      [
       0.64,
       0.0589
      ],
      [
       0.68,
       0.0663
      ],
      [
       0.72,
       0.0739
      ],
      [
       0.76,
       0.0814
      ],
      [
       0.8,
       0.0884
      ],
      [
       0.84,
       0.095
      ],
      [
       0.88,
       0.1011
      ],
      [
       0.92,
       0.1073
      ],
      [
       0.96,
       0.1119
      ],
      [
       1.0,
       0.1142
      ],
      [
       1.04,
       0.1146
      ],
      [
       1.08,
       0.1137
      ],
      [
       1.12,
       0.1124
      ],
      [
       1.16,
       0.111
      ],
      [
       1.2,
       0.1091
      ],
      [
       1.24,
       0.1069
      ],
      [
       1.28,
       0.1063
      ],
      [
       1.32,
       0.1071
      ],
      [
       1.36,
       0.1084
      ],
      [
       1.4,
       0.1108
      ],
      [
       1.44,
       0.114
      ],
      [
       1.48,
       0.1172
      ],
      [
       1.52,
       0.1204
      ],
      [
       1.56,
       0.1238
      ],
      [
       1.6,
       0.1274
      ],
      [
       1.64,
       0.1312
      ],
      [
       1.68,
       0.135
      ],
      [
       1.72,
       0.1389
      ],
      [
       1.76,
       0.1405
      ],
      [
       1.8,
       0.141
      ],
      [
       1.84,
       0.1423
      ],
      [
       1.88,
       0.1442
      ],
      [
       1.92,
       0.1697
      ],
      [
       1.96,
       0.2008
      ],
      [
       2.0,
       0.2279
      ],
      [
       2.04,
       0.2549
      ],
      [
       2.08,
       0.2793
      ],
      [
       2.12,
       0.3009
      ],
      [
       2.16,
       0.3224
      ],
      [
       2.2,
       0.3433
      ],
      [
       2.24,
       0.3621
      ],
      [
       2.28,
       0.3824
      ],
      [
       2.32,
       0.4026
      ],
      [
       2.36,
       0.4208
      ],
      [
       2.4,
       0.4399
      ],
      [
       2.44,
       0.4582
      ],
      [
       2.48,
       0.4769
      ],
      [
       2.52,
       0.4937
      ],
      [
       2.56,
       0.5113
      ],
      [
       2.6,
       0.5312
      ],
      [
       2.64,
       0.5562
      ],
      [
       2.68,
       0.5848
      ],
      [
       2.72,
       0.6155
      ],
      [
       2.76,
       0.6449
      ],
      [
       2.8,
       0.6793
      ],
      [
       2.84,
       0.7142
      ],
      [
       2.88,
       0.7485
      ],
      [
       2.92,
       0.7806
      ],
      [
       2.96,
       0.8157
      ],
      [
       3.0,
       0.849
      ],
      [
       3.04,
       0.879
      ],
      [
       3.08,
       0.9068
      ],
      [
       3.12,
       0.9352
      ],
      [
       3.16,
       0.954
      ],
      [
       3.2,
       0.9699
      ],
      [
       3.24,
       0.9719
      ],
      [
       3.28,
       0.9703
      ],
      [
       3.32,
       0.9535
      ],
      [
       3.36,
       0.9414
      ],
      [
       3.4,
       0.9414
      ],
      [
       3.44,
       0.9412
      ],
      [
       3.48,
       0.9414
      ],
      [
       3.52,
       0.9412
      ],
      [
       3.56,
       0.9413
      ],
      [
       3.6,
       0.9412
      ],
      [
       3.64,
       0.9413
      ],
      [
       3.68,
       0.9414
      ],
      [
       3.72,
       0.9416
      ],
      [
       3.76,
       0.9416
      ],
      [
       3.8,
       0.9415
      ],
      [
       3.84,
       0.9415
      ],
      [
       3.88,
       0.9414
      ],
      [
       3.92,
       0.9415
      ],
      [
       3.96,
       0.9418
      ],
      [
       4.0,
       0.942
      ],
      [
       4.04,
       0.9418
      ],
      [
       4.08,
       0.942
      ],
      [
       4.12,
       0.9418
      ],
      [
       4.16,
       0.942
      ],
      [
       4.2,
       0.9419
      ],
      [
       4.24,
       0.9419
      ],
      [
       4.28,
       0.9422
      ],
      [
       4.32,
       0.9419
      ],
      [
       4.36,
       0.942
      ],
      [
       4.4,
       0.9424
      ],
      [
       4.44,
       0.9419
      ],
      [
       4.48,
       0.9421
      ],
      [
       4.52,
       0.9425
      ],
      [
       4.56,
       0.9424
      ],
      [
       4.6,
       0.9422
      ],
      [
       4.64,
       0.9425
      ],
      [
       4.68,
       0.9423
      ],
      [
       4.72,
       0.9425
      ],
      [
       4.76,
       0.9425
      ],
      [
       4.8,
       0.9427
      ],
      [
       4.84,
       0.9427
      ],
      [
       4.88,
       0.9428
      ],
      [
       4.92,
       0.9424
      ],
      [
       4.96,
       0.9428
      ],
      [
       5.0,
       0.9425
      ],
      [
       5.04,
       0.9427
      ],
      [
       5.08,
       0.943
      ],
      [
       5.12,
       0.9428
      ],
      [
       5.16,
       0.9429
      ],
      [
       5.2,
       0.943
      ],
      [
       5.24,
       0.9429
      ],
      [
       5.28,
       0.9431
      ],
      [
       5.32,
       0.9433
      ],
      [
       5.36,
       0.9432
      ],
      [
       5.4,
       0.943
      ],
      [
       5.44,
       0.9432
      ],
      [
       5.48,
       0.9434
      ],
      [
       5.52,
       0.9433
      ],
      [
       5.56,
       0.9431
      ],
      [
       5.6,
       0.9435
      ],
      [
       5.64,
       0.9433
      ],
      [
       5.68,
       0.9435
      ],
      [
       5.72,
       0.9433
      ],
      [
       5.76,
       0.9434
      ],
      [
       5.8,
       0.9435
      ],
      [
       5.84,
       0.9437
      ],
      [
       5.88,
       0.9437
      ],
      [
       5.92,
       0.9436
      ],
      [
       5.96,
       0.9436
      ],
      [
       6.0,
       0.9435
      ],
      [
       6.04,
       0.9436
      ],
      [
       6.08,
       0.9439
      ],
      [
       6.12,
       0.944
      ],
      [
       6.16,
       0.9439
      ],
      [
       6.2,
       0.9441
      ],
      [
       6.24,
       0.9439
      ],
      [
       6.28,
       0.9441
      ],
      [
       6.32,
       0.944
      ],
      [
       6.36,
       0.944
      ],
      [
       6.4,
       0.9443
      ],
      [
       6.44,
       0.944
      ],
      [
       6.48,
       0.944
      ],
      [
       6.52,
       0.9444
      ],
      [
       6.56,
       0.944
      ],
      [
       6.6,
       0.9442
      ],
      [
       6.64,
       0.9445
      ],
      [
       6.68,
       0.9445
      ],
      [
       6.72,
       0.9442
      ],
      [
       6.76,
       0.9446
      ],
      [
       6.8,
       0.9444
      ],
      [
       6.84,
       0.9446
      ],
      [
       6.88,
       0.9445
      ],
      [
       6.92,
       0.9448
      ],
      [
       6.96,
       0.9447
      ],
      [
       7.0,
       0.9448
      ],
      [
       7.04,
       0.9445
      ],
      [
       7.08,
       0.9448
      ],
      [
       7.12,
       0.9446
      ],
      [
       7.16,
       0.9448
      ],
      [
       7.2,
       0.945
      ],
      [
       7.24,
       0.9449
      ],
      [
       7.28,
       0.9449
      ],
      [
       7.32,
       0.945
      ],
      [
       7.36,
       0.9449
      ],
      [
       7.4,
       0.9452
      ],
      [
       7.44,
       0.9453
      ],
      [
       7.48,
       0.9452
      ],
      [
       7.52,
       0.945
      ],
      [
       7.56,
       0.9453
      ],
      [
       7.6,
       0.9455
      ],
      [
       7.64,
       0.9453
      ],
      [
       7.68,
       0.9451
      ],
      [
       7.72,
       0.9455
      ],
      [
       7.76,
       0.9454
      ],
      [
       7.8,
       0.9455
      ],
      [
       7.84,
       0.9453
      ],
      [
       7.88,
       0.9454
      ],
      [
       7.92,
       0.9455
      ],
      [
       7.96,
       0.9457
      ],
      [
       8.0,
       0.9457
      ],
      [
       8.04,
       0.9456
      ],
      [
       8.08,
       0.9456
      ],
      [
       8.12,
       0.9455
      ],
      [
       8.16,
       0.9456
      ],
      [
       8.2,
       0.9459
      ],
      [
       8.24,
       0.946
      ],
      [
       8.28,
       0.9458
      ],
      [
       8.32,
       0.9461
      ],
      [
       8.36,
       0.9459
      ],
      [
       8.4,
       0.9461
      ],
      [
       8.44,
       0.9459
      ],
      [
       8.48,
       0.946
      ],
      [
       8.52,
       0.9462
      ],
      [
       8.56,
       0.9459
      ],
      [
       8.6,
       0.946
      ],
      [
       8.64,
       0.9464
      ],
      [
       8.68,
       0.946
      ],
      [
       8.72,
       0.9462
      ],
      [
       8.76,
       0.9465
      ],
      [
       8.8,
       0.9464
      ],
      [
       8.84,
       0.9462
      ],
      [
       8.88,
       0.9465
      ],
      [
       8.92,
       0.9463
      ],
      [
       8.96,
       0.9465
      ],
      [
       9.0,
       0.9465
      ],
      [
       9.04,
       0.9467
      ],
      [
       9.08,
       0.9466
      ],
      [
       9.12,
       0.9468
      ],
      [
       9.16,
       0.9464
      ],
      [
       9.2,
       0.9468
      ],
      [
       9.24,
       0.9465
      ],
      [
       9.28,
       0.9467
      ],
      [
       9.32,
       0.9469
      ],
      [
       9.36,
       0.9468
      ],
      [
       9.4,
       0.9774
      ],
      [
       9.44,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "2ca99f542bc0648830c7b0b62c5d8baf49672b08b6a4ac0d5fb5334c89014b96",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.3881317890172014e-21,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 7.37257477290143e-18,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.05682988917600679,
       "final_progress": 0.05682988917600679,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 472,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "tuna_can_ctx77",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "task_object",
       "label": "tuna can"
      },
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal cup"
      }
     ]
    },
    "aloha": {
     "gym_id": "cef1c315e57b-aloha",
     "video": "media/sim-cef1c315e57b-aloha-s1.mp4",
     "poster": "media/sim-cef1c315e57b-aloha-s1.jpg",
     "trajectory": "trajectories/cef1c315e57b-aloha.json",
     "recipe": "recipes/cef1c315e57b-aloha.json",
     "seed": 1,
     "steps": 1184,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0027
      ],
      [
       0.28,
       0.0068
      ],
      [
       0.42,
       0.0122
      ],
      [
       0.56,
       0.0192
      ],
      [
       0.7,
       0.0279
      ],
      [
       0.84,
       0.0386
      ],
      [
       0.98,
       0.0514
      ],
      [
       1.12,
       0.0662
      ],
      [
       1.26,
       0.0811
      ],
      [
       1.4,
       0.0932
      ],
      [
       1.54,
       0.1008
      ],
      [
       1.68,
       0.1045
      ],
      [
       1.82,
       0.1041
      ],
      [
       1.96,
       0.1015
      ],
      [
       2.1,
       0.098
      ],
      [
       2.24,
       0.096
      ],
      [
       2.38,
       0.0954
      ],
      [
       2.52,
       0.0957
      ],
      [
       2.66,
       0.0975
      ],
      [
       2.8,
       0.1008
      ],
      [
       2.94,
       0.1054
      ],
      [
       3.08,
       0.1109
      ],
      [
       3.22,
       0.1176
      ],
      [
       3.36,
       0.1247
      ],
      [
       3.5,
       0.1316
      ],
      [
       3.64,
       0.1365
      ],
      [
       3.78,
       0.1369
      ],
      [
       3.92,
       0.1367
      ],
      [
       4.06,
       0.1365
      ],
      [
       4.2,
       0.1364
      ],
      [
       4.34,
       0.1369
      ],
      [
       4.48,
       0.1385
      ],
      [
       4.62,
       0.1389
      ],
      [
       4.76,
       0.1395
      ],
      [
       4.9,
       0.1402
      ],
      [
       5.04,
       0.1409
      ],
      [
       5.18,
       0.1416
      ],
      [
       5.32,
       0.143
      ],
      [
       5.46,
       0.1479
      ],
      [
       5.6,
       0.3016
      ],
      [
       5.74,
       0.4586
      ],
      [
       5.88,
       0.5652
      ],
      [
       6.02,
       0.6143
      ],
      [
       6.16,
       0.6345
      ],
      [
       6.3,
       0.6391
      ],
      [
       6.44,
       0.6408
      ],
      [
       6.58,
       0.6425
      ],
      [
       6.72,
       0.6443
      ],
      [
       6.86,
       0.6462
      ],
      [
       7.0,
       0.6482
      ],
      [
       7.14,
       0.6507
      ],
      [
       7.28,
       0.6546
      ],
      [
       7.42,
       0.6588
      ],
      [
       7.56,
       0.6649
      ],
      [
       7.7,
       0.6723
      ],
      [
       7.84,
       0.6891
      ],
      [
       7.98,
       0.72
      ],
      [
       8.12,
       0.7789
      ],
      [
       8.26,
       0.8448
      ],
      [
       8.4,
       0.8776
      ],
      [
       8.54,
       0.8077
      ],
      [
       8.68,
       0.668
      ],
      [
       8.82,
       0.4893
      ],
      [
       8.96,
       0.3311
      ],
      [
       9.1,
       0.2057
      ],
      [
       9.24,
       0.2056
      ],
      [
       9.38,
       0.2056
      ],
      [
       9.52,
       0.2056
      ],
      [
       9.66,
       0.2056
      ],
      [
       9.8,
       0.2056
      ],
      [
       9.94,
       0.2056
      ],
      [
       10.08,
       0.2056
      ],
      [
       10.22,
       0.2056
      ],
      [
       10.36,
       0.2056
      ],
      [
       10.5,
       0.2056
      ],
      [
       10.64,
       0.2056
      ],
      [
       10.78,
       0.2056
      ],
      [
       10.92,
       0.2056
      ],
      [
       11.06,
       0.2056
      ],
      [
       11.2,
       0.2056
      ],
      [
       11.34,
       0.2056
      ],
      [
       11.48,
       0.2056
      ],
      [
       11.62,
       0.2056
      ],
      [
       11.76,
       0.2056
      ],
      [
       11.9,
       0.2056
      ],
      [
       12.04,
       0.2056
      ],
      [
       12.18,
       0.2056
      ],
      [
       12.32,
       0.2056
      ],
      [
       12.46,
       0.2056
      ],
      [
       12.6,
       0.2056
      ],
      [
       12.74,
       0.2056
      ],
      [
       12.88,
       0.2056
      ],
      [
       13.02,
       0.2056
      ],
      [
       13.16,
       0.2056
      ],
      [
       13.3,
       0.2056
      ],
      [
       13.44,
       0.2056
      ],
      [
       13.58,
       0.2056
      ],
      [
       13.72,
       0.2056
      ],
      [
       13.86,
       0.2056
      ],
      [
       14.0,
       0.2056
      ],
      [
       14.14,
       0.2056
      ],
      [
       14.28,
       0.2056
      ],
      [
       14.42,
       0.2056
      ],
      [
       14.56,
       0.2056
      ],
      [
       14.7,
       0.2056
      ],
      [
       14.84,
       0.2056
      ],
      [
       14.98,
       0.2056
      ],
      [
       15.12,
       0.2056
      ],
      [
       15.26,
       0.2056
      ],
      [
       15.4,
       0.2056
      ],
      [
       15.54,
       0.2056
      ],
      [
       15.68,
       0.2056
      ],
      [
       15.82,
       0.2056
      ],
      [
       15.96,
       0.2056
      ],
      [
       16.1,
       0.2056
      ],
      [
       16.24,
       0.2056
      ],
      [
       16.38,
       0.2056
      ],
      [
       16.52,
       0.2056
      ],
      [
       16.66,
       0.2056
      ],
      [
       16.8,
       0.2056
      ],
      [
       16.94,
       0.2056
      ],
      [
       17.08,
       0.2056
      ],
      [
       17.22,
       0.2056
      ],
      [
       17.36,
       0.2056
      ],
      [
       17.5,
       0.2056
      ],
      [
       17.64,
       0.2056
      ],
      [
       17.78,
       0.2056
      ],
      [
       17.92,
       0.2056
      ],
      [
       18.06,
       0.2148
      ],
      [
       18.2,
       0.2544
      ],
      [
       18.34,
       0.3208
      ],
      [
       18.48,
       0.4031
      ],
      [
       18.62,
       0.4903
      ],
      [
       18.76,
       0.5904
      ],
      [
       18.9,
       0.7005
      ],
      [
       19.04,
       0.7795
      ],
      [
       19.18,
       0.8046
      ],
      [
       19.32,
       0.8049
      ],
      [
       19.46,
       0.8056
      ],
      [
       19.6,
       0.8056
      ],
      [
       19.74,
       0.8056
      ],
      [
       19.88,
       0.8056
      ],
      [
       20.02,
       0.8056
      ],
      [
       20.16,
       0.8056
      ],
      [
       20.3,
       0.8056
      ],
      [
       20.44,
       0.8056
      ],
      [
       20.58,
       0.8056
      ],
      [
       20.72,
       0.8056
      ],
      [
       20.86,
       0.8056
      ],
      [
       21.0,
       0.8056
      ],
      [
       21.14,
       0.8056
      ],
      [
       21.28,
       0.8056
      ],
      [
       21.42,
       0.8056
      ],
      [
       21.56,
       0.8056
      ],
      [
       21.7,
       0.8056
      ],
      [
       21.84,
       0.8056
      ],
      [
       21.98,
       0.8056
      ],
      [
       22.12,
       0.8056
      ],
      [
       22.26,
       0.8056
      ],
      [
       22.4,
       0.8056
      ],
      [
       22.54,
       0.8056
      ],
      [
       22.68,
       0.8056
      ],
      [
       22.82,
       0.8056
      ],
      [
       22.96,
       0.8056
      ],
      [
       23.1,
       0.8342
      ],
      [
       23.24,
       0.8709
      ],
      [
       23.38,
       0.9104
      ],
      [
       23.52,
       0.9537
      ],
      [
       23.66,
       0.996
      ],
      [
       23.68,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "2496a0a65797da25527ff851b9835417c2b593dd2e677d24ac34f5c3766b7c9e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0005127252849533359,
       "final_progress": 0.0005127252849533359,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -1.3552527156068805e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.050259861612248546,
       "final_progress": 0.0678382460857702,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.09244545706968958,
       "final_progress": 0.09244545706968957
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 1184,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "tuna_can_ctx77",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "task_object",
       "label": "tuna can"
      },
      {
       "name": "folded_blue_towel_under_cani_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "folded blue towel under canister"
      },
      {
       "name": "black_wire_rack_with_glasses_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "black wire rack with glasses"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "glass_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottle"
      },
      {
       "name": "clear_drinking_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "clear_drinking_glass_1",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear drinking glass"
      },
      {
       "name": "teal_cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal cup"
      }
     ]
    }
   }
  },
  {
   "example_id": "2ab6d0d008dc9c61ed9797ef6210a47834b095b6ce1ff971e13e91388c71cbe2",
   "recording_id": 4462,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "white tiled kitchen countertop",
   "human_action": true,
   "description": "In the footage: Wipe the visible white tiled kitchen countertop with the cream wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 12\u00d76 cm patch (square to the table edge) on the white tiled kitchen countertop among the black electric kettle and the amber oil bottle and sweep it row by row at 2\u201310 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 2\u201310 N, no object moved >2 cm, peak force \u226430 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 4462,
    "contributor_id": 3,
    "video": "media/source-4462-77d3c4908ac4.mp4",
    "poster": "media/source-4462.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4462,
     "contributor_id": 3,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4462_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 4.670000000000002,
      "original_end_s": 24.67,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbd225c646a724295b92942f0119ad39d6786a4c7937e28252fa5607e6134d20",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 8,
    "flat_decor": 0,
    "observed": 7,
    "added_context": 1,
    "recording_observed": 7,
    "recording_added": 1,
    "surface": "white tiled kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "2ab6d0d008dc-panda",
     "video": "media/sim-2ab6d0d008dc-panda-s1.mp4",
     "poster": "media/sim-2ab6d0d008dc-panda-s1.jpg",
     "trajectory": "trajectories/2ab6d0d008dc-panda.json",
     "recipe": "recipes/2ab6d0d008dc-panda.json",
     "seed": 1,
     "steps": 377,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0005
      ],
      [
       0.08,
       0.0023
      ],
      [
       0.12,
       0.006
      ],
      [
       0.16,
       0.01
      ],
      [
       0.2,
       0.0138
      ],
      [
       0.24,
       0.0177
      ],
      [
       0.28,
       0.022
      ],
      [
       0.32,
       0.0266
      ],
      [
       0.36,
       0.0313
      ],
      [
       0.4,
       0.0362
      ],
      [
       0.44,
       0.0413
      ],
      [
       0.48,
       0.0466
      ],
      [
       0.52,
       0.0521
      ],
      [
       0.56,
       0.0577
      ],
      [
       0.6,
       0.0633
      ],
      [
       0.64,
       0.0691
      ],
      [
       0.68,
       0.0748
      ],
      [
       0.72,
       0.0805
      ],
      [
       0.76,
       0.0863
      ],
      [
       0.8,
       0.0922
      ],
      [
       0.84,
       0.0982
      ],
      [
       0.88,
       0.1042
      ],
      [
       0.92,
       0.1102
      ],
      [
       0.96,
       0.1162
      ],
      [
       1.0,
       0.1222
      ],
      [
       1.04,
       0.1281
      ],
      [
       1.08,
       0.1338
      ],
      [
       1.12,
       0.1395
      ],
      [
       1.16,
       0.1435
      ],
      [
       1.2,
       0.1405
      ],
      [
       1.24,
       0.1405
      ],
      [
       1.28,
       0.143
      ],
      [
       1.32,
       0.1437
      ],
      [
       1.36,
       0.1434
      ],
      [
       1.4,
       0.143
      ],
      [
       1.44,
       0.1416
      ],
      [
       1.48,
       0.1402
      ],
      [
       1.52,
       0.1394
      ],
      [
       1.56,
       0.1392
      ],
      [
       1.6,
       0.1396
      ],
      [
       1.64,
       0.1401
      ],
      [
       1.68,
       0.1405
      ],
      [
       1.72,
       0.1408
      ],
      [
       1.76,
       0.1412
      ],
      [
       1.8,
       0.142
      ],
      [
       1.84,
       0.1431
      ],
      [
       1.88,
       0.1443
      ],
      [
       1.92,
       0.1455
      ],
      [
       1.96,
       0.1465
      ],
      [
       2.0,
       0.1472
      ],
      [
       2.04,
       0.1477
      ],
      [
       2.08,
       0.1481
      ],
      [
       2.12,
       0.1485
      ],
      [
       2.16,
       0.149
      ],
      [
       2.2,
       0.1495
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.3389
      ],
      [
       2.88,
       0.3389
      ],
      [
       2.92,
       0.3389
      ],
      [
       2.96,
       0.3389
      ],
      [
       3.0,
       0.3389
      ],
      [
       3.04,
       0.3389
      ],
      [
       3.08,
       0.3389
      ],
      [
       3.12,
       0.3389
      ],
      [
       3.16,
       0.3389
      ],
      [
       3.2,
       0.3389
      ],
      [
       3.24,
       0.3389
      ],
      [
       3.28,
       0.3389
      ],
      [
       3.32,
       0.3389
      ],
      [
       3.36,
       0.3389
      ],
      [
       3.4,
       0.3389
      ],
      [
       3.44,
       0.3389
      ],
      [
       3.48,
       0.3389
      ],
      [
       3.52,
       0.3389
      ],
      [
       3.56,
       0.3389
      ],
      [
       3.6,
       0.3389
      ],
      [
       3.64,
       0.3389
      ],
      [
       3.68,
       0.3389
      ],
      [
       3.72,
       0.3389
      ],
      [
       3.76,
       0.3389
      ],
      [
       3.8,
       0.3389
      ],
      [
       3.84,
       0.3389
      ],
      [
       3.88,
       0.3389
      ],
      [
       3.92,
       0.3389
      ],
      [
       3.96,
       0.3389
      ],
      [
       4.0,
       0.3389
      ],
      [
       4.04,
       0.3389
      ],
      [
       4.08,
       0.3389
      ],
      [
       4.12,
       0.3389
      ],
      [
       4.16,
       0.3389
      ],
      [
       4.2,
       0.3389
      ],
      [
       4.24,
       0.3389
      ],
      [
       4.28,
       0.3389
      ],
      [
       4.32,
       0.3389
      ],
      [
       4.36,
       0.3389
      ],
      [
       4.4,
       0.5278
      ],
      [
       4.44,
       0.5278
      ],
      [
       4.48,
       0.5278
      ],
      [
       4.52,
       0.5278
      ],
      [
       4.56,
       0.5278
      ],
      [
       4.6,
       0.5278
      ],
      [
       4.64,
       0.6222
      ],
      [
       4.68,
       0.6222
      ],
      [
       4.72,
       0.6222
      ],
      [
       4.76,
       0.6222
      ],
      [
       4.8,
       0.6222
      ],
      [
       4.84,
       0.6222
      ],
      [
       4.88,
       0.6222
      ],
      [
       4.92,
       0.6222
      ],
      [
       4.96,
       0.6222
      ],
      [
       5.0,
       0.6222
      ],
      [
       5.04,
       0.6222
      ],
      [
       5.08,
       0.6222
      ],
      [
       5.12,
       0.6222
      ],
      [
       5.16,
       0.6222
      ],
      [
       5.2,
       0.7167
      ],
      [
       5.24,
       0.7167
      ],
      [
       5.28,
       0.7167
      ],
      [
       5.32,
       0.7167
      ],
      [
       5.36,
       0.7167
      ],
      [
       5.4,
       0.7167
      ],
      [
       5.44,
       0.7167
      ],
      [
       5.48,
       0.7167
      ],
      [
       5.52,
       0.7167
      ],
      [
       5.56,
       0.7167
      ],
      [
       5.6,
       0.8111
      ],
      [
       5.64,
       0.8111
      ],
      [
       5.68,
       0.8111
      ],
      [
       5.72,
       0.8111
      ],
      [
       5.76,
       0.8111
      ],
      [
       5.8,
       0.8111
      ],
      [
       5.84,
       0.8111
      ],
      [
       5.88,
       0.8111
      ],
      [
       5.92,
       0.8111
      ],
      [
       5.96,
       0.8111
      ],
      [
       6.0,
       0.8583
      ],
      [
       6.04,
       0.8583
      ],
      [
       6.08,
       0.8583
      ],
      [
       6.12,
       0.8583
      ],
      [
       6.16,
       0.8583
      ],
      [
       6.2,
       0.8583
      ],
      [
       6.24,
       0.8583
      ],
      [
       6.28,
       0.8583
      ],
      [
       6.32,
       0.8583
      ],
      [
       6.36,
       0.8583
      ],
      [
       6.4,
       0.8583
      ],
      [
       6.44,
       0.9056
      ],
      [
       6.48,
       0.9056
      ],
      [
       6.52,
       0.9056
      ],
      [
       6.56,
       0.9056
      ],
      [
       6.6,
       0.9056
      ],
      [
       6.64,
       0.9056
      ],
      [
       6.68,
       0.9056
      ],
      [
       6.72,
       0.9056
      ],
      [
       6.76,
       0.9056
      ],
      [
       6.8,
       0.9056
      ],
      [
       6.84,
       0.9056
      ],
      [
       6.88,
       0.9056
      ],
      [
       6.92,
       0.9056
      ],
      [
       6.96,
       0.9056
      ],
      [
       7.0,
       0.9056
      ],
      [
       7.04,
       0.9056
      ],
      [
       7.08,
       0.9056
      ],
      [
       7.12,
       0.9056
      ],
      [
       7.16,
       0.9056
      ],
      [
       7.2,
       0.9056
      ],
      [
       7.24,
       0.9056
      ],
      [
       7.28,
       0.9056
      ],
      [
       7.32,
       0.9056
      ],
      [
       7.36,
       0.9056
      ],
      [
       7.4,
       0.9056
      ],
      [
       7.44,
       0.9056
      ],
      [
       7.48,
       0.9056
      ],
      [
       7.52,
       0.9056
      ],
      [
       7.54,
       1.0
      ]
     ],
     "total_reward": 1.9393,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "90813b9d2cd1484990d20bc9c56454083d1879771031555b742e1c55fdbb839c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.24999999999999997,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.13611111111111107,
       "final_progress": 0.38611111111111107,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9260734389380045,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 377,
       "return": 1.9393384786275722,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "2ab6d0d008dc-aloha",
     "video": "media/sim-2ab6d0d008dc-aloha-s1.mp4",
     "poster": "media/sim-2ab6d0d008dc-aloha-s1.jpg",
     "trajectory": "trajectories/2ab6d0d008dc-aloha.json",
     "recipe": "recipes/2ab6d0d008dc-aloha.json",
     "seed": 1,
     "steps": 511,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0013
      ],
      [
       0.12,
       0.0031
      ],
      [
       0.18,
       0.0051
      ],
      [
       0.24,
       0.0075
      ],
      [
       0.3,
       0.0101
      ],
      [
       0.36,
       0.0132
      ],
      [
       0.42,
       0.0166
      ],
      [
       0.48,
       0.0204
      ],
      [
       0.54,
       0.0245
      ],
      [
       0.6,
       0.0292
      ],
      [
       0.66,
       0.0346
      ],
      [
       0.72,
       0.0403
      ],
      [
       0.78,
       0.0462
      ],
      [
       0.84,
       0.0521
      ],
      [
       0.9,
       0.0582
      ],
      [
       0.96,
       0.0646
      ],
      [
       1.02,
       0.0715
      ],
      [
       1.08,
       0.0789
      ],
      [
       1.14,
       0.0869
      ],
      [
       1.2,
       0.0957
      ],
      [
       1.26,
       0.1066
      ],
      [
       1.32,
       0.1207
      ],
      [
       1.38,
       0.1352
      ],
      [
       1.44,
       0.1421
      ],
      [
       1.5,
       0.1446
      ],
      [
       1.56,
       0.1461
      ],
      [
       1.62,
       0.1475
      ],
      [
       1.68,
       0.1487
      ],
      [
       1.74,
       0.1494
      ],
      [
       1.8,
       0.1491
      ],
      [
       1.86,
       0.148
      ],
      [
       1.92,
       0.1465
      ],
      [
       1.98,
       0.1444
      ],
      [
       2.04,
       0.1415
      ],
      [
       2.1,
       0.1387
      ],
      [
       2.16,
       0.1372
      ],
      [
       2.22,
       0.1367
      ],
      [
       2.28,
       0.1367
      ],
      [
       2.34,
       0.1367
      ],
      [
       2.4,
       0.1367
      ],
      [
       2.46,
       0.1367
      ],
      [
       2.52,
       0.1366
      ],
      [
       2.58,
       0.1365
      ],
      [
       2.64,
       0.1364
      ],
      [
       2.7,
       0.1363
      ],
      [
       2.76,
       0.1363
      ],
      [
       2.82,
       0.1363
      ],
      [
       2.88,
       0.1362
      ],
      [
       2.94,
       0.1361
      ],
      [
       3.0,
       0.1359
      ],
      [
       3.06,
       0.1356
      ],
      [
       3.12,
       0.1353
      ],
      [
       3.18,
       0.1352
      ],
      [
       3.24,
       0.1353
      ],
      [
       3.3,
       0.1357
      ],
      [
       3.36,
       0.1359
      ],
      [
       3.42,
       0.1361
      ],
      [
       3.48,
       0.1362
      ],
      [
       3.54,
       0.1363
      ],
      [
       3.6,
       0.1363
      ],
      [
       3.66,
       0.1369
      ],
      [
       3.72,
       0.1386
      ],
      [
       3.78,
       0.142
      ],
      [
       3.84,
       0.1469
      ],
      [
       3.9,
       0.15
      ],
      [
       3.96,
       0.15
      ],
      [
       4.02,
       0.15
      ],
      [
       4.08,
       0.15
      ],
      [
       4.14,
       0.15
      ],
      [
       4.2,
       0.15
      ],
      [
       4.26,
       0.15
      ],
      [
       4.32,
       0.15
      ],
      [
       4.38,
       0.15
      ],
      [
       4.44,
       0.15
      ],
      [
       4.5,
       0.3389
      ],
      [
       4.56,
       0.3389
      ],
      [
       4.62,
       0.3389
      ],
      [
       4.68,
       0.3389
      ],
      [
       4.74,
       0.3389
      ],
      [
       4.8,
       0.3389
      ],
      [
       4.86,
       0.4333
      ],
      [
       4.92,
       0.4333
      ],
      [
       4.98,
       0.4333
      ],
      [
       5.04,
       0.4333
      ],
      [
       5.1,
       0.4333
      ],
      [
       5.16,
       0.4333
      ],
      [
       5.22,
       0.4333
      ],
      [
       5.28,
       0.4333
      ],
      [
       5.34,
       0.4333
      ],
      [
       5.4,
       0.4333
      ],
      [
       5.46,
       0.5278
      ],
      [
       5.52,
       0.5278
      ],
      [
       5.58,
       0.5278
      ],
      [
       5.64,
       0.5278
      ],
      [
       5.7,
       0.5278
      ],
      [
       5.76,
       0.5278
      ],
      [
       5.82,
       0.5278
      ],
      [
       5.88,
       0.5278
      ],
      [
       5.94,
       0.6222
      ],
      [
       6.0,
       0.6222
      ],
      [
       6.06,
       0.6222
      ],
      [
       6.12,
       0.6222
      ],
      [
       6.18,
       0.7167
      ],
      [
       6.24,
       0.7167
      ],
      [
       6.3,
       0.7167
      ],
      [
       6.36,
       0.7167
      ],
      [
       6.42,
       0.7167
      ],
      [
       6.48,
       0.7167
      ],
      [
       6.54,
       0.7167
      ],
      [
       6.6,
       0.7167
      ],
      [
       6.66,
       0.7167
      ],
      [
       6.72,
       0.7167
      ],
      [
       6.78,
       0.7167
      ],
      [
       6.84,
       0.7167
      ],
      [
       6.9,
       0.7167
      ],
      [
       6.96,
       0.7167
      ],
      [
       7.02,
       0.7167
      ],
      [
       7.08,
       0.7167
      ],
      [
       7.14,
       0.7167
      ],
      [
       7.2,
       0.7167
      ],
      [
       7.26,
       0.7167
      ],
      [
       7.32,
       0.7167
      ],
      [
       7.38,
       0.7167
      ],
      [
       7.44,
       0.7167
      ],
      [
       7.5,
       0.8111
      ],
      [
       7.56,
       0.8111
      ],
      [
       7.62,
       0.8111
      ],
      [
       7.68,
       0.8111
      ],
      [
       7.74,
       0.8111
      ],
      [
       7.8,
       0.8111
      ],
      [
       7.86,
       0.8111
      ],
      [
       7.92,
       0.8111
      ],
      [
       7.98,
       0.8111
      ],
      [
       8.04,
       0.8111
      ],
      [
       8.1,
       0.8111
      ],
      [
       8.16,
       0.8111
      ],
      [
       8.22,
       0.8111
      ],
      [
       8.28,
       0.8111
      ],
      [
       8.34,
       0.8111
      ],
      [
       8.4,
       0.8111
      ],
      [
       8.46,
       0.8111
      ],
      [
       8.52,
       0.8111
      ],
      [
       8.58,
       0.8111
      ],
      [
       8.64,
       0.8111
      ],
      [
       8.7,
       0.8111
      ],
      [
       8.76,
       0.8111
      ],
      [
       8.82,
       0.8111
      ],
      [
       8.88,
       0.8111
      ],
      [
       8.94,
       0.8583
      ],
      [
       9.0,
       0.8583
      ],
      [
       9.06,
       0.8583
      ],
      [
       9.12,
       0.8583
      ],
      [
       9.18,
       0.8583
      ],
      [
       9.24,
       0.8583
      ],
      [
       9.3,
       0.8583
      ],
      [
       9.36,
       0.9056
      ],
      [
       9.42,
       0.9056
      ],
      [
       9.48,
       0.9056
      ],
      [
       9.54,
       0.9056
      ],
      [
       9.6,
       0.9056
      ],
      [
       9.66,
       0.9056
      ],
      [
       9.72,
       0.9056
      ],
      [
       9.78,
       0.9056
      ],
      [
       9.84,
       0.9056
      ],
      [
       9.9,
       0.9056
      ],
      [
       9.96,
       0.9056
      ],
      [
       10.02,
       0.9056
      ],
      [
       10.08,
       0.9056
      ],
      [
       10.14,
       0.9056
      ],
      [
       10.2,
       0.9056
      ],
      [
       10.22,
       0.9528
      ]
     ],
     "total_reward": 1.8938,
     "initial_progress": 0.0,
     "final_progress": 0.9528,
     "physics_sha256": "5667ca6bc05d0ed7f727fe6695e63d4388bda1f67d66a8e124d00cf51db4fef2",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013745642048531624,
       "final_progress": 0.0013745642048531624,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 8.131516293641283e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3306333390770387,
       "final_progress": 0.3388888888888889,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9295039397702569,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 511,
       "return": 1.8938089603862038,
       "final_progress": 0.9527777777777777
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "30ce0119e0f0a282f5f963dea9ac247fefb229c14a817e66e2d3452d1d6b8c58",
   "recording_id": 4462,
   "task_number": 2,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "white tiled kitchen countertop",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the white tiled kitchen countertop among the tall herb jar and the amber oil bottle and pull the drawer 10 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the white tiled kitchen countertop among the tall herb jar and the amber oil bottle and pull the drawer 10 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u226510 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 4462,
    "contributor_id": 3,
    "video": "media/source-4462-77d3c4908ac4.mp4",
    "poster": "media/source-4462.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4462,
     "contributor_id": 3,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4462_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 4.670000000000002,
      "original_end_s": 24.67,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbd225c646a724295b92942f0119ad39d6786a4c7937e28252fa5607e6134d20",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 7,
    "added_context": 2,
    "recording_observed": 7,
    "recording_added": 1,
    "surface": "white tiled kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "30ce0119e0f0-panda",
     "video": "media/sim-30ce0119e0f0-panda-s2.mp4",
     "poster": "media/sim-30ce0119e0f0-panda-s2.jpg",
     "trajectory": "trajectories/30ce0119e0f0-panda.json",
     "recipe": "recipes/30ce0119e0f0-panda.json",
     "seed": 2,
     "steps": 1044,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.32,
       0.003
      ],
      [
       1.44,
       0.0193
      ],
      [
       1.56,
       0.038
      ],
      [
       1.68,
       0.0508
      ],
      [
       1.8,
       0.0622
      ],
      [
       1.92,
       0.0716
      ],
      [
       2.04,
       0.0784
      ],
      [
       2.16,
       0.0836
      ],
      [
       2.28,
       0.0881
      ],
      [
       2.4,
       0.0929
      ],
      [
       2.52,
       0.0988
      ],
      [
       2.64,
       0.1067
      ],
      [
       2.76,
       0.1168
      ],
      [
       2.88,
       0.1226
      ],
      [
       3.0,
       0.1269
      ],
      [
       3.12,
       0.135
      ],
      [
       3.24,
       0.1466
      ],
      [
       3.36,
       0.1471
      ],
      [
       3.48,
       0.1469
      ],
      [
       3.6,
       0.1508
      ],
      [
       3.72,
       0.1798
      ],
      [
       3.84,
       0.1958
      ],
      [
       3.96,
       0.2151
      ],
      [
       4.08,
       0.2698
      ],
      [
       4.2,
       0.3299
      ],
      [
       4.32,
       0.4003
      ],
      [
       4.44,
       0.481
      ],
      [
       4.56,
       0.5715
      ],
      [
       4.68,
       0.6705
      ],
      [
       4.8,
       0.7756
      ],
      [
       4.92,
       0.8826
      ],
      [
       5.04,
       0.969
      ],
      [
       5.16,
       0.9331
      ],
      [
       5.28,
       0.9242
      ],
      [
       5.4,
       0.9201
      ],
      [
       5.52,
       0.9216
      ],
      [
       5.64,
       0.9254
      ],
      [
       5.76,
       0.9292
      ],
      [
       5.88,
       0.9324
      ],
      [
       6.0,
       0.9349
      ],
      [
       6.12,
       0.9372
      ],
      [
       6.24,
       0.9389
      ],
      [
       6.36,
       0.9393
      ],
      [
       6.48,
       0.939
      ],
      [
       6.6,
       0.9382
      ],
      [
       6.72,
       0.9373
      ],
      [
       6.84,
       0.9365
      ],
      [
       6.96,
       0.9362
      ],
      [
       7.08,
       0.9363
      ],
      [
       7.2,
       0.9365
      ],
      [
       7.32,
       0.937
      ],
      [
       7.44,
       0.9377
      ],
      [
       7.56,
       0.9387
      ],
      [
       7.68,
       0.9401
      ],
      [
       7.8,
       0.9416
      ],
      [
       7.92,
       0.9429
      ],
      [
       8.04,
       0.9441
      ],
      [
       8.16,
       0.9451
      ],
      [
       8.28,
       0.9459
      ],
      [
       8.4,
       0.9466
      ],
      [
       8.52,
       0.9472
      ],
      [
       8.64,
       0.9476
      ],
      [
       8.76,
       0.9479
      ],
      [
       8.88,
       0.9481
      ],
      [
       9.0,
       0.9481
      ],
      [
       9.12,
       0.9481
      ],
      [
       9.24,
       0.9481
      ],
      [
       9.36,
       0.948
      ],
      [
       9.48,
       0.9479
      ],
      [
       9.6,
       0.9477
      ],
      [
       9.72,
       0.9476
      ],
      [
       9.84,
       0.9475
      ],
      [
       9.96,
       0.9474
      ],
      [
       10.08,
       0.9473
      ],
      [
       10.2,
       0.9472
      ],
      [
       10.32,
       0.9472
      ],
      [
       10.44,
       0.9471
      ],
      [
       10.56,
       0.9471
      ],
      [
       10.68,
       0.9471
      ],
      [
       10.8,
       0.9472
      ],
      [
       10.92,
       0.9472
      ],
      [
       11.04,
       0.9472
      ],
      [
       11.16,
       0.9473
      ],
      [
       11.28,
       0.9474
      ],
      [
       11.4,
       0.9475
      ],
      [
       11.52,
       0.9475
      ],
      [
       11.64,
       0.9476
      ],
      [
       11.76,
       0.9477
      ],
      [
       11.88,
       0.9478
      ],
      [
       12.0,
       0.9479
      ],
      [
       12.12,
       0.948
      ],
      [
       12.24,
       0.9481
      ],
      [
       12.36,
       0.9482
      ],
      [
       12.48,
       0.9483
      ],
      [
       12.6,
       0.9484
      ],
      [
       12.72,
       0.9485
      ],
      [
       12.84,
       0.9486
      ],
      [
       12.96,
       0.9487
      ],
      [
       13.08,
       0.9488
      ],
      [
       13.2,
       0.9489
      ],
      [
       13.32,
       0.949
      ],
      [
       13.44,
       0.9491
      ],
      [
       13.56,
       0.9491
      ],
      [
       13.68,
       0.9492
      ],
      [
       13.8,
       0.9493
      ],
      [
       13.92,
       0.9494
      ],
      [
       14.04,
       0.9494
      ],
      [
       14.16,
       0.9496
      ],
      [
       14.28,
       0.9497
      ],
      [
       14.4,
       0.9498
      ],
      [
       14.52,
       0.9499
      ],
      [
       14.64,
       0.95
      ],
      [
       14.76,
       0.9502
      ],
      [
       14.88,
       0.9503
      ],
      [
       15.0,
       0.9505
      ],
      [
       15.12,
       0.9506
      ],
      [
       15.24,
       0.9508
      ],
      [
       15.36,
       0.9509
      ],
      [
       15.48,
       0.9511
      ],
      [
       15.6,
       0.9513
      ],
      [
       15.72,
       0.9514
      ],
      [
       15.84,
       0.9516
      ],
      [
       15.96,
       0.9519
      ],
      [
       16.08,
       0.9522
      ],
      [
       16.2,
       0.9525
      ],
      [
       16.32,
       0.9528
      ],
      [
       16.44,
       0.9531
      ],
      [
       16.56,
       0.9534
      ],
      [
       16.68,
       0.9538
      ],
      [
       16.8,
       0.9542
      ],
      [
       16.92,
       0.9546
      ],
      [
       17.04,
       0.9551
      ],
      [
       17.16,
       0.9556
      ],
      [
       17.28,
       0.9562
      ],
      [
       17.4,
       0.9568
      ],
      [
       17.52,
       0.9574
      ],
      [
       17.64,
       0.958
      ],
      [
       17.76,
       0.9588
      ],
      [
       17.88,
       0.9596
      ],
      [
       18.0,
       0.9604
      ],
      [
       18.12,
       0.9613
      ],
      [
       18.24,
       0.9622
      ],
      [
       18.36,
       0.9632
      ],
      [
       18.48,
       0.9643
      ],
      [
       18.6,
       0.9655
      ],
      [
       18.72,
       0.9667
      ],
      [
       18.84,
       0.968
      ],
      [
       18.96,
       0.9694
      ],
      [
       19.08,
       0.9709
      ],
      [
       19.2,
       0.9725
      ],
      [
       19.32,
       0.9742
      ],
      [
       19.44,
       0.9759
      ],
      [
       19.56,
       0.9778
      ],
      [
       19.68,
       0.9797
      ],
      [
       19.8,
       0.9817
      ],
      [
       19.92,
       0.9838
      ],
      [
       20.04,
       0.986
      ],
      [
       20.16,
       0.9884
      ],
      [
       20.28,
       0.9911
      ],
      [
       20.4,
       0.9943
      ],
      [
       20.52,
       0.9977
      ],
      [
       20.64,
       1.0
      ],
      [
       20.76,
       1.0
      ],
      [
       20.88,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "729aaf3c91f3a8d6bd0259318688cf37f9e42c7814c2d836563a40def9479351",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.946331407400796e-05,
       "final_progress": 4.264714804865051e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.14077355479651543,
       "final_progress": 1.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 3.946331407400729e-05,
       "final_progress": 4.264714804865051e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9688446217251183,
       "final_progress": 0.9688479052346262
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7000332983303741,
       "final_progress": 0.7808385223783855
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 1044,
       "return": 1.9999968161660253,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx0",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "30ce0119e0f0-aloha",
     "video": "media/sim-30ce0119e0f0-aloha-s0.mp4",
     "poster": "media/sim-30ce0119e0f0-aloha-s0.jpg",
     "trajectory": "trajectories/30ce0119e0f0-aloha.json",
     "recipe": "recipes/30ce0119e0f0-aloha.json",
     "seed": 0,
     "steps": 360,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0014
      ],
      [
       0.08,
       0.0038
      ],
      [
       0.12,
       0.0066
      ],
      [
       0.16,
       0.0097
      ],
      [
       0.2,
       0.0132
      ],
      [
       0.24,
       0.017
      ],
      [
       0.28,
       0.0211
      ],
      [
       0.32,
       0.0257
      ],
      [
       0.36,
       0.0305
      ],
      [
       0.4,
       0.0357
      ],
      [
       0.44,
       0.0411
      ],
      [
       0.48,
       0.0464
      ],
      [
       0.52,
       0.0513
      ],
      [
       0.56,
       0.0557
      ],
      [
       0.6,
       0.0585
      ],
      [
       0.64,
       0.0602
      ],
      [
       0.68,
       0.0614
      ],
      [
       0.72,
       0.0621
      ],
      [
       0.76,
       0.0626
      ],
      [
       0.8,
       0.0632
      ],
      [
       0.84,
       0.0638
      ],
      [
       0.88,
       0.0644
      ],
      [
       0.92,
       0.065
      ],
      [
       0.96,
       0.0655
      ],
      [
       1.0,
       0.0661
      ],
      [
       1.04,
       0.0665
      ],
      [
       1.08,
       0.067
      ],
      [
       1.12,
       0.0674
      ],
      [
       1.16,
       0.0678
      ],
      [
       1.2,
       0.0681
      ],
      [
       1.24,
       0.0684
      ],
      [
       1.28,
       0.0689
      ],
      [
       1.32,
       0.0697
      ],
      [
       1.36,
       0.0707
      ],
      [
       1.4,
       0.0721
      ],
      [
       1.44,
       0.0738
      ],
      [
       1.48,
       0.0757
      ],
      [
       1.52,
       0.078
      ],
      [
       1.56,
       0.0806
      ],
      [
       1.6,
       0.0836
      ],
      [
       1.64,
       0.0868
      ],
      [
       1.68,
       0.0903
      ],
      [
       1.72,
       0.0941
      ],
      [
       1.76,
       0.0983
      ],
      [
       1.8,
       0.1022
      ],
      [
       1.84,
       0.1033
      ],
      [
       1.88,
       0.1058
      ],
      [
       1.92,
       0.1095
      ],
      [
       1.96,
       0.1156
      ],
      [
       2.0,
       0.1223
      ],
      [
       2.04,
       0.1293
      ],
      [
       2.08,
       0.1307
      ],
      [
       2.12,
       0.1307
      ],
      [
       2.16,
       0.1309
      ],
      [
       2.2,
       0.1311
      ],
      [
       2.24,
       0.1314
      ],
      [
       2.28,
       0.1317
      ],
      [
       2.32,
       0.1321
      ],
      [
       2.36,
       0.1325
      ],
      [
       2.4,
       0.1331
      ],
      [
       2.44,
       0.1338
      ],
      [
       2.48,
       0.1348
      ],
      [
       2.52,
       0.1361
      ],
      [
       2.56,
       0.1377
      ],
      [
       2.6,
       0.1396
      ],
      [
       2.64,
       0.1404
      ],
      [
       2.68,
       0.1406
      ],
      [
       2.72,
       0.1409
      ],
      [
       2.76,
       0.1412
      ],
      [
       2.8,
       0.1414
      ],
      [
       2.84,
       0.1416
      ],
      [
       2.88,
       0.1418
      ],
      [
       2.92,
       0.142
      ],
      [
       2.96,
       0.1421
      ],
      [
       3.0,
       0.1423
      ],
      [
       3.04,
       0.1424
      ],
      [
       3.08,
       0.1425
      ],
      [
       3.12,
       0.1426
      ],
      [
       3.16,
       0.1427
      ],
      [
       3.2,
       0.1427
      ],
      [
       3.24,
       0.1428
      ],
      [
       3.28,
       0.1428
      ],
      [
       3.32,
       0.1428
      ],
      [
       3.36,
       0.1428
      ],
      [
       3.4,
       0.1428
      ],
      [
       3.44,
       0.1428
      ],
      [
       3.48,
       0.1428
      ],
      [
       3.52,
       0.1428
      ],
      [
       3.56,
       0.1428
      ],
      [
       3.6,
       0.1428
      ],
      [
       3.64,
       0.1428
      ],
      [
       3.68,
       0.1427
      ],
      [
       3.72,
       0.1427
      ],
      [
       3.76,
       0.1428
      ],
      [
       3.8,
       0.1428
      ],
      [
       3.84,
       0.1428
      ],
      [
       3.88,
       0.1428
      ],
      [
       3.92,
       0.1428
      ],
      [
       3.96,
       0.1428
      ],
      [
       4.0,
       0.1427
      ],
      [
       4.04,
       0.1427
      ],
      [
       4.08,
       0.1427
      ],
      [
       4.12,
       0.1427
      ],
      [
       4.16,
       0.1427
      ],
      [
       4.2,
       0.1426
      ],
      [
       4.24,
       0.1426
      ],
      [
       4.28,
       0.1426
      ],
      [
       4.32,
       0.1425
      ],
      [
       4.36,
       0.1425
      ],
      [
       4.4,
       0.1424
      ],
      [
       4.44,
       0.1424
      ],
      [
       4.48,
       0.1423
      ],
      [
       4.52,
       0.1423
      ],
      [
       4.56,
       0.1422
      ],
      [
       4.6,
       0.1421
      ],
      [
       4.64,
       0.1421
      ],
      [
       4.68,
       0.142
      ],
      [
       4.72,
       0.1419
      ],
      [
       4.76,
       0.1419
      ],
      [
       4.8,
       0.1418
      ],
      [
       4.84,
       0.1418
      ],
      [
       4.88,
       0.1417
      ],
      [
       4.92,
       0.1417
      ],
      [
       4.96,
       0.1416
      ],
      [
       5.0,
       0.1415
      ],
      [
       5.04,
       0.1428
      ],
      [
       5.08,
       0.1457
      ],
      [
       5.12,
       0.1494
      ],
      [
       5.16,
       0.1508
      ],
      [
       5.2,
       0.1538
      ],
      [
       5.24,
       0.1571
      ],
      [
       5.28,
       0.1606
      ],
      [
       5.32,
       0.1651
      ],
      [
       5.36,
       0.1695
      ],
      [
       5.4,
       0.1742
      ],
      [
       5.44,
       0.1807
      ],
      [
       5.48,
       0.1862
      ],
      [
       5.52,
       0.1937
      ],
      [
       5.56,
       0.2003
      ],
      [
       5.6,
       0.2095
      ],
      [
       5.64,
       0.2212
      ],
      [
       5.68,
       0.2476
      ],
      [
       5.72,
       0.2684
      ],
      [
       5.76,
       0.2928
      ],
      [
       5.8,
       0.3187
      ],
      [
       5.84,
       0.3439
      ],
      [
       5.88,
       0.3691
      ],
      [
       5.92,
       0.3945
      ],
      [
       5.96,
       0.4201
      ],
      [
       6.0,
       0.446
      ],
      [
       6.04,
       0.4719
      ],
      [
       6.08,
       0.4981
      ],
      [
       6.12,
       0.5243
      ],
      [
       6.16,
       0.5506
      ],
      [
       6.2,
       0.5769
      ],
      [
       6.24,
       0.6033
      ],
      [
       6.28,
       0.6296
      ],
      [
       6.32,
       0.6558
      ],
      [
       6.36,
       0.682
      ],
      [
       6.4,
       0.7079
      ],
      [
       6.44,
       0.7337
      ],
      [
       6.48,
       0.7592
      ],
      [
       6.52,
       0.7845
      ],
      [
       6.56,
       0.8095
      ],
      [
       6.6,
       0.8342
      ],
      [
       6.64,
       0.8585
      ],
      [
       6.68,
       0.8825
      ],
      [
       6.72,
       0.906
      ],
      [
       6.76,
       0.9292
      ],
      [
       6.8,
       0.9518
      ],
      [
       6.84,
       0.9726
      ],
      [
       6.88,
       0.9902
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "5dac571f208af669fd87e6d2af75ae945170af879faea9021fbfcf14c191101a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0015234333474031926,
       "final_progress": 0.001524090585947239,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.07069530672536184,
       "final_progress": 0.11117711119447032,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 7.895628120498944e-06,
       "final_progress": 8.552866664538707e-06,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 360,
       "return": 1.999999342761456,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx0",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "b2b116ae141bbf6fe4f21dc75f960f284b8ca419bd68b5a36abe3730d205c7e8",
   "recording_id": 4462,
   "task_number": 3,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "white tiled kitchen countertop",
   "human_action": false,
   "description": "Pick up the puzzle cube and balance it on top of the pudding box on the white tiled kitchen countertop among the teal bottle and the amber oil bottle.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the puzzle cube and balance it on top of the pudding box on the white tiled kitchen countertop among the teal bottle and the amber oil bottle.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 4462,
    "contributor_id": 3,
    "video": "media/source-4462-77d3c4908ac4.mp4",
    "poster": "media/source-4462.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4462,
     "contributor_id": 3,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4462_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 4.670000000000002,
      "original_end_s": 24.67,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbd225c646a724295b92942f0119ad39d6786a4c7937e28252fa5607e6134d20",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 10,
    "physical_objects": 10,
    "flat_decor": 0,
    "observed": 7,
    "added_context": 3,
    "recording_observed": 7,
    "recording_added": 1,
    "surface": "white tiled kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "b2b116ae141b-panda",
     "video": "media/sim-b2b116ae141b-panda-s0.mp4",
     "poster": "media/sim-b2b116ae141b-panda-s0.jpg",
     "trajectory": "trajectories/b2b116ae141b-panda.json",
     "recipe": "recipes/b2b116ae141b-panda.json",
     "seed": 0,
     "steps": 412,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.2,
       0.0026
      ],
      [
       1.24,
       0.0089
      ],
      [
       1.28,
       0.0155
      ],
      [
       1.32,
       0.022
      ],
      [
       1.36,
       0.0279
      ],
      [
       1.4,
       0.0328
      ],
      [
       1.44,
       0.0371
      ],
      [
       1.48,
       0.0413
      ],
      [
       1.52,
       0.0454
      ],
      [
       1.56,
       0.0494
      ],
      [
       1.6,
       0.0533
      ],
      [
       1.64,
       0.057
      ],
      [
       1.68,
       0.0605
      ],
      [
       1.72,
       0.0638
      ],
      [
       1.76,
       0.0668
      ],
      [
       1.8,
       0.0697
      ],
      [
       1.84,
       0.0724
      ],
      [
       1.88,
       0.0749
      ],
      [
       1.92,
       0.0773
      ],
      [
       1.96,
       0.0796
      ],
      [
       2.0,
       0.0818
      ],
      [
       2.04,
       0.0841
      ],
      [
       2.08,
       0.0863
      ],
      [
       2.12,
       0.0887
      ],
      [
       2.16,
       0.0911
      ],
      [
       2.2,
       0.0937
      ],
      [
       2.24,
       0.0965
      ],
      [
       2.28,
       0.0995
      ],
      [
       2.32,
       0.1031
      ],
      [
       2.36,
       0.1069
      ],
      [
       2.4,
       0.1097
      ],
      [
       2.44,
       0.1117
      ],
      [
       2.48,
       0.114
      ],
      [
       2.52,
       0.1169
      ],
      [
       2.56,
       0.1199
      ],
      [
       2.6,
       0.1231
      ],
      [
       2.64,
       0.1265
      ],
      [
       2.68,
       0.1303
      ],
      [
       2.72,
       0.1344
      ],
      [
       2.76,
       0.1389
      ],
      [
       2.8,
       0.144
      ],
      [
       2.84,
       0.1474
      ],
      [
       2.88,
       0.1459
      ],
      [
       2.92,
       0.1459
      ],
      [
       2.96,
       0.1465
      ],
      [
       3.0,
       0.1469
      ],
      [
       3.04,
       0.1472
      ],
      [
       3.08,
       0.1474
      ],
      [
       3.12,
       0.1474
      ],
      [
       3.16,
       0.1475
      ],
      [
       3.2,
       0.1475
      ],
      [
       3.24,
       0.1475
      ],
      [
       3.28,
       0.1475
      ],
      [
       3.32,
       0.1475
      ],
      [
       3.36,
       0.1474
      ],
      [
       3.4,
       0.1469
      ],
      [
       3.44,
       0.1466
      ],
      [
       3.48,
       0.1465
      ],
      [
       3.52,
       0.1466
      ],
      [
       3.56,
       0.1466
      ],
      [
       3.6,
       0.1466
      ],
      [
       3.64,
       0.1466
      ],
      [
       3.68,
       0.1467
      ],
      [
       3.72,
       0.1467
      ],
      [
       3.76,
       0.1467
      ],
      [
       3.8,
       0.1467
      ],
      [
       3.84,
       0.1467
      ],
      [
       3.88,
       0.1467
      ],
      [
       3.92,
       0.1468
      ],
      [
       3.96,
       0.1468
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.72,
       0.4016
      ],
      [
       4.76,
       0.4193
      ],
      [
       4.8,
       0.4339
      ],
      [
       4.84,
       0.4545
      ],
      [
       4.88,
       0.4794
      ],
      [
       4.92,
       0.5044
      ],
      [
       4.96,
       0.529
      ],
      [
       5.0,
       0.5543
      ],
      [
       5.04,
       0.5805
      ],
      [
       5.08,
       0.6075
      ],
      [
       5.12,
       0.6347
      ],
      [
       5.16,
       0.6622
      ],
      [
       5.2,
       0.6898
      ],
      [
       5.24,
       0.7174
      ],
      [
       5.28,
       0.7447
      ],
      [
       5.32,
       0.7717
      ],
      [
       5.36,
       0.7981
      ],
      [
       5.4,
       0.8235
      ],
      [
       5.44,
       0.8491
      ],
      [
       5.48,
       0.8763
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.8882
      ],
      [
       5.92,
       0.8869
      ],
      [
       5.96,
       0.8909
      ],
      [
       6.0,
       0.8891
      ],
      [
       6.04,
       0.8858
      ],
      [
       6.08,
       0.8854
      ],
      [
       6.12,
       0.8865
      ],
      [
       6.16,
       0.8876
      ],
      [
       6.2,
       0.8889
      ],
      [
       6.24,
       0.8911
      ],
      [
       6.28,
       0.894
      ],
      [
       6.32,
       0.8975
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       0.9
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.36,
       0.9
      ],
      [
       7.4,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.48,
       0.9
      ],
      [
       7.52,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.6,
       0.9
      ],
      [
       7.64,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ],
      [
       7.96,
       1.0
      ],
      [
       8.0,
       1.0
      ],
      [
       8.04,
       1.0
      ],
      [
       8.08,
       1.0
      ],
      [
       8.12,
       1.0
      ],
      [
       8.16,
       1.0
      ],
      [
       8.2,
       1.0
      ],
      [
       8.24,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "9be26419c06de490701c6bbeb02ad6759473184b1a6370685e261db113044f24",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 1.2898240777803327e-05,
       "final_progress": 1.2898240777803327e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.6673268034955623,
       "final_progress": 0.6673268034955623,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 412,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "pudding_box_ctx0",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "b2b116ae141b-aloha",
     "video": "media/sim-b2b116ae141b-aloha-s0.mp4",
     "poster": "media/sim-b2b116ae141b-aloha-s0.jpg",
     "trajectory": "trajectories/b2b116ae141b-aloha.json",
     "recipe": "recipes/b2b116ae141b-aloha.json",
     "seed": 0,
     "steps": 620,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0026
      ],
      [
       0.12,
       0.0074
      ],
      [
       0.18,
       0.0125
      ],
      [
       0.24,
       0.0176
      ],
      [
       0.3,
       0.0226
      ],
      [
       0.36,
       0.0275
      ],
      [
       0.42,
       0.0322
      ],
      [
       0.48,
       0.037
      ],
      [
       0.54,
       0.0421
      ],
      [
       0.6,
       0.0474
      ],
      [
       0.66,
       0.0526
      ],
      [
       0.72,
       0.0578
      ],
      [
       0.78,
       0.0632
      ],
      [
       0.84,
       0.0689
      ],
      [
       0.9,
       0.0736
      ],
      [
       0.96,
       0.0752
      ],
      [
       1.02,
       0.0768
      ],
      [
       1.08,
       0.0809
      ],
      [
       1.14,
       0.0859
      ],
      [
       1.2,
       0.0913
      ],
      [
       1.26,
       0.0973
      ],
      [
       1.32,
       0.1039
      ],
      [
       1.38,
       0.1112
      ],
      [
       1.44,
       0.1152
      ],
      [
       1.5,
       0.1221
      ],
      [
       1.56,
       0.1299
      ],
      [
       1.62,
       0.1336
      ],
      [
       1.68,
       0.1335
      ],
      [
       1.74,
       0.1338
      ],
      [
       1.8,
       0.1344
      ],
      [
       1.86,
       0.1353
      ],
      [
       1.92,
       0.1362
      ],
      [
       1.98,
       0.1375
      ],
      [
       2.04,
       0.1381
      ],
      [
       2.1,
       0.1368
      ],
      [
       2.16,
       0.1367
      ],
      [
       2.22,
       0.1365
      ],
      [
       2.28,
       0.1363
      ],
      [
       2.34,
       0.1361
      ],
      [
       2.4,
       0.1359
      ],
      [
       2.46,
       0.1356
      ],
      [
       2.52,
       0.1351
      ],
      [
       2.58,
       0.1343
      ],
      [
       2.64,
       0.1338
      ],
      [
       2.7,
       0.1333
      ],
      [
       2.76,
       0.133
      ],
      [
       2.82,
       0.1329
      ],
      [
       2.88,
       0.1329
      ],
      [
       2.94,
       0.1327
      ],
      [
       3.0,
       0.1327
      ],
      [
       3.06,
       0.1327
      ],
      [
       3.12,
       0.1328
      ],
      [
       3.18,
       0.1328
      ],
      [
       3.24,
       0.1329
      ],
      [
       3.3,
       0.133
      ],
      [
       3.36,
       0.1331
      ],
      [
       3.42,
       0.1332
      ],
      [
       3.48,
       0.1333
      ],
      [
       3.54,
       0.1335
      ],
      [
       3.6,
       0.1336
      ],
      [
       3.66,
       0.1338
      ],
      [
       3.72,
       0.1339
      ],
      [
       3.78,
       0.1339
      ],
      [
       3.84,
       0.134
      ],
      [
       3.9,
       0.134
      ],
      [
       3.96,
       0.134
      ],
      [
       4.02,
       0.134
      ],
      [
       4.08,
       0.1339
      ],
      [
       4.14,
       0.1338
      ],
      [
       4.2,
       0.1338
      ],
      [
       4.26,
       0.1338
      ],
      [
       4.32,
       0.1338
      ],
      [
       4.38,
       0.1338
      ],
      [
       4.44,
       0.1338
      ],
      [
       4.5,
       0.1341
      ],
      [
       4.56,
       0.1338
      ],
      [
       4.62,
       0.1339
      ],
      [
       4.68,
       0.134
      ],
      [
       4.74,
       0.1341
      ],
      [
       4.8,
       0.1342
      ],
      [
       4.86,
       0.1345
      ],
      [
       4.92,
       0.1345
      ],
      [
       4.98,
       0.1347
      ],
      [
       5.04,
       0.1349
      ],
      [
       5.1,
       0.135
      ],
      [
       5.16,
       0.1352
      ],
      [
       5.22,
       0.1354
      ],
      [
       5.28,
       0.1357
      ],
      [
       5.34,
       0.136
      ],
      [
       5.4,
       0.1365
      ],
      [
       5.46,
       0.1368
      ],
      [
       5.52,
       0.1373
      ],
      [
       5.58,
       0.1376
      ],
      [
       5.64,
       0.138
      ],
      [
       5.7,
       0.1383
      ],
      [
       5.76,
       0.1386
      ],
      [
       5.82,
       0.1386
      ],
      [
       5.88,
       0.1386
      ],
      [
       5.94,
       0.1386
      ],
      [
       6.0,
       0.1386
      ],
      [
       6.06,
       0.1386
      ],
      [
       6.12,
       0.1386
      ],
      [
       6.18,
       0.4
      ],
      [
       6.24,
       0.4
      ],
      [
       6.3,
       0.4
      ],
      [
       6.36,
       0.4
      ],
      [
       6.42,
       0.4
      ],
      [
       6.48,
       0.4
      ],
      [
       6.54,
       0.4
      ],
      [
       6.6,
       0.4
      ],
      [
       6.66,
       0.4
      ],
      [
       6.72,
       0.4
      ],
      [
       6.78,
       0.4
      ],
      [
       6.84,
       0.4
      ],
      [
       6.9,
       0.4
      ],
      [
       6.96,
       0.4
      ],
      [
       7.02,
       0.4
      ],
      [
       7.08,
       0.4
      ],
      [
       7.14,
       0.4
      ],
      [
       7.2,
       0.4
      ],
      [
       7.26,
       0.4
      ],
      [
       7.32,
       0.4
      ],
      [
       7.38,
       0.4
      ],
      [
       7.44,
       0.4
      ],
      [
       7.5,
       0.4
      ],
      [
       7.56,
       0.4
      ],
      [
       7.62,
       0.4
      ],
      [
       7.68,
       0.4
      ],
      [
       7.74,
       0.4
      ],
      [
       7.8,
       0.4127
      ],
      [
       7.86,
       0.4529
      ],
      [
       7.92,
       0.4949
      ],
      [
       7.98,
       0.5386
      ],
      [
       8.04,
       0.5842
      ],
      [
       8.1,
       0.6317
      ],
      [
       8.16,
       0.6812
      ],
      [
       8.22,
       0.7323
      ],
      [
       8.28,
       0.7844
      ],
      [
       8.34,
       0.8374
      ],
      [
       8.4,
       0.8907
      ],
      [
       8.46,
       0.9
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       0.9
      ],
      [
       8.76,
       0.8907
      ],
      [
       8.82,
       0.8777
      ],
      [
       8.88,
       0.8648
      ],
      [
       8.94,
       0.8522
      ],
      [
       9.0,
       0.8411
      ],
      [
       9.06,
       0.8316
      ],
      [
       9.12,
       0.8241
      ],
      [
       9.18,
       0.8189
      ],
      [
       9.24,
       0.8164
      ],
      [
       9.3,
       0.8168
      ],
      [
       9.36,
       0.8201
      ],
      [
       9.42,
       0.8259
      ],
      [
       9.48,
       0.8343
      ],
      [
       9.54,
       0.8445
      ],
      [
       9.6,
       0.8568
      ],
      [
       9.66,
       0.8707
      ],
      [
       9.72,
       0.8858
      ],
      [
       9.78,
       0.9
      ],
      [
       9.84,
       0.9
      ],
      [
       9.9,
       0.9
      ],
      [
       9.96,
       0.9
      ],
      [
       10.02,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.14,
       0.9
      ],
      [
       10.2,
       0.9
      ],
      [
       10.26,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.38,
       0.9
      ],
      [
       10.44,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.62,
       0.9
      ],
      [
       10.68,
       0.9
      ],
      [
       10.74,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.86,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       10.98,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.1,
       0.9
      ],
      [
       11.16,
       0.9
      ],
      [
       11.22,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.34,
       0.9
      ],
      [
       11.4,
       1.0
      ],
      [
       11.46,
       1.0
      ],
      [
       11.52,
       0.9
      ],
      [
       11.58,
       0.9
      ],
      [
       11.64,
       1.0
      ],
      [
       11.7,
       1.0
      ],
      [
       11.76,
       1.0
      ],
      [
       11.82,
       0.9
      ],
      [
       11.88,
       1.0
      ],
      [
       11.94,
       1.0
      ],
      [
       12.0,
       1.0
      ],
      [
       12.06,
       1.0
      ],
      [
       12.12,
       1.0
      ],
      [
       12.18,
       1.0
      ],
      [
       12.24,
       1.0
      ],
      [
       12.3,
       1.0
      ],
      [
       12.36,
       1.0
      ],
      [
       12.4,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "1ce2ed98570c5a831552ff8d3b95f471866e49e8973806cf59f05f8a468f99ff",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0010404650247573032,
       "final_progress": 0.0010404650247573032,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.09413232755459058,
       "final_progress": 0.09413232755459058,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.645575999314424,
       "final_progress": 0.645575999314424,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 620,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "pudding_box_ctx0",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "d55834b31b156c3fd52618edea363fc790fef79469d14b64d35df1d4c21f3fe3",
   "recording_id": 4462,
   "task_number": 4,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "white tiled kitchen countertop",
   "human_action": false,
   "description": "Lift the foam block off the red spot on the white tiled kitchen countertop, set it aside among the teal bottle and the tall herb jar, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the foam block off the red spot on the white tiled kitchen countertop, set it aside among the teal bottle and the tall herb jar, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 4462,
    "contributor_id": 3,
    "video": "media/source-4462-77d3c4908ac4.mp4",
    "poster": "media/source-4462.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4462,
     "contributor_id": 3,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4462_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 4.670000000000002,
      "original_end_s": 24.67,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbd225c646a724295b92942f0119ad39d6786a4c7937e28252fa5607e6134d20",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "77d3c4908ac44237f192e4dad68a29f31693963fa04b28512d8bb9cf58b54ec6",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 7,
    "added_context": 2,
    "recording_observed": 7,
    "recording_added": 1,
    "surface": "white tiled kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "d55834b31b15-panda",
     "video": "media/sim-d55834b31b15-panda-s0.mp4",
     "poster": "media/sim-d55834b31b15-panda-s0.jpg",
     "trajectory": "trajectories/d55834b31b15-panda.json",
     "recipe": "recipes/d55834b31b15-panda.json",
     "seed": 0,
     "steps": 476,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0021
      ],
      [
       1.04,
       0.0067
      ],
      [
       1.08,
       0.0118
      ],
      [
       1.12,
       0.017
      ],
      [
       1.16,
       0.0222
      ],
      [
       1.2,
       0.0271
      ],
      [
       1.24,
       0.0316
      ],
      [
       1.28,
       0.0357
      ],
      [
       1.32,
       0.0392
      ],
      [
       1.36,
       0.0418
      ],
      [
       1.4,
       0.0439
      ],
      [
       1.44,
       0.0458
      ],
      [
       1.48,
       0.0477
      ],
      [
       1.52,
       0.0496
      ],
      [
       1.56,
       0.0516
      ],
      [
       1.6,
       0.0537
      ],
      [
       1.64,
       0.0558
      ],
      [
       1.68,
       0.0582
      ],
      [
       1.72,
       0.0607
      ],
      [
       1.76,
       0.0635
      ],
      [
       1.8,
       0.0669
      ],
      [
       1.84,
       0.07
      ],
      [
       1.88,
       0.0725
      ],
      [
       1.92,
       0.0751
      ],
      [
       1.96,
       0.0779
      ],
      [
       2.0,
       0.0808
      ],
      [
       2.04,
       0.0839
      ],
      [
       2.08,
       0.0872
      ],
      [
       2.12,
       0.0907
      ],
      [
       2.16,
       0.0945
      ],
      [
       2.2,
       0.0981
      ],
      [
       2.24,
       0.0961
      ],
      [
       2.28,
       0.0956
      ],
      [
       2.32,
       0.0961
      ],
      [
       2.36,
       0.0967
      ],
      [
       2.4,
       0.0969
      ],
      [
       2.44,
       0.097
      ],
      [
       2.48,
       0.0971
      ],
      [
       2.52,
       0.097
      ],
      [
       2.56,
       0.0971
      ],
      [
       2.6,
       0.0971
      ],
      [
       2.64,
       0.0971
      ],
      [
       2.68,
       0.0972
      ],
      [
       2.72,
       0.0972
      ],
      [
       2.76,
       0.0971
      ],
      [
       2.8,
       0.0969
      ],
      [
       2.84,
       0.097
      ],
      [
       2.88,
       0.0971
      ],
      [
       2.92,
       0.0971
      ],
      [
       2.96,
       0.0972
      ],
      [
       3.0,
       0.0972
      ],
      [
       3.04,
       0.0973
      ],
      [
       3.08,
       0.0973
      ],
      [
       3.12,
       0.0973
      ],
      [
       3.16,
       0.0974
      ],
      [
       3.2,
       0.0974
      ],
      [
       3.24,
       0.0975
      ],
      [
       3.28,
       0.5385
      ],
      [
       3.32,
       0.5381
      ],
      [
       3.36,
       0.5338
      ],
      [
       3.4,
       0.5255
      ],
      [
       3.44,
       0.5129
      ],
      [
       3.48,
       0.4971
      ],
      [
       3.52,
       0.481
      ],
      [
       3.56,
       0.4649
      ],
      [
       3.6,
       0.4491
      ],
      [
       3.64,
       0.4333
      ],
      [
       3.68,
       0.4171
      ],
      [
       3.72,
       0.4013
      ],
      [
       3.76,
       0.3855
      ],
      [
       3.8,
       0.3691
      ],
      [
       3.84,
       0.3478
      ],
      [
       3.88,
       0.3188
      ],
      [
       3.92,
       0.3142
      ],
      [
       3.96,
       0.3539
      ],
      [
       4.0,
       0.4133
      ],
      [
       4.04,
       0.482
      ],
      [
       4.08,
       0.5534
      ],
      [
       4.12,
       0.6
      ],
      [
       4.16,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.24,
       0.6
      ],
      [
       4.28,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.68,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.84,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.92,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.04,
       0.6
      ],
      [
       9.08,
       0.6267
      ],
      [
       9.12,
       0.68
      ],
      [
       9.16,
       0.7333
      ],
      [
       9.2,
       0.7867
      ],
      [
       9.24,
       0.6267
      ],
      [
       9.28,
       0.68
      ],
      [
       9.32,
       0.7333
      ],
      [
       9.36,
       0.7867
      ],
      [
       9.4,
       0.84
      ],
      [
       9.44,
       0.8933
      ],
      [
       9.48,
       0.9467
      ],
      [
       9.52,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "1bf6b6ef64d6879e76a54eef56a2ce2dcf39361c6055fbbb848859a3295365f8",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 1.4910117278998936e-05,
       "final_progress": 1.4910117278998936e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": -0.9111748008690349,
       "final_progress": 0.08847720789322654,
       "steps": 132,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 476,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx0",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "d55834b31b15-aloha",
     "video": "media/sim-d55834b31b15-aloha-s0.mp4",
     "poster": "media/sim-d55834b31b15-aloha-s0.jpg",
     "trajectory": "trajectories/d55834b31b15-aloha.json",
     "recipe": "recipes/d55834b31b15-aloha.json",
     "seed": 0,
     "steps": 1040,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.12,
       0.0012
      ],
      [
       0.24,
       0.003
      ],
      [
       0.36,
       0.0052
      ],
      [
       0.48,
       0.0079
      ],
      [
       0.6,
       0.0113
      ],
      [
       0.72,
       0.016
      ],
      [
       0.84,
       0.0224
      ],
      [
       0.96,
       0.0303
      ],
      [
       1.08,
       0.0401
      ],
      [
       1.2,
       0.0517
      ],
      [
       1.32,
       0.0619
      ],
      [
       1.44,
       0.0711
      ],
      [
       1.56,
       0.08
      ],
      [
       1.68,
       0.0911
      ],
      [
       1.8,
       0.091
      ],
      [
       1.92,
       0.0901
      ],
      [
       2.04,
       0.0902
      ],
      [
       2.16,
       0.0899
      ],
      [
       2.28,
       0.0902
      ],
      [
       2.4,
       0.0909
      ],
      [
       2.52,
       0.0916
      ],
      [
       2.64,
       0.0926
      ],
      [
       2.76,
       0.0934
      ],
      [
       2.88,
       0.0947
      ],
      [
       3.0,
       0.0954
      ],
      [
       3.12,
       0.0932
      ],
      [
       3.24,
       0.0924
      ],
      [
       3.36,
       0.0921
      ],
      [
       3.48,
       0.0919
      ],
      [
       3.6,
       0.0919
      ],
      [
       3.72,
       0.0919
      ],
      [
       3.84,
       0.092
      ],
      [
       3.96,
       0.092
      ],
      [
       4.08,
       0.092
      ],
      [
       4.2,
       0.092
      ],
      [
       4.32,
       0.092
      ],
      [
       4.44,
       0.092
      ],
      [
       4.56,
       0.092
      ],
      [
       4.68,
       0.092
      ],
      [
       4.8,
       0.092
      ],
      [
       4.92,
       0.0921
      ],
      [
       5.04,
       0.0923
      ],
      [
       5.16,
       0.0925
      ],
      [
       5.28,
       0.0926
      ],
      [
       5.4,
       0.0926
      ],
      [
       5.52,
       0.0926
      ],
      [
       5.64,
       0.0926
      ],
      [
       5.76,
       0.0926
      ],
      [
       5.88,
       0.0927
      ],
      [
       6.0,
       0.0928
      ],
      [
       6.12,
       0.093
      ],
      [
       6.24,
       0.0931
      ],
      [
       6.36,
       0.0931
      ],
      [
       6.48,
       0.0932
      ],
      [
       6.6,
       0.0932
      ],
      [
       6.72,
       0.0933
      ],
      [
       6.84,
       0.0933
      ],
      [
       6.96,
       0.0934
      ],
      [
       7.08,
       0.0936
      ],
      [
       7.2,
       0.0937
      ],
      [
       7.32,
       0.0939
      ],
      [
       7.44,
       0.0942
      ],
      [
       7.56,
       0.0946
      ],
      [
       7.68,
       0.0949
      ],
      [
       7.8,
       0.0952
      ],
      [
       7.92,
       0.0953
      ],
      [
       8.04,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.48,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.72,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.96,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.32,
       0.6
      ],
      [
       10.44,
       0.6
      ],
      [
       10.56,
       0.6
      ],
      [
       10.68,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.92,
       0.6
      ],
      [
       11.04,
       0.6
      ],
      [
       11.16,
       0.6
      ],
      [
       11.28,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.52,
       0.6
      ],
      [
       11.64,
       0.6
      ],
      [
       11.76,
       0.6
      ],
      [
       11.88,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.12,
       0.6
      ],
      [
       12.24,
       0.6
      ],
      [
       12.36,
       0.6
      ],
      [
       12.48,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.72,
       0.6
      ],
      [
       12.84,
       0.6
      ],
      [
       12.96,
       0.6
      ],
      [
       13.08,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.32,
       0.6
      ],
      [
       13.44,
       0.6
      ],
      [
       13.56,
       0.6
      ],
      [
       13.68,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.92,
       0.6
      ],
      [
       14.04,
       0.6
      ],
      [
       14.16,
       0.6
      ],
      [
       14.28,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.52,
       0.6
      ],
      [
       14.64,
       0.6
      ],
      [
       14.76,
       0.6
      ],
      [
       14.88,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.12,
       0.6
      ],
      [
       15.24,
       0.6
      ],
      [
       15.36,
       0.6
      ],
      [
       15.48,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.72,
       0.6
      ],
      [
       15.84,
       0.6
      ],
      [
       15.96,
       0.6
      ],
      [
       16.08,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.32,
       0.6
      ],
      [
       16.44,
       0.6
      ],
      [
       16.56,
       0.6
      ],
      [
       16.68,
       0.6
      ],
      [
       16.8,
       0.6
      ],
      [
       16.92,
       0.6
      ],
      [
       17.04,
       0.6
      ],
      [
       17.16,
       0.6
      ],
      [
       17.28,
       0.6
      ],
      [
       17.4,
       0.6
      ],
      [
       17.52,
       0.6
      ],
      [
       17.64,
       0.6
      ],
      [
       17.76,
       0.6
      ],
      [
       17.88,
       0.6
      ],
      [
       18.0,
       0.6
      ],
      [
       18.12,
       0.6
      ],
      [
       18.24,
       0.6
      ],
      [
       18.36,
       0.6
      ],
      [
       18.48,
       0.6
      ],
      [
       18.6,
       0.6
      ],
      [
       18.72,
       0.6
      ],
      [
       18.84,
       0.6
      ],
      [
       18.96,
       0.6
      ],
      [
       19.08,
       0.6
      ],
      [
       19.2,
       0.6
      ],
      [
       19.32,
       0.6
      ],
      [
       19.44,
       0.6
      ],
      [
       19.56,
       0.6
      ],
      [
       19.68,
       0.6
      ],
      [
       19.8,
       0.6
      ],
      [
       19.92,
       0.6
      ],
      [
       20.04,
       0.6
      ],
      [
       20.16,
       0.6
      ],
      [
       20.28,
       0.6
      ],
      [
       20.4,
       0.6
      ],
      [
       20.52,
       0.6267
      ],
      [
       20.64,
       0.7867
      ],
      [
       20.76,
       0.9467
      ],
      [
       20.8,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ad3dc9b53eec2f8b233b1e51d755e7800be67a2ecb7ccd70c5941b40c79970f3",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.00048943208516955,
       "final_progress": 0.00048943208516955,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.06872393135291203,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.06139092715971826,
       "final_progress": 0.06139092715971826,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 1040,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "foam_block_ctx0",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "steel_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "steel cooking pot"
      },
      {
       "name": "black_electric_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "black electric kettle"
      },
      {
       "name": "white_canister_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white canister"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "teal_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal bottle"
      },
      {
       "name": "amber_oil_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "amber_oil_bottle_1",
       "source": "ycb:006_mustard_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "amber oil bottle"
      },
      {
       "name": "tall_herb_jar_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "tall herb jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "6ab7a8edb1aa0f88350d589aad349af183b7c472cb7dc9d58ce00b9819f6abb3",
   "recording_id": 4481,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "wooden dining table",
   "human_action": true,
   "description": "In the footage: Wipe the visible wooden dining table with the white wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d78 cm patch (turned 20\u00b0) on the wooden dining table among the red electronic box and the charging cable and sweep it row by row at 4\u201314 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 4\u201314 N, no object moved >2 cm, peak force \u226442 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 4481,
    "contributor_id": 1,
    "video": "media/source-4481-713be941cb58.mp4",
    "poster": "media/source-4481.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4481,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4481_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "dcf9d484c6ce88331488bda0719e9e0bf2ba6ab9d4420a732ce7ac7ee3c0b84b",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 4,
    "flat_decor": 1,
    "observed": 2,
    "added_context": 3,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "6ab7a8edb1aa-panda",
     "video": "media/sim-6ab7a8edb1aa-panda-s0.mp4",
     "poster": "media/sim-6ab7a8edb1aa-panda-s0.jpg",
     "trajectory": "trajectories/6ab7a8edb1aa-panda.json",
     "recipe": "recipes/6ab7a8edb1aa-panda.json",
     "seed": 0,
     "steps": 531,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0002
      ],
      [
       0.12,
       0.0028
      ],
      [
       0.18,
       0.0062
      ],
      [
       0.24,
       0.0092
      ],
      [
       0.3,
       0.0129
      ],
      [
       0.36,
       0.017
      ],
      [
       0.42,
       0.0214
      ],
      [
       0.48,
       0.0262
      ],
      [
       0.54,
       0.0313
      ],
      [
       0.6,
       0.0369
      ],
      [
       0.66,
       0.0428
      ],
      [
       0.72,
       0.049
      ],
      [
       0.78,
       0.0555
      ],
      [
       0.84,
       0.0622
      ],
      [
       0.9,
       0.0691
      ],
      [
       0.96,
       0.0766
      ],
      [
       1.02,
       0.0846
      ],
      [
       1.08,
       0.0931
      ],
      [
       1.14,
       0.1021
      ],
      [
       1.2,
       0.1115
      ],
      [
       1.26,
       0.1213
      ],
      [
       1.32,
       0.1311
      ],
      [
       1.38,
       0.1403
      ],
      [
       1.44,
       0.1414
      ],
      [
       1.5,
       0.1411
      ],
      [
       1.56,
       0.1437
      ],
      [
       1.62,
       0.1437
      ],
      [
       1.68,
       0.1437
      ],
      [
       1.74,
       0.1419
      ],
      [
       1.8,
       0.1402
      ],
      [
       1.86,
       0.14
      ],
      [
       1.92,
       0.1406
      ],
      [
       1.98,
       0.1412
      ],
      [
       2.04,
       0.1417
      ],
      [
       2.1,
       0.143
      ],
      [
       2.16,
       0.1446
      ],
      [
       2.22,
       0.1462
      ],
      [
       2.28,
       0.1472
      ],
      [
       2.34,
       0.1479
      ],
      [
       2.4,
       0.1484
      ],
      [
       2.46,
       0.1491
      ],
      [
       2.52,
       0.1499
      ],
      [
       2.58,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.7,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.82,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.94,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.06,
       0.15
      ],
      [
       3.12,
       0.15
      ],
      [
       3.18,
       0.2714
      ],
      [
       3.24,
       0.2714
      ],
      [
       3.3,
       0.2714
      ],
      [
       3.36,
       0.2714
      ],
      [
       3.42,
       0.2714
      ],
      [
       3.48,
       0.2714
      ],
      [
       3.54,
       0.2714
      ],
      [
       3.6,
       0.2714
      ],
      [
       3.66,
       0.2714
      ],
      [
       3.72,
       0.2714
      ],
      [
       3.78,
       0.2714
      ],
      [
       3.84,
       0.2714
      ],
      [
       3.9,
       0.2714
      ],
      [
       3.96,
       0.2714
      ],
      [
       4.02,
       0.2714
      ],
      [
       4.08,
       0.2714
      ],
      [
       4.14,
       0.2714
      ],
      [
       4.2,
       0.2714
      ],
      [
       4.26,
       0.2714
      ],
      [
       4.32,
       0.2714
      ],
      [
       4.38,
       0.2714
      ],
      [
       4.44,
       0.2714
      ],
      [
       4.5,
       0.2714
      ],
      [
       4.56,
       0.2714
      ],
      [
       4.62,
       0.2714
      ],
      [
       4.68,
       0.2714
      ],
      [
       4.74,
       0.2714
      ],
      [
       4.8,
       0.2714
      ],
      [
       4.86,
       0.2714
      ],
      [
       4.92,
       0.2714
      ],
      [
       4.98,
       0.2714
      ],
      [
       5.04,
       0.2714
      ],
      [
       5.1,
       0.2714
      ],
      [
       5.16,
       0.2714
      ],
      [
       5.22,
       0.2714
      ],
      [
       5.28,
       0.3929
      ],
      [
       5.34,
       0.3929
      ],
      [
       5.4,
       0.4536
      ],
      [
       5.46,
       0.4536
      ],
      [
       5.52,
       0.4536
      ],
      [
       5.58,
       0.4536
      ],
      [
       5.64,
       0.4536
      ],
      [
       5.7,
       0.4839
      ],
      [
       5.76,
       0.5143
      ],
      [
       5.82,
       0.5143
      ],
      [
       5.88,
       0.5446
      ],
      [
       5.94,
       0.5446
      ],
      [
       6.0,
       0.575
      ],
      [
       6.06,
       0.575
      ],
      [
       6.12,
       0.575
      ],
      [
       6.18,
       0.6054
      ],
      [
       6.24,
       0.6054
      ],
      [
       6.3,
       0.6357
      ],
      [
       6.36,
       0.6661
      ],
      [
       6.42,
       0.6661
      ],
      [
       6.48,
       0.6661
      ],
      [
       6.54,
       0.6964
      ],
      [
       6.6,
       0.6964
      ],
      [
       6.66,
       0.6964
      ],
      [
       6.72,
       0.7571
      ],
      [
       6.78,
       0.7571
      ],
      [
       6.84,
       0.7571
      ],
      [
       6.9,
       0.7571
      ],
      [
       6.96,
       0.7875
      ],
      [
       7.02,
       0.7875
      ],
      [
       7.08,
       0.7875
      ],
      [
       7.14,
       0.8179
      ],
      [
       7.2,
       0.8179
      ],
      [
       7.26,
       0.8179
      ],
      [
       7.32,
       0.8179
      ],
      [
       7.38,
       0.8482
      ],
      [
       7.44,
       0.8482
      ],
      [
       7.5,
       0.8482
      ],
      [
       7.56,
       0.8482
      ],
      [
       7.62,
       0.8786
      ],
      [
       7.68,
       0.8786
      ],
      [
       7.74,
       0.8786
      ],
      [
       7.8,
       0.8786
      ],
      [
       7.86,
       0.8786
      ],
      [
       7.92,
       0.8786
      ],
      [
       7.98,
       0.8786
      ],
      [
       8.04,
       0.8786
      ],
      [
       8.1,
       0.8786
      ],
      [
       8.16,
       0.8786
      ],
      [
       8.22,
       0.9089
      ],
      [
       8.28,
       0.9089
      ],
      [
       8.34,
       0.9089
      ],
      [
       8.4,
       0.9089
      ],
      [
       8.46,
       0.9089
      ],
      [
       8.52,
       0.9089
      ],
      [
       8.58,
       0.9089
      ],
      [
       8.64,
       0.9089
      ],
      [
       8.7,
       0.9089
      ],
      [
       8.76,
       0.9089
      ],
      [
       8.82,
       0.9089
      ],
      [
       8.88,
       0.9089
      ],
      [
       8.94,
       0.9089
      ],
      [
       9.0,
       0.9089
      ],
      [
       9.06,
       0.9089
      ],
      [
       9.12,
       0.9089
      ],
      [
       9.18,
       0.9089
      ],
      [
       9.24,
       0.9089
      ],
      [
       9.3,
       0.9089
      ],
      [
       9.36,
       0.9089
      ],
      [
       9.42,
       0.9089
      ],
      [
       9.48,
       0.9089
      ],
      [
       9.54,
       0.9089
      ],
      [
       9.6,
       0.9089
      ],
      [
       9.66,
       0.9089
      ],
      [
       9.72,
       0.9089
      ],
      [
       9.78,
       0.9089
      ],
      [
       9.84,
       0.9089
      ],
      [
       9.9,
       0.9089
      ],
      [
       9.96,
       0.9089
      ],
      [
       10.02,
       0.9089
      ],
      [
       10.08,
       0.9089
      ],
      [
       10.14,
       0.9089
      ],
      [
       10.2,
       0.9089
      ],
      [
       10.26,
       0.9089
      ],
      [
       10.32,
       0.9089
      ],
      [
       10.38,
       0.9089
      ],
      [
       10.44,
       0.9089
      ],
      [
       10.5,
       0.9089
      ],
      [
       10.56,
       0.9089
      ],
      [
       10.62,
       0.9393
      ]
     ],
     "total_reward": 1.9133,
     "initial_progress": 0.0,
     "final_progress": 0.9393,
     "physics_sha256": "9b77fee54334eb00e597211f9d3e7b741cf09e63f730fb827348cf4d487e7ced",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.05357142857142855,
       "final_progress": 0.30357142857142855,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.2714285714285714,
       "final_progress": 0.2714285714285714,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 531,
       "return": 1.9133090336565415,
       "final_progress": 0.9392857142857143
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "red electronic box"
      }
     ]
    },
    "aloha": {
     "gym_id": "6ab7a8edb1aa-aloha",
     "video": "media/sim-6ab7a8edb1aa-aloha-s5.mp4",
     "poster": "media/sim-6ab7a8edb1aa-aloha-s5.jpg",
     "trajectory": "trajectories/6ab7a8edb1aa-aloha.json",
     "recipe": "recipes/6ab7a8edb1aa-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0189
      ],
      [
       0.28,
       0.047
      ],
      [
       0.42,
       0.0736
      ],
      [
       0.56,
       0.0984
      ],
      [
       0.7,
       0.1216
      ],
      [
       0.84,
       0.139
      ],
      [
       0.98,
       0.1347
      ],
      [
       1.12,
       0.1367
      ],
      [
       1.26,
       0.1366
      ],
      [
       1.4,
       0.1331
      ],
      [
       1.54,
       0.1327
      ],
      [
       1.68,
       0.1338
      ],
      [
       1.82,
       0.1381
      ],
      [
       1.96,
       0.1431
      ],
      [
       2.1,
       0.1455
      ],
      [
       2.24,
       0.1462
      ],
      [
       2.38,
       0.1465
      ],
      [
       2.52,
       0.1462
      ],
      [
       2.66,
       0.1461
      ],
      [
       2.8,
       0.1459
      ],
      [
       2.94,
       0.1456
      ],
      [
       3.08,
       0.1444
      ],
      [
       3.22,
       0.1421
      ],
      [
       3.36,
       0.1396
      ],
      [
       3.5,
       0.1374
      ],
      [
       3.64,
       0.1356
      ],
      [
       3.78,
       0.1342
      ],
      [
       3.92,
       0.1329
      ],
      [
       4.06,
       0.1316
      ],
      [
       4.2,
       0.1307
      ],
      [
       4.34,
       0.1306
      ],
      [
       4.48,
       0.1307
      ],
      [
       4.62,
       0.1309
      ],
      [
       4.76,
       0.1313
      ],
      [
       4.9,
       0.1325
      ],
      [
       5.04,
       0.1405
      ],
      [
       5.18,
       0.1478
      ],
      [
       5.32,
       0.1487
      ],
      [
       5.46,
       0.15
      ],
      [
       5.6,
       0.15
      ],
      [
       5.74,
       0.2714
      ],
      [
       5.88,
       0.2714
      ],
      [
       6.02,
       0.2714
      ],
      [
       6.16,
       0.3018
      ],
      [
       6.3,
       0.3018
      ],
      [
       6.44,
       0.3018
      ],
      [
       6.58,
       0.3018
      ],
      [
       6.72,
       0.3625
      ],
      [
       6.86,
       0.3625
      ],
      [
       7.0,
       0.3625
      ],
      [
       7.14,
       0.4536
      ],
      [
       7.28,
       0.4536
      ],
      [
       7.42,
       0.4536
      ],
      [
       7.56,
       0.4536
      ],
      [
       7.7,
       0.4839
      ],
      [
       7.84,
       0.4839
      ],
      [
       7.98,
       0.4839
      ],
      [
       8.12,
       0.5143
      ],
      [
       8.26,
       0.5143
      ],
      [
       8.4,
       0.5143
      ],
      [
       8.54,
       0.5143
      ],
      [
       8.68,
       0.575
      ],
      [
       8.82,
       0.575
      ],
      [
       8.96,
       0.575
      ],
      [
       9.1,
       0.6054
      ],
      [
       9.24,
       0.6054
      ],
      [
       9.38,
       0.6054
      ],
      [
       9.52,
       0.6054
      ],
      [
       9.66,
       0.6054
      ],
      [
       9.8,
       0.6054
      ],
      [
       9.94,
       0.6054
      ],
      [
       10.08,
       0.6054
      ],
      [
       10.22,
       0.6357
      ],
      [
       10.36,
       0.6357
      ],
      [
       10.5,
       0.6357
      ],
      [
       10.64,
       0.6357
      ],
      [
       10.78,
       0.6357
      ],
      [
       10.92,
       0.6357
      ],
      [
       11.06,
       0.6357
      ],
      [
       11.2,
       0.6357
      ],
      [
       11.34,
       0.6661
      ],
      [
       11.48,
       0.6661
      ],
      [
       11.62,
       0.6661
      ],
      [
       11.76,
       0.6661
      ],
      [
       11.9,
       0.6661
      ],
      [
       12.04,
       0.6964
      ],
      [
       12.18,
       0.6964
      ],
      [
       12.32,
       0.6964
      ],
      [
       12.46,
       0.6964
      ],
      [
       12.6,
       0.6964
      ],
      [
       12.74,
       0.6964
      ],
      [
       12.88,
       0.6964
      ],
      [
       13.02,
       0.6964
      ],
      [
       13.16,
       0.6964
      ],
      [
       13.3,
       0.6964
      ],
      [
       13.44,
       0.6964
      ],
      [
       13.58,
       0.6964
      ],
      [
       13.72,
       0.6964
      ],
      [
       13.86,
       0.7268
      ],
      [
       14.0,
       0.7268
      ],
      [
       14.14,
       0.7268
      ],
      [
       14.28,
       0.7268
      ],
      [
       14.42,
       0.7268
      ],
      [
       14.56,
       0.7268
      ],
      [
       14.7,
       0.7268
      ],
      [
       14.84,
       0.7268
      ],
      [
       14.98,
       0.7268
      ],
      [
       15.12,
       0.7268
      ],
      [
       15.26,
       0.7268
      ],
      [
       15.4,
       0.7268
      ],
      [
       15.54,
       0.7268
      ],
      [
       15.68,
       0.7268
      ],
      [
       15.82,
       0.7268
      ],
      [
       15.96,
       0.7268
      ],
      [
       16.1,
       0.7268
      ],
      [
       16.24,
       0.7268
      ],
      [
       16.38,
       0.7268
      ],
      [
       16.52,
       0.7268
      ],
      [
       16.66,
       0.7268
      ],
      [
       16.8,
       0.7268
      ],
      [
       16.94,
       0.7571
      ],
      [
       17.08,
       0.7571
      ],
      [
       17.22,
       0.7571
      ],
      [
       17.36,
       0.7571
      ],
      [
       17.5,
       0.7571
      ],
      [
       17.64,
       0.7571
      ],
      [
       17.78,
       0.7571
      ],
      [
       17.92,
       0.7571
      ],
      [
       18.06,
       0.7571
      ],
      [
       18.2,
       0.7571
      ],
      [
       18.34,
       0.7571
      ],
      [
       18.48,
       0.7571
      ],
      [
       18.62,
       0.7571
      ],
      [
       18.76,
       0.7571
      ],
      [
       18.9,
       0.7571
      ],
      [
       19.04,
       0.7571
      ],
      [
       19.18,
       0.7571
      ],
      [
       19.32,
       0.7571
      ],
      [
       19.46,
       0.7571
      ],
      [
       19.6,
       0.7571
      ],
      [
       19.74,
       0.7571
      ],
      [
       19.88,
       0.7571
      ],
      [
       20.02,
       0.7571
      ],
      [
       20.16,
       0.7571
      ],
      [
       20.3,
       0.7571
      ],
      [
       20.44,
       0.7571
      ],
      [
       20.58,
       0.7571
      ],
      [
       20.72,
       0.7571
      ],
      [
       20.86,
       0.7571
      ],
      [
       21.0,
       0.7571
      ],
      [
       21.14,
       0.7571
      ],
      [
       21.28,
       0.7875
      ],
      [
       21.42,
       0.7875
      ],
      [
       21.56,
       0.7875
      ],
      [
       21.7,
       0.7875
      ],
      [
       21.84,
       0.7875
      ],
      [
       21.98,
       0.7875
      ],
      [
       22.12,
       0.7875
      ],
      [
       22.26,
       0.7875
      ],
      [
       22.4,
       0.7875
      ],
      [
       22.54,
       0.7875
      ],
      [
       22.68,
       0.7875
      ],
      [
       22.82,
       0.7875
      ],
      [
       22.96,
       0.7875
      ],
      [
       23.1,
       0.7875
      ],
      [
       23.24,
       0.7875
      ],
      [
       23.38,
       0.7875
      ],
      [
       23.52,
       0.7875
      ],
      [
       23.66,
       0.7875
      ],
      [
       23.8,
       0.7875
      ],
      [
       23.94,
       0.7875
      ],
      [
       24.0,
       0.7875
      ]
     ],
     "total_reward": 0.7302,
     "initial_progress": 0.0,
     "final_progress": 0.7875,
     "physics_sha256": "11da87e5191800e07d04ac0474b938bf53231bd36e3e1ced5f930cfd449f3334",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0015234730871828972,
       "final_progress": 0.0015234730871828972,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.06424226526982824,
       "final_progress": 0.06424226526982824,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.21399462976837763,
       "final_progress": 0.2714285714285714,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6935608424425802,
       "final_progress": 0.7267857142857144
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7386068328215708,
       "final_progress": 0.7875
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7922476823824167,
       "final_progress": 0.8482142857142857
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6064951911987273,
       "final_progress": 0.6660714285714285
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6998855595552455,
       "final_progress": 0.7267857142857144
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.730219257006112,
       "final_progress": 0.7875
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "red electronic box"
      }
     ]
    }
   }
  },
  {
   "example_id": "85babfb0eb56bf810e8da05e1380ff3250abe2518c1d64f1a1f90a81fae4e4b4",
   "recording_id": 4481,
   "task_number": 2,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "wooden dining table",
   "human_action": false,
   "description": "Slide the coffee mug across the wooden dining table among the charging cable and the red electronic box onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the coffee mug across the wooden dining table among the charging cable and the red electronic box onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 4481,
    "contributor_id": 1,
    "video": "media/source-4481-713be941cb58.mp4",
    "poster": "media/source-4481.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4481,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4481_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "dcf9d484c6ce88331488bda0719e9e0bf2ba6ab9d4420a732ce7ac7ee3c0b84b",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 4,
    "flat_decor": 1,
    "observed": 2,
    "added_context": 3,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "85babfb0eb56-panda",
     "video": "media/sim-85babfb0eb56-panda-s2.mp4",
     "poster": "media/sim-85babfb0eb56-panda-s2.jpg",
     "trajectory": "trajectories/85babfb0eb56-panda.json",
     "recipe": "recipes/85babfb0eb56-panda.json",
     "seed": 2,
     "steps": 119,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0008
      ],
      [
       0.44,
       0.0031
      ],
      [
       0.46,
       0.0056
      ],
      [
       0.48,
       0.0082
      ],
      [
       0.5,
       0.011
      ],
      [
       0.52,
       0.0138
      ],
      [
       0.54,
       0.0168
      ],
      [
       0.56,
       0.02
      ],
      [
       0.58,
       0.0232
      ],
      [
       0.6,
       0.0263
      ],
      [
       0.62,
       0.029
      ],
      [
       0.64,
       0.0314
      ],
      [
       0.66,
       0.0334
      ],
      [
       0.68,
       0.0354
      ],
      [
       0.7,
       0.0374
      ],
      [
       0.72,
       0.0396
      ],
      [
       0.74,
       0.0419
      ],
      [
       0.76,
       0.0444
      ],
      [
       0.78,
       0.047
      ],
      [
       0.8,
       0.0495
      ],
      [
       0.82,
       0.0521
      ],
      [
       0.84,
       0.0546
      ],
      [
       0.86,
       0.0572
      ],
      [
       0.88,
       0.0597
      ],
      [
       0.9,
       0.0624
      ],
      [
       0.92,
       0.065
      ],
      [
       0.94,
       0.0677
      ],
      [
       0.96,
       0.0704
      ],
      [
       0.98,
       0.0731
      ],
      [
       1.0,
       0.0758
      ],
      [
       1.02,
       0.0785
      ],
      [
       1.04,
       0.0812
      ],
      [
       1.06,
       0.0838
      ],
      [
       1.08,
       0.0864
      ],
      [
       1.1,
       0.089
      ],
      [
       1.12,
       0.0916
      ],
      [
       1.14,
       0.0941
      ],
      [
       1.16,
       0.0966
      ],
      [
       1.18,
       0.0993
      ],
      [
       1.2,
       0.1021
      ],
      [
       1.22,
       0.1046
      ],
      [
       1.24,
       0.1067
      ],
      [
       1.26,
       0.1087
      ],
      [
       1.28,
       0.1105
      ],
      [
       1.3,
       0.1121
      ],
      [
       1.32,
       0.1135
      ],
      [
       1.34,
       0.1147
      ],
      [
       1.36,
       0.1157
      ],
      [
       1.38,
       0.1168
      ],
      [
       1.4,
       0.118
      ],
      [
       1.42,
       0.1194
      ],
      [
       1.44,
       0.1207
      ],
      [
       1.46,
       0.1221
      ],
      [
       1.48,
       0.1234
      ],
      [
       1.5,
       0.1245
      ],
      [
       1.52,
       0.1256
      ],
      [
       1.54,
       0.1267
      ],
      [
       1.56,
       0.1278
      ],
      [
       1.58,
       0.1289
      ],
      [
       1.6,
       0.13
      ],
      [
       1.62,
       0.1311
      ],
      [
       1.64,
       0.1323
      ],
      [
       1.66,
       0.1336
      ],
      [
       1.68,
       0.1352
      ],
      [
       1.7,
       0.1367
      ],
      [
       1.72,
       0.1378
      ],
      [
       1.74,
       0.1384
      ],
      [
       1.76,
       0.139
      ],
      [
       1.78,
       0.1396
      ],
      [
       1.8,
       0.1496
      ],
      [
       1.82,
       0.1624
      ],
      [
       1.84,
       0.1796
      ],
      [
       1.86,
       0.2108
      ],
      [
       1.88,
       0.2355
      ],
      [
       1.9,
       0.2663
      ],
      [
       1.92,
       0.2901
      ],
      [
       1.94,
       0.3246
      ],
      [
       1.96,
       0.3489
      ],
      [
       1.98,
       0.3819
      ],
      [
       2.0,
       0.4194
      ],
      [
       2.02,
       0.4565
      ],
      [
       2.04,
       0.487
      ],
      [
       2.06,
       0.5276
      ],
      [
       2.08,
       0.5664
      ],
      [
       2.1,
       0.5991
      ],
      [
       2.12,
       0.6445
      ],
      [
       2.14,
       0.6793
      ],
      [
       2.16,
       0.7262
      ],
      [
       2.18,
       0.7505
      ],
      [
       2.2,
       0.7857
      ],
      [
       2.22,
       0.8249
      ],
      [
       2.24,
       0.8479
      ],
      [
       2.26,
       0.8826
      ],
      [
       2.28,
       0.9049
      ],
      [
       2.3,
       0.9304
      ],
      [
       2.32,
       0.9551
      ],
      [
       2.34,
       0.9732
      ],
      [
       2.36,
       0.9934
      ],
      [
       2.38,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "eb9d1ff3fe45c64bced9f8fec2c9999b2065528939c2d4500c5ba03df1a78c57",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.08729667775094195,
       "final_progress": 0.08729667775094195,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.04649534321372142,
       "final_progress": 0.04649534321372142,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.022187475177548228,
       "final_progress": 0.022187475177548228
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.049027662698226775,
       "final_progress": 0.0490276626982268
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 119,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "coffee mug"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "red electronic box"
      }
     ]
    },
    "aloha": {
     "gym_id": "85babfb0eb56-aloha",
     "video": "media/sim-85babfb0eb56-aloha-s5.mp4",
     "poster": "media/sim-85babfb0eb56-aloha-s5.jpg",
     "trajectory": "trajectories/85babfb0eb56-aloha.json",
     "recipe": "recipes/85babfb0eb56-aloha.json",
     "seed": 5,
     "steps": 314,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0003
      ],
      [
       0.04,
       0.0009
      ],
      [
       0.06,
       0.0015
      ],
      [
       0.08,
       0.002
      ],
      [
       0.1,
       0.0026
      ],
      [
       0.12,
       0.0032
      ],
      [
       0.14,
       0.0038
      ],
      [
       0.16,
       0.0045
      ],
      [
       0.18,
       0.0051
      ],
      [
       0.2,
       0.0058
      ],
      [
       0.22,
       0.0064
      ],
      [
       0.24,
       0.0071
      ],
      [
       0.26,
       0.0078
      ],
      [
       0.28,
       0.0085
      ],
      [
       0.3,
       0.0092
      ],
      [
       0.32,
       0.0099
      ],
      [
       0.34,
       0.0106
      ],
      [
       0.36,
       0.0114
      ],
      [
       0.38,
       0.0122
      ],
      [
       0.4,
       0.0131
      ],
      [
       0.42,
       0.014
      ],
      [
       0.44,
       0.015
      ],
      [
       0.46,
       0.0161
      ],
      [
       0.48,
       0.0172
      ],
      [
       0.5,
       0.0184
      ],
      [
       0.52,
       0.0196
      ],
      [
       0.54,
       0.0209
      ],
      [
       0.56,
       0.0223
      ],
      [
       0.58,
       0.0238
      ],
      [
       0.6,
       0.0253
      ],
      [
       0.62,
       0.0268
      ],
      [
       0.64,
       0.0284
      ],
      [
       0.66,
       0.03
      ],
      [
       0.68,
       0.0316
      ],
      [
       0.7,
       0.0333
      ],
      [
       0.72,
       0.0349
      ],
      [
       0.74,
       0.0366
      ],
      [
       0.76,
       0.0382
      ],
      [
       0.78,
       0.0399
      ],
      [
       0.8,
       0.0416
      ],
      [
       0.82,
       0.0433
      ],
      [
       0.84,
       0.045
      ],
      [
       0.86,
       0.0467
      ],
      [
       0.88,
       0.0484
      ],
      [
       0.9,
       0.0502
      ],
      [
       0.92,
       0.0519
      ],
      [
       0.94,
       0.0537
      ],
      [
       0.96,
       0.0554
      ],
      [
       0.98,
       0.0572
      ],
      [
       1.0,
       0.0589
      ],
      [
       1.02,
       0.0607
      ],
      [
       1.04,
       0.0625
      ],
      [
       1.06,
       0.0643
      ],
      [
       1.08,
       0.0661
      ],
      [
       1.1,
       0.0678
      ],
      [
       1.12,
       0.0696
      ],
      [
       1.14,
       0.0714
      ],
      [
       1.16,
       0.0731
      ],
      [
       1.18,
       0.0748
      ],
      [
       1.2,
       0.0765
      ],
      [
       1.22,
       0.0782
      ],
      [
       1.24,
       0.0798
      ],
      [
       1.26,
       0.0814
      ],
      [
       1.28,
       0.083
      ],
      [
       1.3,
       0.0846
      ],
      [
       1.32,
       0.086
      ],
      [
       1.34,
       0.0875
      ],
      [
       1.36,
       0.0889
      ],
      [
       1.38,
       0.0902
      ],
      [
       1.4,
       0.0914
      ],
      [
       1.42,
       0.0926
      ],
      [
       1.44,
       0.0936
      ],
      [
       1.46,
       0.0946
      ],
      [
       1.48,
       0.0954
      ],
      [
       1.5,
       0.0961
      ],
      [
       1.52,
       0.0967
      ],
      [
       1.54,
       0.0971
      ],
      [
       1.56,
       0.0974
      ],
      [
       1.58,
       0.0975
      ],
      [
       1.6,
       0.0975
      ],
      [
       1.62,
       0.0975
      ],
      [
       1.64,
       0.0974
      ],
      [
       1.66,
       0.0975
      ],
      [
       1.68,
       0.0975
      ],
      [
       1.7,
       0.0975
      ],
      [
       1.72,
       0.0974
      ],
      [
       1.74,
       0.0973
      ],
      [
       1.76,
       0.0972
      ],
      [
       1.78,
       0.0972
      ],
      [
       1.8,
       0.0972
      ],
      [
       1.82,
       0.0972
      ],
      [
       1.84,
       0.0974
      ],
      [
       1.86,
       0.0977
      ],
      [
       1.88,
       0.098
      ],
      [
       1.9,
       0.0984
      ],
      [
       1.92,
       0.099
      ],
      [
       1.94,
       0.0995
      ],
      [
       1.96,
       0.1001
      ],
      [
       1.98,
       0.1007
      ],
      [
       2.0,
       0.1013
      ],
      [
       2.02,
       0.1019
      ],
      [
       2.04,
       0.1025
      ],
      [
       2.06,
       0.103
      ],
      [
       2.08,
       0.1035
      ],
      [
       2.1,
       0.104
      ],
      [
       2.12,
       0.1043
      ],
      [
       2.14,
       0.1046
      ],
      [
       2.16,
       0.1047
      ],
      [
       2.18,
       0.1048
      ],
      [
       2.2,
       0.1047
      ],
      [
       2.22,
       0.1045
      ],
      [
       2.24,
       0.1042
      ],
      [
       2.26,
       0.1038
      ],
      [
       2.28,
       0.1034
      ],
      [
       2.3,
       0.1029
      ],
      [
       2.32,
       0.1025
      ],
      [
       2.34,
       0.102
      ],
      [
       2.36,
       0.1015
      ],
      [
       2.38,
       0.101
      ],
      [
       2.4,
       0.1005
      ],
      [
       2.42,
       0.1
      ],
      [
       2.44,
       0.0996
      ],
      [
       2.46,
       0.0992
      ],
      [
       2.48,
       0.0988
      ],
      [
       2.5,
       0.0984
      ],
      [
       2.52,
       0.098
      ],
      [
       2.54,
       0.0977
      ],
      [
       2.56,
       0.0974
      ],
      [
       2.58,
       0.0971
      ],
      [
       2.6,
       0.0969
      ],
      [
       2.62,
       0.0966
      ],
      [
       2.64,
       0.0966
      ],
      [
       2.66,
       0.0966
      ],
      [
       2.68,
       0.0966
      ],
      [
       2.7,
       0.0967
      ],
      [
       2.72,
       0.0967
      ],
      [
       2.74,
       0.0967
      ],
      [
       2.76,
       0.0967
      ],
      [
       2.78,
       0.0968
      ],
      [
       2.8,
       0.0968
      ],
      [
       2.82,
       0.0968
      ],
      [
       2.84,
       0.0969
      ],
      [
       2.86,
       0.0969
      ],
      [
       2.88,
       0.097
      ],
      [
       2.9,
       0.0971
      ],
      [
       2.92,
       0.0971
      ],
      [
       2.94,
       0.0972
      ],
      [
       2.96,
       0.0973
      ],
      [
       2.98,
       0.0974
      ],
      [
       3.0,
       0.0976
      ],
      [
       3.02,
       0.0977
      ],
      [
       3.04,
       0.098
      ],
      [
       3.06,
       0.0987
      ],
      [
       3.08,
       0.0991
      ],
      [
       3.1,
       0.0993
      ],
      [
       3.12,
       0.0995
      ],
      [
       3.14,
       0.0996
      ],
      [
       3.16,
       0.0997
      ],
      [
       3.18,
       0.0997
      ],
      [
       3.2,
       0.0998
      ],
      [
       3.22,
       0.0998
      ],
      [
       3.24,
       0.0999
      ],
      [
       3.26,
       0.1
      ],
      [
       3.28,
       0.1
      ],
      [
       3.3,
       0.1001
      ],
      [
       3.32,
       0.1001
      ],
      [
       3.34,
       0.1002
      ],
      [
       3.36,
       0.1003
      ],
      [
       3.38,
       0.1004
      ],
      [
       3.4,
       0.1005
      ],
      [
       3.42,
       0.1005
      ],
      [
       3.44,
       0.1006
      ],
      [
       3.46,
       0.1007
      ],
      [
       3.48,
       0.1008
      ],
      [
       3.5,
       0.1009
      ],
      [
       3.52,
       0.101
      ],
      [
       3.54,
       0.1011
      ],
      [
       3.56,
       0.1012
      ],
      [
       3.58,
       0.1014
      ],
      [
       3.6,
       0.1015
      ],
      [
       3.62,
       0.1016
      ],
      [
       3.64,
       0.1017
      ],
      [
       3.66,
       0.1019
      ],
      [
       3.68,
       0.102
      ],
      [
       3.7,
       0.1022
      ],
      [
       3.72,
       0.1023
      ],
      [
       3.74,
       0.1024
      ],
      [
       3.76,
       0.1025
      ],
      [
       3.78,
       0.1026
      ],
      [
       3.8,
       0.1027
      ],
      [
       3.82,
       0.1028
      ],
      [
       3.84,
       0.1029
      ],
      [
       3.86,
       0.1031
      ],
      [
       3.88,
       0.1032
      ],
      [
       3.9,
       0.1033
      ],
      [
       3.92,
       0.1034
      ],
      [
       3.94,
       0.1035
      ],
      [
       3.96,
       0.1036
      ],
      [
       3.98,
       0.1037
      ],
      [
       4.0,
       0.1037
      ],
      [
       4.02,
       0.1038
      ],
      [
       4.04,
       0.1039
      ],
      [
       4.06,
       0.104
      ],
      [
       4.08,
       0.1041
      ],
      [
       4.1,
       0.1042
      ],
      [
       4.12,
       0.1043
      ],
      [
       4.14,
       0.1043
      ],
      [
       4.16,
       0.1044
      ],
      [
       4.18,
       0.1045
      ],
      [
       4.2,
       0.1045
      ],
      [
       4.22,
       0.1046
      ],
      [
       4.24,
       0.1046
      ],
      [
       4.26,
       0.1047
      ],
      [
       4.28,
       0.1047
      ],
      [
       4.3,
       0.1048
      ],
      [
       4.32,
       0.1048
      ],
      [
       4.34,
       0.1049
      ],
      [
       4.36,
       0.105
      ],
      [
       4.38,
       0.105
      ],
      [
       4.4,
       0.1051
      ],
      [
       4.42,
       0.1051
      ],
      [
       4.44,
       0.1052
      ],
      [
       4.46,
       0.1052
      ],
      [
       4.48,
       0.1053
      ],
      [
       4.5,
       0.1054
      ],
      [
       4.52,
       0.1054
      ],
      [
       4.54,
       0.1055
      ],
      [
       4.56,
       0.1055
      ],
      [
       4.58,
       0.1056
      ],
      [
       4.6,
       0.1057
      ],
      [
       4.62,
       0.1057
      ],
      [
       4.64,
       0.1058
      ],
      [
       4.66,
       0.1059
      ],
      [
       4.68,
       0.1059
      ],
      [
       4.7,
       0.106
      ],
      [
       4.72,
       0.1061
      ],
      [
       4.74,
       0.1061
      ],
      [
       4.76,
       0.1062
      ],
      [
       4.78,
       0.1063
      ],
      [
       4.8,
       0.1067
      ],
      [
       4.82,
       0.1074
      ],
      [
       4.84,
       0.1086
      ],
      [
       4.86,
       0.1097
      ],
      [
       4.88,
       0.111
      ],
      [
       4.9,
       0.1122
      ],
      [
       4.92,
       0.1135
      ],
      [
       4.94,
       0.1148
      ],
      [
       4.96,
       0.1161
      ],
      [
       4.98,
       0.1174
      ],
      [
       5.0,
       0.1187
      ],
      [
       5.02,
       0.1203
      ],
      [
       5.04,
       0.122
      ],
      [
       5.06,
       0.1235
      ],
      [
       5.08,
       0.1296
      ],
      [
       5.1,
       0.1325
      ],
      [
       5.12,
       0.1387
      ],
      [
       5.14,
       0.1424
      ],
      [
       5.16,
       0.1478
      ],
      [
       5.18,
       0.1475
      ],
      [
       5.2,
       0.1445
      ],
      [
       5.22,
       0.1408
      ],
      [
       5.24,
       0.1397
      ],
      [
       5.26,
       0.1414
      ],
      [
       5.28,
       0.1419
      ],
      [
       5.3,
       0.1423
      ],
      [
       5.32,
       0.1427
      ],
      [
       5.34,
       0.1431
      ],
      [
       5.36,
       0.1433
      ],
      [
       5.38,
       0.1436
      ],
      [
       5.4,
       0.1437
      ],
      [
       5.42,
       0.1439
      ],
      [
       5.44,
       0.1441
      ],
      [
       5.46,
       0.1443
      ],
      [
       5.48,
       0.1454
      ],
      [
       5.5,
       0.1471
      ],
      [
       5.52,
       0.1492
      ],
      [
       5.54,
       0.1655
      ],
      [
       5.56,
       0.1808
      ],
      [
       5.58,
       0.1999
      ],
      [
       5.6,
       0.2182
      ],
      [
       5.62,
       0.2404
      ],
      [
       5.64,
       0.2579
      ],
      [
       5.66,
       0.2798
      ],
      [
       5.68,
       0.3055
      ],
      [
       5.7,
       0.3328
      ],
      [
       5.72,
       0.3617
      ],
      [
       5.74,
       0.3896
      ],
      [
       5.76,
       0.4171
      ],
      [
       5.78,
       0.4476
      ],
      [
       5.8,
       0.4763
      ],
      [
       5.82,
       0.5059
      ],
      [
       5.84,
       0.5308
      ],
      [
       5.86,
       0.5645
      ],
      [
       5.88,
       0.5932
      ],
      [
       5.9,
       0.6228
      ],
      [
       5.92,
       0.6509
      ],
      [
       5.94,
       0.6813
      ],
      [
       5.96,
       0.7069
      ],
      [
       5.98,
       0.737
      ],
      [
       6.0,
       0.7636
      ],
      [
       6.02,
       0.7949
      ],
      [
       6.04,
       0.8189
      ],
      [
       6.06,
       0.8489
      ],
      [
       6.08,
       0.8705
      ],
      [
       6.1,
       0.8959
      ],
      [
       6.12,
       0.9216
      ],
      [
       6.14,
       0.936
      ],
      [
       6.16,
       0.951
      ],
      [
       6.18,
       0.9631
      ],
      [
       6.2,
       0.976
      ],
      [
       6.22,
       0.9881
      ],
      [
       6.24,
       0.9925
      ],
      [
       6.26,
       0.9981
      ],
      [
       6.28,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "a66ddc416f0a9b8a5c997546f7147e3ba8ce70da779b6b72b63aa774f720f83d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0008287379456301146,
       "final_progress": 0.0008287379456301146,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.022745043967373084,
       "final_progress": 0.022745043967373084,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.4260419351403184,
       "final_progress": 0.4260419351403184,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0667268942721533,
       "final_progress": 0.06672689427215332
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.08207783161805415,
       "final_progress": 0.08207783161805415
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.4346174205782761,
       "final_progress": 0.06538257942172387
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.2223022641261178,
       "final_progress": 0.09516847332763562
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6813971726585875,
       "final_progress": 0.6813971726585875
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 314,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "coffee mug"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "red electronic box"
      }
     ]
    }
   }
  },
  {
   "example_id": "d18de5bd4f394ec19c90615a8be8bb401eb16ffceed72c255393d204d4c00d2e",
   "recording_id": 4481,
   "task_number": 3,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "wooden dining table",
   "human_action": false,
   "description": "Pick up the foam block and balance it on top of the gelatin box on the wooden dining table among the charging cable and the red electronic box.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the foam block and balance it on top of the gelatin box on the wooden dining table among the charging cable and the red electronic box.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 4481,
    "contributor_id": 1,
    "video": "media/source-4481-713be941cb58.mp4",
    "poster": "media/source-4481.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4481,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4481_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "dcf9d484c6ce88331488bda0719e9e0bf2ba6ab9d4420a732ce7ac7ee3c0b84b",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 2,
    "added_context": 5,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "d18de5bd4f39-panda",
     "video": "media/sim-d18de5bd4f39-panda-s0.mp4",
     "poster": "media/sim-d18de5bd4f39-panda-s0.jpg",
     "trajectory": "trajectories/d18de5bd4f39-panda.json",
     "recipe": "recipes/d18de5bd4f39-panda.json",
     "seed": 0,
     "steps": 276,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0024
      ],
      [
       0.52,
       0.005
      ],
      [
       0.54,
       0.0078
      ],
      [
       0.56,
       0.0109
      ],
      [
       0.58,
       0.0141
      ],
      [
       0.6,
       0.0175
      ],
      [
       0.62,
       0.0212
      ],
      [
       0.64,
       0.025
      ],
      [
       0.66,
       0.0286
      ],
      [
       0.68,
       0.0317
      ],
      [
       0.7,
       0.0343
      ],
      [
       0.72,
       0.0366
      ],
      [
       0.74,
       0.0387
      ],
      [
       0.76,
       0.0407
      ],
      [
       0.78,
       0.0427
      ],
      [
       0.8,
       0.0447
      ],
      [
       0.82,
       0.0469
      ],
      [
       0.84,
       0.0494
      ],
      [
       0.86,
       0.052
      ],
      [
       0.88,
       0.0547
      ],
      [
       0.9,
       0.0575
      ],
      [
       0.92,
       0.0603
      ],
      [
       0.94,
       0.063
      ],
      [
       0.96,
       0.0658
      ],
      [
       0.98,
       0.0686
      ],
      [
       1.0,
       0.0715
      ],
      [
       1.02,
       0.0743
      ],
      [
       1.04,
       0.0773
      ],
      [
       1.06,
       0.0802
      ],
      [
       1.08,
       0.0832
      ],
      [
       1.1,
       0.0861
      ],
      [
       1.12,
       0.0891
      ],
      [
       1.14,
       0.092
      ],
      [
       1.16,
       0.0949
      ],
      [
       1.18,
       0.0977
      ],
      [
       1.2,
       0.1005
      ],
      [
       1.22,
       0.1032
      ],
      [
       1.24,
       0.1058
      ],
      [
       1.26,
       0.1082
      ],
      [
       1.28,
       0.1104
      ],
      [
       1.3,
       0.1125
      ],
      [
       1.32,
       0.1145
      ],
      [
       1.34,
       0.1164
      ],
      [
       1.36,
       0.1181
      ],
      [
       1.38,
       0.1196
      ],
      [
       1.4,
       0.121
      ],
      [
       1.42,
       0.1226
      ],
      [
       1.44,
       0.1242
      ],
      [
       1.46,
       0.1259
      ],
      [
       1.48,
       0.1277
      ],
      [
       1.5,
       0.1294
      ],
      [
       1.52,
       0.1311
      ],
      [
       1.54,
       0.1328
      ],
      [
       1.56,
       0.1345
      ],
      [
       1.58,
       0.1362
      ],
      [
       1.6,
       0.138
      ],
      [
       1.62,
       0.1398
      ],
      [
       1.64,
       0.1417
      ],
      [
       1.66,
       0.1437
      ],
      [
       1.68,
       0.146
      ],
      [
       1.7,
       0.1486
      ],
      [
       1.72,
       0.1477
      ],
      [
       1.74,
       0.1452
      ],
      [
       1.76,
       0.1453
      ],
      [
       1.78,
       0.145
      ],
      [
       1.8,
       0.1448
      ],
      [
       1.82,
       0.1448
      ],
      [
       1.84,
       0.1451
      ],
      [
       1.86,
       0.1454
      ],
      [
       1.88,
       0.1457
      ],
      [
       1.9,
       0.1459
      ],
      [
       1.92,
       0.1461
      ],
      [
       1.94,
       0.1462
      ],
      [
       1.96,
       0.1462
      ],
      [
       1.98,
       0.1462
      ],
      [
       2.0,
       0.1462
      ],
      [
       2.02,
       0.1462
      ],
      [
       2.04,
       0.1462
      ],
      [
       2.06,
       0.1462
      ],
      [
       2.08,
       0.1462
      ],
      [
       2.1,
       0.1463
      ],
      [
       2.12,
       0.1463
      ],
      [
       2.14,
       0.1463
      ],
      [
       2.16,
       0.1463
      ],
      [
       2.18,
       0.1463
      ],
      [
       2.2,
       0.1463
      ],
      [
       2.22,
       0.1463
      ],
      [
       2.24,
       0.1463
      ],
      [
       2.26,
       0.1463
      ],
      [
       2.28,
       0.1462
      ],
      [
       2.3,
       0.1462
      ],
      [
       2.32,
       0.1462
      ],
      [
       2.34,
       0.1462
      ],
      [
       2.36,
       0.1463
      ],
      [
       2.38,
       0.1463
      ],
      [
       2.4,
       0.1464
      ],
      [
       2.42,
       0.1464
      ],
      [
       2.44,
       0.1464
      ],
      [
       2.46,
       0.1464
      ],
      [
       2.48,
       0.1465
      ],
      [
       2.5,
       0.1465
      ],
      [
       2.52,
       0.1465
      ],
      [
       2.54,
       0.1466
      ],
      [
       2.56,
       0.1466
      ],
      [
       2.58,
       0.1466
      ],
      [
       2.6,
       0.1466
      ],
      [
       2.62,
       0.1467
      ],
      [
       2.64,
       0.1467
      ],
      [
       2.66,
       0.1467
      ],
      [
       2.68,
       0.1468
      ],
      [
       2.7,
       0.1468
      ],
      [
       2.72,
       0.1468
      ],
      [
       2.74,
       0.1469
      ],
      [
       2.76,
       0.4255
      ],
      [
       2.78,
       0.4257
      ],
      [
       2.8,
       0.4259
      ],
      [
       2.82,
       0.4263
      ],
      [
       2.84,
       0.4265
      ],
      [
       2.86,
       0.4267
      ],
      [
       2.88,
       0.427
      ],
      [
       2.9,
       0.4272
      ],
      [
       2.92,
       0.4273
      ],
      [
       2.94,
       0.4276
      ],
      [
       2.96,
       0.4278
      ],
      [
       2.98,
       0.4282
      ],
      [
       3.0,
       0.4285
      ],
      [
       3.02,
       0.4289
      ],
      [
       3.04,
       0.4292
      ],
      [
       3.06,
       0.4293
      ],
      [
       3.08,
       0.4295
      ],
      [
       3.1,
       0.4294
      ],
      [
       3.12,
       0.4292
      ],
      [
       3.14,
       0.4288
      ],
      [
       3.16,
       0.4284
      ],
      [
       3.18,
       0.4279
      ],
      [
       3.2,
       0.4273
      ],
      [
       3.22,
       0.4267
      ],
      [
       3.24,
       0.426
      ],
      [
       3.26,
       0.4251
      ],
      [
       3.28,
       0.424
      ],
      [
       3.3,
       0.4224
      ],
      [
       3.32,
       0.4201
      ],
      [
       3.34,
       0.4172
      ],
      [
       3.36,
       0.4139
      ],
      [
       3.38,
       0.4131
      ],
      [
       3.4,
       0.4162
      ],
      [
       3.42,
       0.4235
      ],
      [
       3.44,
       0.4346
      ],
      [
       3.46,
       0.4486
      ],
      [
       3.48,
       0.4644
      ],
      [
       3.5,
       0.481
      ],
      [
       3.52,
       0.498
      ],
      [
       3.54,
       0.5153
      ],
      [
       3.56,
       0.5328
      ],
      [
       3.58,
       0.5508
      ],
      [
       3.6,
       0.5693
      ],
      [
       3.62,
       0.5883
      ],
      [
       3.64,
       0.6077
      ],
      [
       3.66,
       0.6277
      ],
      [
       3.68,
       0.648
      ],
      [
       3.7,
       0.6687
      ],
      [
       3.72,
       0.6898
      ],
      [
       3.74,
       0.7113
      ],
      [
       3.76,
       0.733
      ],
      [
       3.78,
       0.7551
      ],
      [
       3.8,
       0.7775
      ],
      [
       3.82,
       0.8001
      ],
      [
       3.84,
       0.823
      ],
      [
       3.86,
       0.846
      ],
      [
       3.88,
       0.8692
      ],
      [
       3.9,
       0.8922
      ],
      [
       3.92,
       0.9
      ],
      [
       3.94,
       0.9
      ],
      [
       3.96,
       0.9
      ],
      [
       3.98,
       0.9
      ],
      [
       4.0,
       0.9
      ],
      [
       4.02,
       0.9
      ],
      [
       4.04,
       0.9
      ],
      [
       4.06,
       0.9
      ],
      [
       4.08,
       0.9
      ],
      [
       4.1,
       0.9
      ],
      [
       4.12,
       0.9
      ],
      [
       4.14,
       0.9
      ],
      [
       4.16,
       0.9
      ],
      [
       4.18,
       0.9
      ],
      [
       4.2,
       0.9
      ],
      [
       4.22,
       0.9
      ],
      [
       4.24,
       0.9
      ],
      [
       4.26,
       0.9
      ],
      [
       4.28,
       0.9
      ],
      [
       4.3,
       0.9
      ],
      [
       4.32,
       0.9
      ],
      [
       4.34,
       0.9
      ],
      [
       4.36,
       0.9
      ],
      [
       4.38,
       0.9
      ],
      [
       4.4,
       0.9
      ],
      [
       4.42,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.46,
       0.9
      ],
      [
       4.48,
       0.9
      ],
      [
       4.5,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.54,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.58,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.62,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.66,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.7,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.74,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.78,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.82,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.86,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.9,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.94,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       4.98,
       1.0
      ],
      [
       5.0,
       1.0
      ],
      [
       5.02,
       0.9
      ],
      [
       5.04,
       1.0
      ],
      [
       5.06,
       1.0
      ],
      [
       5.08,
       1.0
      ],
      [
       5.1,
       1.0
      ],
      [
       5.12,
       1.0
      ],
      [
       5.14,
       1.0
      ],
      [
       5.16,
       1.0
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       1.0
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       1.0
      ],
      [
       5.34,
       1.0
      ],
      [
       5.36,
       1.0
      ],
      [
       5.38,
       1.0
      ],
      [
       5.4,
       1.0
      ],
      [
       5.42,
       1.0
      ],
      [
       5.44,
       1.0
      ],
      [
       5.46,
       1.0
      ],
      [
       5.48,
       1.0
      ],
      [
       5.5,
       1.0
      ],
      [
       5.52,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c980344047155e0d0a553d78f436d676b67814eb6c3e9d02118d69b74f17658f",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": -0.8671938306789776,
       "final_progress": 0.13465077113980536,
       "steps": 141,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 276,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx19",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "gelatin_box_ctx19",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "red electronic box"
      }
     ]
    },
    "aloha": {
     "gym_id": "d18de5bd4f39-aloha",
     "video": "media/sim-d18de5bd4f39-aloha-s0.mp4",
     "poster": "media/sim-d18de5bd4f39-aloha-s0.jpg",
     "trajectory": "trajectories/d18de5bd4f39-aloha.json",
     "recipe": "recipes/d18de5bd4f39-aloha.json",
     "seed": 0,
     "steps": 797,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0015
      ],
      [
       0.16,
       0.0037
      ],
      [
       0.24,
       0.0062
      ],
      [
       0.32,
       0.0093
      ],
      [
       0.4,
       0.0128
      ],
      [
       0.48,
       0.0168
      ],
      [
       0.56,
       0.0214
      ],
      [
       0.64,
       0.0265
      ],
      [
       0.72,
       0.0322
      ],
      [
       0.8,
       0.0386
      ],
      [
       0.88,
       0.0456
      ],
      [
       0.96,
       0.0531
      ],
      [
       1.04,
       0.0612
      ],
      [
       1.12,
       0.0698
      ],
      [
       1.2,
       0.0787
      ],
      [
       1.28,
       0.0884
      ],
      [
       1.36,
       0.0978
      ],
      [
       1.44,
       0.102
      ],
      [
       1.52,
       0.1045
      ],
      [
       1.6,
       0.1062
      ],
      [
       1.68,
       0.107
      ],
      [
       1.76,
       0.1073
      ],
      [
       1.84,
       0.1073
      ],
      [
       1.92,
       0.1075
      ],
      [
       2.0,
       0.1078
      ],
      [
       2.08,
       0.1074
      ],
      [
       2.16,
       0.107
      ],
      [
       2.24,
       0.1065
      ],
      [
       2.32,
       0.1052
      ],
      [
       2.4,
       0.104
      ],
      [
       2.48,
       0.1023
      ],
      [
       2.56,
       0.0999
      ],
      [
       2.64,
       0.0976
      ],
      [
       2.72,
       0.0966
      ],
      [
       2.8,
       0.0967
      ],
      [
       2.88,
       0.0977
      ],
      [
       2.96,
       0.0998
      ],
      [
       3.04,
       0.1028
      ],
      [
       3.12,
       0.1064
      ],
      [
       3.2,
       0.1101
      ],
      [
       3.28,
       0.1111
      ],
      [
       3.36,
       0.1123
      ],
      [
       3.44,
       0.1133
      ],
      [
       3.52,
       0.1142
      ],
      [
       3.6,
       0.1151
      ],
      [
       3.68,
       0.116
      ],
      [
       3.76,
       0.1168
      ],
      [
       3.84,
       0.1177
      ],
      [
       3.92,
       0.1186
      ],
      [
       4.0,
       0.1196
      ],
      [
       4.08,
       0.1216
      ],
      [
       4.16,
       0.1267
      ],
      [
       4.24,
       0.1327
      ],
      [
       4.32,
       0.1393
      ],
      [
       4.4,
       0.1435
      ],
      [
       4.48,
       0.1414
      ],
      [
       4.56,
       0.1411
      ],
      [
       4.64,
       0.1399
      ],
      [
       4.72,
       0.1382
      ],
      [
       4.8,
       0.1378
      ],
      [
       4.88,
       0.1375
      ],
      [
       4.96,
       0.1371
      ],
      [
       5.04,
       0.1366
      ],
      [
       5.12,
       0.1362
      ],
      [
       5.2,
       0.136
      ],
      [
       5.28,
       0.1356
      ],
      [
       5.36,
       0.1352
      ],
      [
       5.44,
       0.1349
      ],
      [
       5.52,
       0.1345
      ],
      [
       5.6,
       0.1342
      ],
      [
       5.68,
       0.1338
      ],
      [
       5.76,
       0.1334
      ],
      [
       5.84,
       0.1329
      ],
      [
       5.92,
       0.1328
      ],
      [
       6.0,
       0.1327
      ],
      [
       6.08,
       0.1326
      ],
      [
       6.16,
       0.1325
      ],
      [
       6.24,
       0.1325
      ],
      [
       6.32,
       0.1324
      ],
      [
       6.4,
       0.1324
      ],
      [
       6.48,
       0.1324
      ],
      [
       6.56,
       0.1323
      ],
      [
       6.64,
       0.1323
      ],
      [
       6.72,
       0.1324
      ],
      [
       6.8,
       0.1325
      ],
      [
       6.88,
       0.1327
      ],
      [
       6.96,
       0.1327
      ],
      [
       7.04,
       0.133
      ],
      [
       7.12,
       0.1331
      ],
      [
       7.2,
       0.1335
      ],
      [
       7.28,
       0.1338
      ],
      [
       7.36,
       0.1339
      ],
      [
       7.44,
       0.1342
      ],
      [
       7.52,
       0.1343
      ],
      [
       7.6,
       0.1347
      ],
      [
       7.68,
       0.1348
      ],
      [
       7.76,
       0.135
      ],
      [
       7.84,
       0.1351
      ],
      [
       7.92,
       0.1352
      ],
      [
       8.0,
       0.1352
      ],
      [
       8.08,
       0.1352
      ],
      [
       8.16,
       0.1353
      ],
      [
       8.24,
       0.1353
      ],
      [
       8.32,
       0.1353
      ],
      [
       8.4,
       0.1353
      ],
      [
       8.48,
       0.1353
      ],
      [
       8.56,
       0.1352
      ],
      [
       8.64,
       0.1352
      ],
      [
       8.72,
       0.4
      ],
      [
       8.8,
       0.4
      ],
      [
       8.88,
       0.4
      ],
      [
       8.96,
       0.4
      ],
      [
       9.04,
       0.4
      ],
      [
       9.12,
       0.4
      ],
      [
       9.2,
       0.4
      ],
      [
       9.28,
       0.4
      ],
      [
       9.36,
       0.4
      ],
      [
       9.44,
       0.4
      ],
      [
       9.52,
       0.4
      ],
      [
       9.6,
       0.4
      ],
      [
       9.68,
       0.4238
      ],
      [
       9.76,
       0.4654
      ],
      [
       9.84,
       0.5065
      ],
      [
       9.92,
       0.547
      ],
      [
       10.0,
       0.5871
      ],
      [
       10.08,
       0.6279
      ],
      [
       10.16,
       0.6709
      ],
      [
       10.24,
       0.7179
      ],
      [
       10.32,
       0.77
      ],
      [
       10.4,
       0.8242
      ],
      [
       10.48,
       0.8732
      ],
      [
       10.56,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.72,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.88,
       0.9
      ],
      [
       10.96,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.12,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.36,
       0.9
      ],
      [
       11.44,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.6,
       0.9
      ],
      [
       11.68,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.84,
       0.9
      ],
      [
       11.92,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.08,
       0.9
      ],
      [
       12.16,
       0.9
      ],
      [
       12.24,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.4,
       0.9
      ],
      [
       12.48,
       0.9
      ],
      [
       12.56,
       0.9
      ],
      [
       12.64,
       0.9
      ],
      [
       12.72,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       12.96,
       0.9
      ],
      [
       13.04,
       0.9
      ],
      [
       13.12,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.28,
       0.9
      ],
      [
       13.36,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.52,
       0.9
      ],
      [
       13.6,
       0.9
      ],
      [
       13.68,
       0.9
      ],
      [
       13.76,
       0.9
      ],
      [
       13.84,
       0.9
      ],
      [
       13.92,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.08,
       0.9
      ],
      [
       14.16,
       0.9
      ],
      [
       14.24,
       0.9
      ],
      [
       14.32,
       0.9
      ],
      [
       14.4,
       1.0
      ],
      [
       14.48,
       1.0
      ],
      [
       14.56,
       1.0
      ],
      [
       14.64,
       0.9
      ],
      [
       14.72,
       0.9
      ],
      [
       14.8,
       0.9
      ],
      [
       14.88,
       0.9
      ],
      [
       14.96,
       0.9
      ],
      [
       15.04,
       0.9
      ],
      [
       15.12,
       0.9
      ],
      [
       15.2,
       0.9
      ],
      [
       15.28,
       0.9
      ],
      [
       15.36,
       0.9
      ],
      [
       15.44,
       0.9
      ],
      [
       15.52,
       1.0
      ],
      [
       15.6,
       1.0
      ],
      [
       15.68,
       1.0
      ],
      [
       15.76,
       1.0
      ],
      [
       15.84,
       1.0
      ],
      [
       15.92,
       1.0
      ],
      [
       15.94,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "1015018ac4f578d3257366cc79d4bcc0ebd2c33703d1638d9f26f5bf6dca88ec",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0005328824642051144,
       "final_progress": 0.0005328824642051144,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7582310468563277,
       "final_progress": 0.7582310468563277,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 797,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "foam_block_ctx19",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "gelatin_box_ctx19",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "red electronic box"
      }
     ]
    }
   }
  },
  {
   "example_id": "8ab98323ef16efb5312c41bf55bf47153c8b2f4188a681e12cd2d037b72019c5",
   "recording_id": 4481,
   "task_number": 4,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "wooden dining table",
   "human_action": false,
   "description": "Lift the red electronic box off the red spot on the wooden dining table, set it aside among the coffee mug and the phone, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the red electronic box off the red spot on the wooden dining table, set it aside among the coffee mug and the phone, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 4481,
    "contributor_id": 1,
    "video": "media/source-4481-713be941cb58.mp4",
    "poster": "media/source-4481.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4481,
     "contributor_id": 1,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4481_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "dcf9d484c6ce88331488bda0719e9e0bf2ba6ab9d4420a732ce7ac7ee3c0b84b",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "713be941cb58055bb5f1dc03dc44e15d73d0ff4efc5e50aee22a5b2ea47d4f8c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 4,
    "flat_decor": 1,
    "observed": 2,
    "added_context": 3,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "wooden dining table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "8ab98323ef16-panda",
     "video": "media/sim-8ab98323ef16-panda-s0.mp4",
     "poster": "media/sim-8ab98323ef16-panda-s0.jpg",
     "trajectory": "trajectories/8ab98323ef16-panda.json",
     "recipe": "recipes/8ab98323ef16-panda.json",
     "seed": 0,
     "steps": 535,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0001
      ],
      [
       0.12,
       0.0022
      ],
      [
       0.18,
       0.0049
      ],
      [
       0.24,
       0.0075
      ],
      [
       0.3,
       0.0105
      ],
      [
       0.36,
       0.0137
      ],
      [
       0.42,
       0.0171
      ],
      [
       0.48,
       0.0206
      ],
      [
       0.54,
       0.0243
      ],
      [
       0.6,
       0.0282
      ],
      [
       0.66,
       0.0322
      ],
      [
       0.72,
       0.0363
      ],
      [
       0.78,
       0.0405
      ],
      [
       0.84,
       0.0447
      ],
      [
       0.9,
       0.049
      ],
      [
       0.96,
       0.0533
      ],
      [
       1.02,
       0.0574
      ],
      [
       1.08,
       0.0613
      ],
      [
       1.14,
       0.0649
      ],
      [
       1.2,
       0.0687
      ],
      [
       1.26,
       0.0718
      ],
      [
       1.32,
       0.0747
      ],
      [
       1.38,
       0.0779
      ],
      [
       1.44,
       0.0811
      ],
      [
       1.5,
       0.0845
      ],
      [
       1.56,
       0.0882
      ],
      [
       1.62,
       0.0923
      ],
      [
       1.68,
       0.097
      ],
      [
       1.74,
       0.0966
      ],
      [
       1.8,
       0.0971
      ],
      [
       1.86,
       0.0973
      ],
      [
       1.92,
       0.0973
      ],
      [
       1.98,
       0.0973
      ],
      [
       2.04,
       0.0973
      ],
      [
       2.1,
       0.0973
      ],
      [
       2.16,
       0.0973
      ],
      [
       2.22,
       0.0973
      ],
      [
       2.28,
       0.0975
      ],
      [
       2.34,
       0.0976
      ],
      [
       2.4,
       0.0976
      ],
      [
       2.46,
       0.0976
      ],
      [
       2.52,
       0.0977
      ],
      [
       2.58,
       0.0977
      ],
      [
       2.64,
       0.0977
      ],
      [
       2.7,
       0.0977
      ],
      [
       2.76,
       0.0977
      ],
      [
       2.82,
       0.5039
      ],
      [
       2.88,
       0.4986
      ],
      [
       2.94,
       0.4862
      ],
      [
       3.0,
       0.4712
      ],
      [
       3.06,
       0.4563
      ],
      [
       3.12,
       0.4409
      ],
      [
       3.18,
       0.4242
      ],
      [
       3.24,
       0.4077
      ],
      [
       3.3,
       0.3903
      ],
      [
       3.36,
       0.3718
      ],
      [
       3.42,
       0.3467
      ],
      [
       3.48,
       0.3168
      ],
      [
       3.54,
       0.3281
      ],
      [
       3.6,
       0.372
      ],
      [
       3.66,
       0.4271
      ],
      [
       3.72,
       0.4832
      ],
      [
       3.78,
       0.5439
      ],
      [
       3.84,
       0.6
      ],
      [
       3.9,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.02,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.14,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.26,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.38,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.5,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.62,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.74,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.86,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.98,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.1,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.22,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.34,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.46,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.42,
       0.6
      ],
      [
       9.48,
       0.6
      ],
      [
       9.54,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.66,
       0.6
      ],
      [
       9.72,
       0.6
      ],
      [
       9.78,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       9.96,
       0.6
      ],
      [
       10.02,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.14,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.26,
       0.6267
      ],
      [
       10.32,
       0.7067
      ],
      [
       10.38,
       0.7867
      ],
      [
       10.44,
       0.6533
      ],
      [
       10.5,
       0.7333
      ],
      [
       10.56,
       0.8133
      ],
      [
       10.62,
       0.8933
      ],
      [
       10.68,
       0.9733
      ],
      [
       10.7,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c300cccae8a729dc7e15a9f5183bca6ffb1810ae74b3495d512f806811c43186",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.08890097663645219,
       "final_progress": 0.08890097663645219,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 535,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "red electronic box"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      }
     ]
    },
    "aloha": {
     "gym_id": "8ab98323ef16-aloha",
     "video": "media/sim-8ab98323ef16-aloha-s3.mp4",
     "poster": "media/sim-8ab98323ef16-aloha-s3.jpg",
     "trajectory": "trajectories/8ab98323ef16-aloha.json",
     "recipe": "recipes/8ab98323ef16-aloha.json",
     "seed": 3,
     "steps": 939,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0014
      ],
      [
       0.2,
       0.0034
      ],
      [
       0.3,
       0.0059
      ],
      [
       0.4,
       0.0089
      ],
      [
       0.5,
       0.0124
      ],
      [
       0.6,
       0.0165
      ],
      [
       0.7,
       0.0211
      ],
      [
       0.8,
       0.0262
      ],
      [
       0.9,
       0.0319
      ],
      [
       1.0,
       0.0378
      ],
      [
       1.1,
       0.044
      ],
      [
       1.2,
       0.0506
      ],
      [
       1.3,
       0.0588
      ],
      [
       1.4,
       0.0652
      ],
      [
       1.5,
       0.068
      ],
      [
       1.6,
       0.0701
      ],
      [
       1.7,
       0.0715
      ],
      [
       1.8,
       0.0722
      ],
      [
       1.9,
       0.0728
      ],
      [
       2.0,
       0.0733
      ],
      [
       2.1,
       0.0734
      ],
      [
       2.2,
       0.0726
      ],
      [
       2.3,
       0.0711
      ],
      [
       2.4,
       0.0694
      ],
      [
       2.5,
       0.0672
      ],
      [
       2.6,
       0.0643
      ],
      [
       2.7,
       0.0634
      ],
      [
       2.8,
       0.0646
      ],
      [
       2.9,
       0.067
      ],
      [
       3.0,
       0.0694
      ],
      [
       3.1,
       0.0705
      ],
      [
       3.2,
       0.0736
      ],
      [
       3.3,
       0.0767
      ],
      [
       3.4,
       0.0806
      ],
      [
       3.5,
       0.082
      ],
      [
       3.6,
       0.0833
      ],
      [
       3.7,
       0.0847
      ],
      [
       3.8,
       0.0864
      ],
      [
       3.9,
       0.0877
      ],
      [
       4.0,
       0.0879
      ],
      [
       4.1,
       0.088
      ],
      [
       4.2,
       0.0881
      ],
      [
       4.3,
       0.0882
      ],
      [
       4.4,
       0.0884
      ],
      [
       4.5,
       0.0887
      ],
      [
       4.6,
       0.0889
      ],
      [
       4.7,
       0.0892
      ],
      [
       4.8,
       0.0894
      ],
      [
       4.9,
       0.0897
      ],
      [
       5.0,
       0.09
      ],
      [
       5.1,
       0.0903
      ],
      [
       5.2,
       0.0905
      ],
      [
       5.3,
       0.0906
      ],
      [
       5.4,
       0.0907
      ],
      [
       5.5,
       0.0908
      ],
      [
       5.6,
       0.0909
      ],
      [
       5.7,
       0.091
      ],
      [
       5.8,
       0.091
      ],
      [
       5.9,
       0.091
      ],
      [
       6.0,
       0.0908
      ],
      [
       6.1,
       0.0905
      ],
      [
       6.2,
       0.0902
      ],
      [
       6.3,
       0.0899
      ],
      [
       6.4,
       0.0896
      ],
      [
       6.5,
       0.0893
      ],
      [
       6.6,
       0.0896
      ],
      [
       6.7,
       0.09
      ],
      [
       6.8,
       0.0902
      ],
      [
       6.9,
       0.0902
      ],
      [
       7.0,
       0.0898
      ],
      [
       7.1,
       0.0891
      ],
      [
       7.2,
       0.0885
      ],
      [
       7.3,
       0.0883
      ],
      [
       7.4,
       0.0883
      ],
      [
       7.5,
       0.0882
      ],
      [
       7.6,
       0.0884
      ],
      [
       7.7,
       0.0891
      ],
      [
       7.8,
       0.0898
      ],
      [
       7.9,
       0.0888
      ],
      [
       8.0,
       0.0831
      ],
      [
       8.1,
       0.4167
      ],
      [
       8.2,
       0.4403
      ],
      [
       8.3,
       0.4667
      ],
      [
       8.4,
       0.4924
      ],
      [
       8.5,
       0.5148
      ],
      [
       8.6,
       0.5329
      ],
      [
       8.7,
       0.547
      ],
      [
       8.8,
       0.561
      ],
      [
       8.9,
       0.5735
      ],
      [
       9.0,
       0.5828
      ],
      [
       9.1,
       0.5868
      ],
      [
       9.2,
       0.5887
      ],
      [
       9.3,
       0.5888
      ],
      [
       9.4,
       0.5898
      ],
      [
       9.5,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.7,
       0.6
      ],
      [
       9.8,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.6
      ],
      [
       15.9,
       0.6
      ],
      [
       16.0,
       0.6
      ],
      [
       16.1,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.3,
       0.6
      ],
      [
       16.4,
       0.6
      ],
      [
       16.5,
       0.6
      ],
      [
       16.6,
       0.6
      ],
      [
       16.7,
       0.6
      ],
      [
       16.8,
       0.6
      ],
      [
       16.9,
       0.6
      ],
      [
       17.0,
       0.6
      ],
      [
       17.1,
       0.6
      ],
      [
       17.2,
       0.6
      ],
      [
       17.3,
       0.6533
      ],
      [
       17.4,
       0.7867
      ],
      [
       17.5,
       0.6
      ],
      [
       17.6,
       0.6267
      ],
      [
       17.7,
       0.76
      ],
      [
       17.8,
       0.8933
      ],
      [
       17.9,
       0.6
      ],
      [
       18.0,
       0.6
      ],
      [
       18.1,
       0.6
      ],
      [
       18.2,
       0.68
      ],
      [
       18.3,
       0.8133
      ],
      [
       18.4,
       0.6
      ],
      [
       18.5,
       0.6267
      ],
      [
       18.6,
       0.76
      ],
      [
       18.7,
       0.8933
      ],
      [
       18.78,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "d4dd321bca41a7ac8d299f8c6f8058b585a1ca040ffc983b5fb7a3fccf73c918",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0003856676900762302,
       "final_progress": 0.0003856676900762302,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -4.743384504624082e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07716025099046733,
       "final_progress": 0.07716025099046733,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.1486201847223333,
       "final_progress": 0.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.06303583489470309,
       "final_progress": 0.06303583489470309
      },
      {
       "layout_seed": 2,
       "outcome": "layout_rejected",
       "reason": "Task points cannot be separated inside the work area"
      },
      {
       "layout_seed": 3,
       "outcome": "success",
       "steps": 939,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "red_electronic_box_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "red electronic box"
      },
      {
       "name": "folded_napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded napkin"
      },
      {
       "name": "charging_cable_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "charging cable"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      }
     ]
    }
   }
  },
  {
   "example_id": "f3a461b473203401409b5c905a6c74325ba7d40ef2afe5bff1a3239212f75383",
   "recording_id": 4940,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "glass dining tabletop",
   "human_action": true,
   "description": "In the footage: Wipe the visible glass dining tabletop with the purple wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d78 cm patch (turned 20\u00b0) on the glass dining tabletop among the blue spray bottle and the orange basket of wooden blocks and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 4940,
    "contributor_id": 6,
    "video": "media/source-4940-6fca99362902.mp4",
    "poster": "media/source-4940.jpg",
    "source_sha256": null,
    "interval_s": [
     9.466667,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4940,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4940_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 66.985,
      "original_end_s": 86.985,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "7c99da55334895c0a51b3a75a411c021de75db5c038f364f767d10cb843108ce",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 9.47\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
      "duration_s": 10.32,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 10,
    "physical_objects": 8,
    "flat_decor": 2,
    "observed": 10,
    "added_context": 0,
    "recording_observed": 10,
    "recording_added": 0,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "f3a461b47320-panda",
     "video": "media/sim-f3a461b47320-panda-s0.mp4",
     "poster": "media/sim-f3a461b47320-panda-s0.jpg",
     "trajectory": "trajectories/f3a461b47320-panda.json",
     "recipe": "recipes/f3a461b47320-panda.json",
     "seed": 0,
     "steps": 371,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0001
      ],
      [
       0.08,
       0.001
      ],
      [
       0.12,
       0.0035
      ],
      [
       0.16,
       0.0064
      ],
      [
       0.2,
       0.0088
      ],
      [
       0.24,
       0.0114
      ],
      [
       0.28,
       0.0144
      ],
      [
       0.32,
       0.0176
      ],
      [
       0.36,
       0.0209
      ],
      [
       0.4,
       0.0243
      ],
      [
       0.44,
       0.028
      ],
      [
       0.48,
       0.0318
      ],
      [
       0.52,
       0.0359
      ],
      [
       0.56,
       0.04
      ],
      [
       0.6,
       0.0444
      ],
      [
       0.64,
       0.0488
      ],
      [
       0.68,
       0.0534
      ],
      [
       0.72,
       0.0581
      ],
      [
       0.76,
       0.0629
      ],
      [
       0.8,
       0.0679
      ],
      [
       0.84,
       0.0731
      ],
      [
       0.88,
       0.0784
      ],
      [
       0.92,
       0.084
      ],
      [
       0.96,
       0.0897
      ],
      [
       1.0,
       0.0956
      ],
      [
       1.04,
       0.1017
      ],
      [
       1.08,
       0.1079
      ],
      [
       1.12,
       0.1142
      ],
      [
       1.16,
       0.1205
      ],
      [
       1.2,
       0.127
      ],
      [
       1.24,
       0.1336
      ],
      [
       1.28,
       0.1399
      ],
      [
       1.32,
       0.1433
      ],
      [
       1.36,
       0.1397
      ],
      [
       1.4,
       0.1405
      ],
      [
       1.44,
       0.1429
      ],
      [
       1.48,
       0.1434
      ],
      [
       1.52,
       0.1434
      ],
      [
       1.56,
       0.1435
      ],
      [
       1.6,
       0.1429
      ],
      [
       1.64,
       0.1415
      ],
      [
       1.68,
       0.1402
      ],
      [
       1.72,
       0.1395
      ],
      [
       1.76,
       0.1395
      ],
      [
       1.8,
       0.14
      ],
      [
       1.84,
       0.1404
      ],
      [
       1.88,
       0.1408
      ],
      [
       1.92,
       0.1412
      ],
      [
       1.96,
       0.1418
      ],
      [
       2.0,
       0.1427
      ],
      [
       2.04,
       0.1438
      ],
      [
       2.08,
       0.145
      ],
      [
       2.12,
       0.146
      ],
      [
       2.16,
       0.1469
      ],
      [
       2.2,
       0.1474
      ],
      [
       2.24,
       0.1478
      ],
      [
       2.28,
       0.1482
      ],
      [
       2.32,
       0.1486
      ],
      [
       2.36,
       0.1491
      ],
      [
       2.4,
       0.1497
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.04,
       0.2714
      ],
      [
       3.08,
       0.2714
      ],
      [
       3.12,
       0.2714
      ],
      [
       3.16,
       0.2714
      ],
      [
       3.2,
       0.2714
      ],
      [
       3.24,
       0.2714
      ],
      [
       3.28,
       0.2714
      ],
      [
       3.32,
       0.2714
      ],
      [
       3.36,
       0.2714
      ],
      [
       3.4,
       0.2714
      ],
      [
       3.44,
       0.2714
      ],
      [
       3.48,
       0.2714
      ],
      [
       3.52,
       0.2714
      ],
      [
       3.56,
       0.2714
      ],
      [
       3.6,
       0.2714
      ],
      [
       3.64,
       0.2714
      ],
      [
       3.68,
       0.2714
      ],
      [
       3.72,
       0.2714
      ],
      [
       3.76,
       0.2714
      ],
      [
       3.8,
       0.2714
      ],
      [
       3.84,
       0.2714
      ],
      [
       3.88,
       0.2714
      ],
      [
       3.92,
       0.2714
      ],
      [
       3.96,
       0.2714
      ],
      [
       4.0,
       0.2714
      ],
      [
       4.04,
       0.2714
      ],
      [
       4.08,
       0.2714
      ],
      [
       4.12,
       0.2714
      ],
      [
       4.16,
       0.2714
      ],
      [
       4.2,
       0.2714
      ],
      [
       4.24,
       0.2714
      ],
      [
       4.28,
       0.2714
      ],
      [
       4.32,
       0.2714
      ],
      [
       4.36,
       0.2714
      ],
      [
       4.4,
       0.2714
      ],
      [
       4.44,
       0.2714
      ],
      [
       4.48,
       0.2714
      ],
      [
       4.52,
       0.2714
      ],
      [
       4.56,
       0.2714
      ],
      [
       4.6,
       0.2714
      ],
      [
       4.64,
       0.2714
      ],
      [
       4.68,
       0.2714
      ],
      [
       4.72,
       0.2714
      ],
      [
       4.76,
       0.2714
      ],
      [
       4.8,
       0.2714
      ],
      [
       4.84,
       0.2714
      ],
      [
       4.88,
       0.2714
      ],
      [
       4.92,
       0.2714
      ],
      [
       4.96,
       0.2714
      ],
      [
       5.0,
       0.2714
      ],
      [
       5.04,
       0.2714
      ],
      [
       5.08,
       0.2714
      ],
      [
       5.12,
       0.2714
      ],
      [
       5.16,
       0.4232
      ],
      [
       5.2,
       0.4232
      ],
      [
       5.24,
       0.4536
      ],
      [
       5.28,
       0.4536
      ],
      [
       5.32,
       0.4536
      ],
      [
       5.36,
       0.4536
      ],
      [
       5.4,
       0.4536
      ],
      [
       5.44,
       0.4536
      ],
      [
       5.48,
       0.4536
      ],
      [
       5.52,
       0.4839
      ],
      [
       5.56,
       0.4839
      ],
      [
       5.6,
       0.4839
      ],
      [
       5.64,
       0.4839
      ],
      [
       5.68,
       0.5143
      ],
      [
       5.72,
       0.5143
      ],
      [
       5.76,
       0.5143
      ],
      [
       5.8,
       0.5143
      ],
      [
       5.84,
       0.5446
      ],
      [
       5.88,
       0.5446
      ],
      [
       5.92,
       0.5446
      ],
      [
       5.96,
       0.575
      ],
      [
       6.0,
       0.575
      ],
      [
       6.04,
       0.575
      ],
      [
       6.08,
       0.575
      ],
      [
       6.12,
       0.6054
      ],
      [
       6.16,
       0.6054
      ],
      [
       6.2,
       0.6054
      ],
      [
       6.24,
       0.6054
      ],
      [
       6.28,
       0.6357
      ],
      [
       6.32,
       0.6357
      ],
      [
       6.36,
       0.6661
      ],
      [
       6.4,
       0.6661
      ],
      [
       6.44,
       0.6661
      ],
      [
       6.48,
       0.6964
      ],
      [
       6.52,
       0.7268
      ],
      [
       6.56,
       0.7268
      ],
      [
       6.6,
       0.7268
      ],
      [
       6.64,
       0.7571
      ],
      [
       6.68,
       0.7571
      ],
      [
       6.72,
       0.7571
      ],
      [
       6.76,
       0.7875
      ],
      [
       6.8,
       0.8179
      ],
      [
       6.84,
       0.8179
      ],
      [
       6.88,
       0.8179
      ],
      [
       6.92,
       0.8179
      ],
      [
       6.96,
       0.8179
      ],
      [
       7.0,
       0.8179
      ],
      [
       7.04,
       0.8482
      ],
      [
       7.08,
       0.8482
      ],
      [
       7.12,
       0.8482
      ],
      [
       7.16,
       0.8482
      ],
      [
       7.2,
       0.9089
      ],
      [
       7.24,
       0.9089
      ],
      [
       7.28,
       0.9089
      ],
      [
       7.32,
       0.9089
      ],
      [
       7.36,
       0.9089
      ],
      [
       7.4,
       0.9089
      ],
      [
       7.42,
       0.9393
      ]
     ],
     "total_reward": 1.9028,
     "initial_progress": 0.0,
     "final_progress": 0.9393,
     "physics_sha256": "dcd6a1626e3add4b1904c1cd8506858470952ad88a9c9d3aafeec63d6ffbf6c8",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.053571428571428575,
       "final_progress": 0.30357142857142855,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.2714285714285714,
       "final_progress": 0.2714285714285714,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 371,
       "return": 1.9027965877108324,
       "final_progress": 0.9392857142857143
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "f3a461b47320-aloha",
     "video": "media/sim-f3a461b47320-aloha-s1.mp4",
     "poster": "media/sim-f3a461b47320-aloha-s1.jpg",
     "trajectory": "trajectories/f3a461b47320-aloha.json",
     "recipe": "recipes/f3a461b47320-aloha.json",
     "seed": 1,
     "steps": 961,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.12,
       0.0042
      ],
      [
       0.24,
       0.0122
      ],
      [
       0.36,
       0.0218
      ],
      [
       0.48,
       0.0332
      ],
      [
       0.6,
       0.0469
      ],
      [
       0.72,
       0.0634
      ],
      [
       0.84,
       0.0824
      ],
      [
       0.96,
       0.1042
      ],
      [
       1.08,
       0.1301
      ],
      [
       1.2,
       0.1377
      ],
      [
       1.32,
       0.1401
      ],
      [
       1.44,
       0.1424
      ],
      [
       1.56,
       0.1443
      ],
      [
       1.68,
       0.1435
      ],
      [
       1.8,
       0.1397
      ],
      [
       1.92,
       0.1382
      ],
      [
       2.04,
       0.1404
      ],
      [
       2.16,
       0.1423
      ],
      [
       2.28,
       0.147
      ],
      [
       2.4,
       0.15
      ],
      [
       2.52,
       0.2411
      ],
      [
       2.64,
       0.2411
      ],
      [
       2.76,
       0.2411
      ],
      [
       2.88,
       0.2411
      ],
      [
       3.0,
       0.2411
      ],
      [
       3.12,
       0.2411
      ],
      [
       3.24,
       0.2411
      ],
      [
       3.36,
       0.2411
      ],
      [
       3.48,
       0.2714
      ],
      [
       3.6,
       0.2714
      ],
      [
       3.72,
       0.2714
      ],
      [
       3.84,
       0.3018
      ],
      [
       3.96,
       0.3321
      ],
      [
       4.08,
       0.3321
      ],
      [
       4.2,
       0.3321
      ],
      [
       4.32,
       0.328
      ],
      [
       4.44,
       0.3218
      ],
      [
       4.56,
       0.3168
      ],
      [
       4.68,
       0.3138
      ],
      [
       4.8,
       0.3123
      ],
      [
       4.92,
       0.3109
      ],
      [
       5.04,
       0.3093
      ],
      [
       5.16,
       0.309
      ],
      [
       5.28,
       0.3098
      ],
      [
       5.4,
       0.3122
      ],
      [
       5.52,
       0.3144
      ],
      [
       5.64,
       0.3156
      ],
      [
       5.76,
       0.3196
      ],
      [
       5.88,
       0.3289
      ],
      [
       6.0,
       0.3321
      ],
      [
       6.12,
       0.3317
      ],
      [
       6.24,
       0.3321
      ],
      [
       6.36,
       0.3321
      ],
      [
       6.48,
       0.3321
      ],
      [
       6.6,
       0.3625
      ],
      [
       6.72,
       0.3625
      ],
      [
       6.84,
       0.3625
      ],
      [
       6.96,
       0.3625
      ],
      [
       7.08,
       0.3929
      ],
      [
       7.2,
       0.3929
      ],
      [
       7.32,
       0.3929
      ],
      [
       7.44,
       0.4536
      ],
      [
       7.56,
       0.4536
      ],
      [
       7.68,
       0.4536
      ],
      [
       7.8,
       0.4839
      ],
      [
       7.92,
       0.4839
      ],
      [
       8.04,
       0.4839
      ],
      [
       8.16,
       0.4839
      ],
      [
       8.28,
       0.4839
      ],
      [
       8.4,
       0.5446
      ],
      [
       8.52,
       0.5446
      ],
      [
       8.64,
       0.5446
      ],
      [
       8.76,
       0.5446
      ],
      [
       8.88,
       0.575
      ],
      [
       9.0,
       0.575
      ],
      [
       9.12,
       0.575
      ],
      [
       9.24,
       0.575
      ],
      [
       9.36,
       0.6054
      ],
      [
       9.48,
       0.6054
      ],
      [
       9.6,
       0.6054
      ],
      [
       9.72,
       0.6054
      ],
      [
       9.84,
       0.6661
      ],
      [
       9.96,
       0.6661
      ],
      [
       10.08,
       0.6661
      ],
      [
       10.2,
       0.6661
      ],
      [
       10.32,
       0.6661
      ],
      [
       10.44,
       0.6661
      ],
      [
       10.56,
       0.6661
      ],
      [
       10.68,
       0.6661
      ],
      [
       10.8,
       0.7268
      ],
      [
       10.92,
       0.7268
      ],
      [
       11.04,
       0.7268
      ],
      [
       11.16,
       0.7571
      ],
      [
       11.28,
       0.7571
      ],
      [
       11.4,
       0.7571
      ],
      [
       11.52,
       0.7875
      ],
      [
       11.64,
       0.8179
      ],
      [
       11.76,
       0.8179
      ],
      [
       11.88,
       0.8482
      ],
      [
       12.0,
       0.8482
      ],
      [
       12.12,
       0.8482
      ],
      [
       12.24,
       0.8482
      ],
      [
       12.36,
       0.8482
      ],
      [
       12.48,
       0.8786
      ],
      [
       12.6,
       0.8786
      ],
      [
       12.72,
       0.8786
      ],
      [
       12.84,
       0.8786
      ],
      [
       12.96,
       0.8786
      ],
      [
       13.08,
       0.8786
      ],
      [
       13.2,
       0.8786
      ],
      [
       13.32,
       0.8786
      ],
      [
       13.44,
       0.8786
      ],
      [
       13.56,
       0.8786
      ],
      [
       13.68,
       0.8786
      ],
      [
       13.8,
       0.8786
      ],
      [
       13.92,
       0.8786
      ],
      [
       14.04,
       0.8786
      ],
      [
       14.16,
       0.8786
      ],
      [
       14.28,
       0.8786
      ],
      [
       14.4,
       0.8786
      ],
      [
       14.52,
       0.8786
      ],
      [
       14.64,
       0.8786
      ],
      [
       14.76,
       0.8786
      ],
      [
       14.88,
       0.8786
      ],
      [
       15.0,
       0.8786
      ],
      [
       15.12,
       0.8786
      ],
      [
       15.24,
       0.8786
      ],
      [
       15.36,
       0.8786
      ],
      [
       15.48,
       0.8786
      ],
      [
       15.6,
       0.8786
      ],
      [
       15.72,
       0.8786
      ],
      [
       15.84,
       0.8786
      ],
      [
       15.96,
       0.8786
      ],
      [
       16.08,
       0.8786
      ],
      [
       16.2,
       0.8786
      ],
      [
       16.32,
       0.8786
      ],
      [
       16.44,
       0.8786
      ],
      [
       16.56,
       0.8786
      ],
      [
       16.68,
       0.8786
      ],
      [
       16.8,
       0.8786
      ],
      [
       16.92,
       0.8786
      ],
      [
       17.04,
       0.8786
      ],
      [
       17.16,
       0.8786
      ],
      [
       17.28,
       0.8786
      ],
      [
       17.4,
       0.8786
      ],
      [
       17.52,
       0.8786
      ],
      [
       17.64,
       0.8786
      ],
      [
       17.76,
       0.8786
      ],
      [
       17.88,
       0.8786
      ],
      [
       18.0,
       0.9089
      ],
      [
       18.12,
       0.9089
      ],
      [
       18.24,
       0.9089
      ],
      [
       18.36,
       0.9089
      ],
      [
       18.48,
       0.9089
      ],
      [
       18.6,
       0.9089
      ],
      [
       18.72,
       0.9089
      ],
      [
       18.84,
       0.9089
      ],
      [
       18.96,
       0.9089
      ],
      [
       19.08,
       0.9089
      ],
      [
       19.2,
       0.9089
      ],
      [
       19.22,
       0.9393
      ]
     ],
     "total_reward": 1.8856,
     "initial_progress": 0.0,
     "final_progress": 0.9393,
     "physics_sha256": "16daede1980f361a70baf273ec1013d28eea4518a82e56c2bd27f0575cfef6c5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0014565109044647805,
       "final_progress": 0.0014565109044647805,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 1.3986208025063007e-17,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3928571428571428,
       "final_progress": 0.3928571428571428,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.3928571428571428,
       "final_progress": 0.3928571428571428
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 961,
       "return": 1.885644407934779,
       "final_progress": 0.9392857142857143
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "42af38b3f9a793cd1e0fb4d3d8c3e58d540d243c97db683282d2f6f563eeb4db",
   "recording_id": 4940,
   "task_number": 2,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "glass dining tabletop",
   "human_action": false,
   "description": "Pick up the colored wooden blocks and balance them on top of the coffee can on the glass dining tabletop among the blue spray bottle and the aerosol can.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the colored wooden blocks and balance them on top of the coffee can on the glass dining tabletop among the blue spray bottle and the aerosol can.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 4940,
    "contributor_id": 6,
    "video": "media/source-4940-6fca99362902.mp4",
    "poster": "media/source-4940.jpg",
    "source_sha256": null,
    "interval_s": [
     9.466667,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4940,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4940_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 66.985,
      "original_end_s": 86.985,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "7c99da55334895c0a51b3a75a411c021de75db5c038f364f767d10cb843108ce",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 9.47\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
      "duration_s": 10.32,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 11,
    "physical_objects": 9,
    "flat_decor": 2,
    "observed": 10,
    "added_context": 1,
    "recording_observed": 10,
    "recording_added": 0,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "42af38b3f9a7-panda",
     "video": "media/sim-42af38b3f9a7-panda-s0.mp4",
     "poster": "media/sim-42af38b3f9a7-panda-s0.jpg",
     "trajectory": "trajectories/42af38b3f9a7-panda.json",
     "recipe": "recipes/42af38b3f9a7-panda.json",
     "seed": 0,
     "steps": 421,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0053
      ],
      [
       1.0,
       0.0111
      ],
      [
       1.04,
       0.0153
      ],
      [
       1.08,
       0.0178
      ],
      [
       1.12,
       0.0202
      ],
      [
       1.16,
       0.0235
      ],
      [
       1.2,
       0.0274
      ],
      [
       1.24,
       0.0314
      ],
      [
       1.28,
       0.0355
      ],
      [
       1.32,
       0.0398
      ],
      [
       1.36,
       0.0445
      ],
      [
       1.4,
       0.0494
      ],
      [
       1.44,
       0.0544
      ],
      [
       1.48,
       0.0595
      ],
      [
       1.52,
       0.0646
      ],
      [
       1.56,
       0.0699
      ],
      [
       1.6,
       0.0751
      ],
      [
       1.64,
       0.0804
      ],
      [
       1.68,
       0.0855
      ],
      [
       1.72,
       0.0903
      ],
      [
       1.76,
       0.0947
      ],
      [
       1.8,
       0.0986
      ],
      [
       1.84,
       0.1018
      ],
      [
       1.88,
       0.105
      ],
      [
       1.92,
       0.1078
      ],
      [
       1.96,
       0.1099
      ],
      [
       2.0,
       0.1115
      ],
      [
       2.04,
       0.1135
      ],
      [
       2.08,
       0.1159
      ],
      [
       2.12,
       0.1183
      ],
      [
       2.16,
       0.1205
      ],
      [
       2.2,
       0.1228
      ],
      [
       2.24,
       0.1254
      ],
      [
       2.28,
       0.1282
      ],
      [
       2.32,
       0.1312
      ],
      [
       2.36,
       0.1345
      ],
      [
       2.4,
       0.1384
      ],
      [
       2.44,
       0.1425
      ],
      [
       2.48,
       0.1478
      ],
      [
       2.52,
       0.1464
      ],
      [
       2.56,
       0.1459
      ],
      [
       2.6,
       0.1465
      ],
      [
       2.64,
       0.147
      ],
      [
       2.68,
       0.1472
      ],
      [
       2.72,
       0.1474
      ],
      [
       2.76,
       0.1474
      ],
      [
       2.8,
       0.1475
      ],
      [
       2.84,
       0.1475
      ],
      [
       2.88,
       0.1475
      ],
      [
       2.92,
       0.1475
      ],
      [
       2.96,
       0.1475
      ],
      [
       3.0,
       0.1475
      ],
      [
       3.04,
       0.1474
      ],
      [
       3.08,
       0.1469
      ],
      [
       3.12,
       0.1468
      ],
      [
       3.16,
       0.1468
      ],
      [
       3.2,
       0.1469
      ],
      [
       3.24,
       0.1469
      ],
      [
       3.28,
       0.1469
      ],
      [
       3.32,
       0.147
      ],
      [
       3.36,
       0.147
      ],
      [
       3.4,
       0.147
      ],
      [
       3.44,
       0.1471
      ],
      [
       3.48,
       0.1471
      ],
      [
       3.52,
       0.1471
      ],
      [
       3.56,
       0.1471
      ],
      [
       3.6,
       0.1472
      ],
      [
       3.64,
       0.1472
      ],
      [
       3.68,
       0.1472
      ],
      [
       3.72,
       0.1472
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.72,
       0.4
      ],
      [
       4.76,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.84,
       0.4
      ],
      [
       4.88,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.96,
       0.4
      ],
      [
       5.0,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.08,
       0.4
      ],
      [
       5.12,
       0.4
      ],
      [
       5.16,
       0.4
      ],
      [
       5.2,
       0.4
      ],
      [
       5.24,
       0.4
      ],
      [
       5.28,
       0.4
      ],
      [
       5.32,
       0.4
      ],
      [
       5.36,
       0.4
      ],
      [
       5.4,
       0.4
      ],
      [
       5.44,
       0.405
      ],
      [
       5.48,
       0.4164
      ],
      [
       5.52,
       0.4258
      ],
      [
       5.56,
       0.4291
      ],
      [
       5.6,
       0.4305
      ],
      [
       5.64,
       0.4487
      ],
      [
       5.68,
       0.4809
      ],
      [
       5.72,
       0.5181
      ],
      [
       5.76,
       0.554
      ],
      [
       5.8,
       0.5884
      ],
      [
       5.84,
       0.6227
      ],
      [
       5.88,
       0.6574
      ],
      [
       5.92,
       0.6912
      ],
      [
       5.96,
       0.7234
      ],
      [
       6.0,
       0.7536
      ],
      [
       6.04,
       0.7816
      ],
      [
       6.08,
       0.807
      ],
      [
       6.12,
       0.8294
      ],
      [
       6.16,
       0.8489
      ],
      [
       6.2,
       0.867
      ],
      [
       6.24,
       0.8839
      ],
      [
       6.28,
       0.8988
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       0.9
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.36,
       0.9
      ],
      [
       7.4,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.48,
       0.9
      ],
      [
       7.52,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.6,
       0.9
      ],
      [
       7.64,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.72,
       0.9
      ],
      [
       7.76,
       0.9
      ],
      [
       7.8,
       0.9
      ],
      [
       7.84,
       0.9
      ],
      [
       7.88,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.96,
       1.0
      ],
      [
       8.0,
       1.0
      ],
      [
       8.04,
       1.0
      ],
      [
       8.08,
       1.0
      ],
      [
       8.12,
       1.0
      ],
      [
       8.16,
       1.0
      ],
      [
       8.2,
       1.0
      ],
      [
       8.24,
       1.0
      ],
      [
       8.28,
       1.0
      ],
      [
       8.32,
       1.0
      ],
      [
       8.36,
       1.0
      ],
      [
       8.4,
       1.0
      ],
      [
       8.42,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "f48e3fd6020420088c9b4cd7f7a4e6b0df892d6f9874078811617c7c2c66736c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.433575397338016e-07,
       "final_progress": 3.433575397338018e-07,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.14760117211424328,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7664537453001293,
       "final_progress": 0.7664537453001293,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 421,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "task_object",
       "label": "colored wooden blocks"
      },
      {
       "name": "coffee_can_ctx90",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "42af38b3f9a7-aloha",
     "video": "media/sim-42af38b3f9a7-aloha-s5.mp4",
     "poster": "media/sim-42af38b3f9a7-aloha-s5.jpg",
     "trajectory": "trajectories/42af38b3f9a7-aloha.json",
     "recipe": "recipes/42af38b3f9a7-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0063
      ],
      [
       0.28,
       0.0148
      ],
      [
       0.42,
       0.0256
      ],
      [
       0.56,
       0.0407
      ],
      [
       0.7,
       0.0582
      ],
      [
       0.84,
       0.0691
      ],
      [
       0.98,
       0.0723
      ],
      [
       1.12,
       0.0749
      ],
      [
       1.26,
       0.0772
      ],
      [
       1.4,
       0.0802
      ],
      [
       1.54,
       0.0847
      ],
      [
       1.68,
       0.0912
      ],
      [
       1.82,
       0.1
      ],
      [
       1.96,
       0.1091
      ],
      [
       2.1,
       0.1145
      ],
      [
       2.24,
       0.1159
      ],
      [
       2.38,
       0.1152
      ],
      [
       2.52,
       0.115
      ],
      [
       2.66,
       0.1157
      ],
      [
       2.8,
       0.1184
      ],
      [
       2.94,
       0.1253
      ],
      [
       3.08,
       0.1339
      ],
      [
       3.22,
       0.1322
      ],
      [
       3.36,
       0.1322
      ],
      [
       3.5,
       0.1324
      ],
      [
       3.64,
       0.1328
      ],
      [
       3.78,
       0.1328
      ],
      [
       3.92,
       0.1329
      ],
      [
       4.06,
       0.133
      ],
      [
       4.2,
       0.1332
      ],
      [
       4.34,
       0.1333
      ],
      [
       4.48,
       0.1335
      ],
      [
       4.62,
       0.1337
      ],
      [
       4.76,
       0.1339
      ],
      [
       4.9,
       0.134
      ],
      [
       5.04,
       0.1341
      ],
      [
       5.18,
       0.1341
      ],
      [
       5.32,
       0.1341
      ],
      [
       5.46,
       0.1342
      ],
      [
       5.6,
       0.1342
      ],
      [
       5.74,
       0.1341
      ],
      [
       5.88,
       0.1341
      ],
      [
       6.02,
       0.134
      ],
      [
       6.16,
       0.1339
      ],
      [
       6.3,
       0.4
      ],
      [
       6.44,
       0.4
      ],
      [
       6.58,
       0.4
      ],
      [
       6.72,
       0.4
      ],
      [
       6.86,
       0.4
      ],
      [
       7.0,
       0.4
      ],
      [
       7.14,
       0.4
      ],
      [
       7.28,
       0.4
      ],
      [
       7.42,
       0.4032
      ],
      [
       7.56,
       0.4206
      ],
      [
       7.7,
       0.4427
      ],
      [
       7.84,
       0.4703
      ],
      [
       7.98,
       0.5044
      ],
      [
       8.12,
       0.5466
      ],
      [
       8.26,
       0.6087
      ],
      [
       8.4,
       0.6862
      ],
      [
       8.54,
       0.7581
      ],
      [
       8.68,
       0.8122
      ],
      [
       8.82,
       0.8755
      ],
      [
       8.96,
       0.9
      ],
      [
       9.1,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.38,
       0.894
      ],
      [
       9.52,
       0.8824
      ],
      [
       9.66,
       0.8785
      ],
      [
       9.8,
       0.8858
      ],
      [
       9.94,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.22,
       0.9
      ],
      [
       10.36,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.78,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       11.06,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.34,
       0.9
      ],
      [
       11.48,
       0.9
      ],
      [
       11.62,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.9,
       0.9
      ],
      [
       12.04,
       0.9
      ],
      [
       12.18,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.46,
       0.9
      ],
      [
       12.6,
       0.9
      ],
      [
       12.74,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       13.02,
       0.9
      ],
      [
       13.16,
       0.9
      ],
      [
       13.3,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.58,
       0.9
      ],
      [
       13.72,
       0.9
      ],
      [
       13.86,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.14,
       0.9
      ],
      [
       14.28,
       0.9
      ],
      [
       14.42,
       0.9
      ],
      [
       14.56,
       0.9
      ],
      [
       14.7,
       0.9
      ],
      [
       14.84,
       0.9
      ],
      [
       14.98,
       0.9
      ],
      [
       15.12,
       0.9
      ],
      [
       15.26,
       0.9
      ],
      [
       15.4,
       0.9
      ],
      [
       15.54,
       0.9
      ],
      [
       15.68,
       0.9
      ],
      [
       15.82,
       0.9
      ],
      [
       15.96,
       0.9
      ],
      [
       16.1,
       0.9
      ],
      [
       16.24,
       0.9
      ],
      [
       16.38,
       0.7016
      ],
      [
       16.52,
       0.4978
      ],
      [
       16.66,
       0.4
      ],
      [
       16.8,
       0.4
      ],
      [
       16.94,
       0.4
      ],
      [
       17.08,
       0.4
      ],
      [
       17.22,
       0.4
      ],
      [
       17.36,
       0.4
      ],
      [
       17.5,
       0.4
      ],
      [
       17.64,
       0.4
      ],
      [
       17.78,
       0.4
      ],
      [
       17.92,
       0.4
      ],
      [
       18.06,
       0.4
      ],
      [
       18.2,
       0.4
      ],
      [
       18.34,
       0.4
      ],
      [
       18.48,
       0.4
      ],
      [
       18.62,
       0.4
      ],
      [
       18.76,
       0.4
      ],
      [
       18.9,
       0.4
      ],
      [
       19.04,
       0.4
      ],
      [
       19.18,
       0.4
      ],
      [
       19.32,
       0.4
      ],
      [
       19.46,
       0.4
      ],
      [
       19.6,
       0.4
      ],
      [
       19.74,
       0.4
      ],
      [
       19.88,
       0.4
      ],
      [
       20.02,
       0.4
      ],
      [
       20.16,
       0.4
      ],
      [
       20.3,
       0.4
      ],
      [
       20.44,
       0.4
      ],
      [
       20.58,
       0.4
      ],
      [
       20.72,
       0.4
      ],
      [
       20.86,
       0.4
      ],
      [
       21.0,
       0.4
      ],
      [
       21.14,
       0.4
      ],
      [
       21.28,
       0.4
      ],
      [
       21.42,
       0.4
      ],
      [
       21.56,
       0.4
      ],
      [
       21.7,
       0.4
      ],
      [
       21.84,
       0.4
      ],
      [
       21.98,
       0.4
      ],
      [
       22.12,
       0.4
      ],
      [
       22.26,
       0.4
      ],
      [
       22.4,
       0.4
      ],
      [
       22.54,
       0.4
      ],
      [
       22.68,
       0.4
      ],
      [
       22.82,
       0.4
      ],
      [
       22.96,
       0.4
      ],
      [
       23.1,
       0.4
      ],
      [
       23.24,
       0.4
      ],
      [
       23.38,
       0.4
      ],
      [
       23.52,
       0.4
      ],
      [
       23.66,
       0.4
      ],
      [
       23.8,
       0.4
      ],
      [
       23.94,
       0.4
      ],
      [
       24.0,
       0.4
      ]
     ],
     "total_reward": 0.4,
     "initial_progress": 0.0,
     "final_progress": 0.4,
     "physics_sha256": "f2ae2adb9b9d0f2cb59c3d12a7cdb78e3eaec86a8da34f59e0372c361ac89ddb",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001218076277131047,
       "final_progress": 0.001218076277131047,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.05292926780529325,
       "final_progress": 0.05292926780529325,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.3260665476847918,
       "final_progress": 0.6619514449218028,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "layout_rejected",
       "reason": "No free table space for lace_doily_0"
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6001982734981884,
       "final_progress": 0.6001982734981884
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7069342706058256,
       "final_progress": 0.7069342706058256
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7633957138494917,
       "final_progress": 0.7633957138494917
      },
      {
       "layout_seed": 4,
       "outcome": "layout_rejected",
       "reason": "No free table space for lace_doily_0"
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4,
       "final_progress": 0.4
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "task_object",
       "label": "colored wooden blocks"
      },
      {
       "name": "coffee_can_ctx90",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "fbf126e8be807354a9ee2afc91add148538087441e6a31d2cae7c166390e720f",
   "recording_id": 4940,
   "task_number": 3,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "glass dining tabletop",
   "human_action": false,
   "description": "Grasp the colored wooden blocks from among the green glue bottle and the glass bottles, lift them clear and set them down on the orange basket of wooden blocks on the glass dining tabletop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the colored wooden blocks from among the green glue bottle and the glass bottles, lift them clear and set them down on the orange basket of wooden blocks on the glass dining tabletop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 4940,
    "contributor_id": 6,
    "video": "media/source-4940-6fca99362902.mp4",
    "poster": "media/source-4940.jpg",
    "source_sha256": null,
    "interval_s": [
     9.466667,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4940,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4940_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 66.985,
      "original_end_s": 86.985,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "7c99da55334895c0a51b3a75a411c021de75db5c038f364f767d10cb843108ce",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 9.47\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
      "duration_s": 10.32,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 10,
    "physical_objects": 8,
    "flat_decor": 2,
    "observed": 10,
    "added_context": 0,
    "recording_observed": 10,
    "recording_added": 0,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "fbf126e8be80-panda",
     "video": "media/sim-fbf126e8be80-panda-s0.mp4",
     "poster": "media/sim-fbf126e8be80-panda-s0.jpg",
     "trajectory": "trajectories/fbf126e8be80-panda.json",
     "recipe": "recipes/fbf126e8be80-panda.json",
     "seed": 0,
     "steps": 441,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0009
      ],
      [
       0.72,
       0.0062
      ],
      [
       0.76,
       0.0108
      ],
      [
       0.8,
       0.0131
      ],
      [
       0.84,
       0.0146
      ],
      [
       0.88,
       0.017
      ],
      [
       0.92,
       0.0201
      ],
      [
       0.96,
       0.0232
      ],
      [
       1.0,
       0.0264
      ],
      [
       1.04,
       0.0298
      ],
      [
       1.08,
       0.0335
      ],
      [
       1.12,
       0.0374
      ],
      [
       1.16,
       0.0415
      ],
      [
       1.2,
       0.0459
      ],
      [
       1.24,
       0.0505
      ],
      [
       1.28,
       0.0553
      ],
      [
       1.32,
       0.0603
      ],
      [
       1.36,
       0.0655
      ],
      [
       1.4,
       0.0709
      ],
      [
       1.44,
       0.0765
      ],
      [
       1.48,
       0.082
      ],
      [
       1.52,
       0.0876
      ],
      [
       1.56,
       0.0932
      ],
      [
       1.6,
       0.0987
      ],
      [
       1.64,
       0.1042
      ],
      [
       1.68,
       0.1086
      ],
      [
       1.72,
       0.1116
      ],
      [
       1.76,
       0.114
      ],
      [
       1.8,
       0.1165
      ],
      [
       1.84,
       0.1192
      ],
      [
       1.88,
       0.1219
      ],
      [
       1.92,
       0.1246
      ],
      [
       1.96,
       0.1272
      ],
      [
       2.0,
       0.1301
      ],
      [
       2.04,
       0.1331
      ],
      [
       2.08,
       0.1364
      ],
      [
       2.12,
       0.14
      ],
      [
       2.16,
       0.1443
      ],
      [
       2.2,
       0.1495
      ],
      [
       2.24,
       0.1459
      ],
      [
       2.28,
       0.1464
      ],
      [
       2.32,
       0.1468
      ],
      [
       2.36,
       0.1471
      ],
      [
       2.4,
       0.1472
      ],
      [
       2.44,
       0.1473
      ],
      [
       2.48,
       0.1474
      ],
      [
       2.52,
       0.1475
      ],
      [
       2.56,
       0.1475
      ],
      [
       2.6,
       0.1475
      ],
      [
       2.64,
       0.1475
      ],
      [
       2.68,
       0.1476
      ],
      [
       2.72,
       0.1475
      ],
      [
       2.76,
       0.1473
      ],
      [
       2.8,
       0.1471
      ],
      [
       2.84,
       0.1471
      ],
      [
       2.88,
       0.1472
      ],
      [
       2.92,
       0.1472
      ],
      [
       2.96,
       0.1473
      ],
      [
       3.0,
       0.1473
      ],
      [
       3.04,
       0.1473
      ],
      [
       3.08,
       0.1474
      ],
      [
       3.12,
       0.1474
      ],
      [
       3.16,
       0.1474
      ],
      [
       3.2,
       0.1475
      ],
      [
       3.24,
       0.1475
      ],
      [
       3.28,
       0.1475
      ],
      [
       3.32,
       0.1475
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4119
      ],
      [
       4.52,
       0.4351
      ],
      [
       4.56,
       0.4618
      ],
      [
       4.6,
       0.4885
      ],
      [
       4.64,
       0.5147
      ],
      [
       4.68,
       0.5414
      ],
      [
       4.72,
       0.5687
      ],
      [
       4.76,
       0.5963
      ],
      [
       4.8,
       0.6241
      ],
      [
       4.84,
       0.6516
      ],
      [
       4.88,
       0.6791
      ],
      [
       4.92,
       0.7062
      ],
      [
       4.96,
       0.7329
      ],
      [
       5.0,
       0.7593
      ],
      [
       5.04,
       0.7848
      ],
      [
       5.08,
       0.8101
      ],
      [
       5.12,
       0.8364
      ],
      [
       5.16,
       0.8635
      ],
      [
       5.2,
       0.8907
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       0.9
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.36,
       0.9
      ],
      [
       7.4,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.48,
       0.9
      ],
      [
       7.52,
       0.9
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ],
      [
       7.96,
       1.0
      ],
      [
       8.0,
       0.9
      ],
      [
       8.04,
       1.0
      ],
      [
       8.08,
       0.9
      ],
      [
       8.12,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.2,
       1.0
      ],
      [
       8.24,
       1.0
      ],
      [
       8.28,
       1.0
      ],
      [
       8.32,
       0.9
      ],
      [
       8.36,
       1.0
      ],
      [
       8.4,
       1.0
      ],
      [
       8.44,
       1.0
      ],
      [
       8.48,
       1.0
      ],
      [
       8.52,
       1.0
      ],
      [
       8.56,
       1.0
      ],
      [
       8.6,
       1.0
      ],
      [
       8.64,
       1.0
      ],
      [
       8.68,
       1.0
      ],
      [
       8.72,
       1.0
      ],
      [
       8.76,
       1.0
      ],
      [
       8.8,
       1.0
      ],
      [
       8.82,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "647c90c729155712d800ea85f1592ba05770a6e7d259cb95ced3a0cc7e5c4f3a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": -2.6469779601696886e-22,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.11143530349140826,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 441,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "task_object",
       "label": "colored wooden blocks"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "goal_support",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "fbf126e8be80-aloha",
     "video": "media/sim-fbf126e8be80-aloha-s0.mp4",
     "poster": "media/sim-fbf126e8be80-aloha-s0.jpg",
     "trajectory": "trajectories/fbf126e8be80-aloha.json",
     "recipe": "recipes/fbf126e8be80-aloha.json",
     "seed": 0,
     "steps": 489,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0009
      ],
      [
       0.12,
       0.003
      ],
      [
       0.18,
       0.0055
      ],
      [
       0.24,
       0.0084
      ],
      [
       0.3,
       0.0116
      ],
      [
       0.36,
       0.0151
      ],
      [
       0.42,
       0.0187
      ],
      [
       0.48,
       0.0223
      ],
      [
       0.54,
       0.0261
      ],
      [
       0.6,
       0.0301
      ],
      [
       0.66,
       0.0343
      ],
      [
       0.72,
       0.0387
      ],
      [
       0.78,
       0.0436
      ],
      [
       0.84,
       0.0488
      ],
      [
       0.9,
       0.0545
      ],
      [
       0.96,
       0.0606
      ],
      [
       1.02,
       0.0676
      ],
      [
       1.08,
       0.0738
      ],
      [
       1.14,
       0.0789
      ],
      [
       1.2,
       0.0852
      ],
      [
       1.26,
       0.0922
      ],
      [
       1.32,
       0.0997
      ],
      [
       1.38,
       0.1072
      ],
      [
       1.44,
       0.114
      ],
      [
       1.5,
       0.1199
      ],
      [
       1.56,
       0.1268
      ],
      [
       1.62,
       0.133
      ],
      [
       1.68,
       0.1358
      ],
      [
       1.74,
       0.1382
      ],
      [
       1.8,
       0.1405
      ],
      [
       1.86,
       0.1399
      ],
      [
       1.92,
       0.1397
      ],
      [
       1.98,
       0.1397
      ],
      [
       2.04,
       0.1396
      ],
      [
       2.1,
       0.1395
      ],
      [
       2.16,
       0.1395
      ],
      [
       2.22,
       0.1393
      ],
      [
       2.28,
       0.1391
      ],
      [
       2.34,
       0.1387
      ],
      [
       2.4,
       0.1382
      ],
      [
       2.46,
       0.1377
      ],
      [
       2.52,
       0.137
      ],
      [
       2.58,
       0.1364
      ],
      [
       2.64,
       0.1365
      ],
      [
       2.7,
       0.1365
      ],
      [
       2.76,
       0.1366
      ],
      [
       2.82,
       0.1366
      ],
      [
       2.88,
       0.1367
      ],
      [
       2.94,
       0.1368
      ],
      [
       3.0,
       0.1368
      ],
      [
       3.06,
       0.1369
      ],
      [
       3.12,
       0.137
      ],
      [
       3.18,
       0.1371
      ],
      [
       3.24,
       0.1371
      ],
      [
       3.3,
       0.1372
      ],
      [
       3.36,
       0.1372
      ],
      [
       3.42,
       0.1373
      ],
      [
       3.48,
       0.1373
      ],
      [
       3.54,
       0.1373
      ],
      [
       3.6,
       0.4
      ],
      [
       3.66,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.78,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.9,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.02,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.14,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.26,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.38,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.5,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.62,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.74,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.86,
       0.4011
      ],
      [
       4.92,
       0.4048
      ],
      [
       4.98,
       0.4074
      ],
      [
       5.04,
       0.4089
      ],
      [
       5.1,
       0.4093
      ],
      [
       5.16,
       0.4085
      ],
      [
       5.22,
       0.4067
      ],
      [
       5.28,
       0.4042
      ],
      [
       5.34,
       0.4011
      ],
      [
       5.4,
       0.4
      ],
      [
       5.46,
       0.4
      ],
      [
       5.52,
       0.4
      ],
      [
       5.58,
       0.4083
      ],
      [
       5.64,
       0.422
      ],
      [
       5.7,
       0.4377
      ],
      [
       5.76,
       0.4551
      ],
      [
       5.82,
       0.4742
      ],
      [
       5.88,
       0.495
      ],
      [
       5.94,
       0.5175
      ],
      [
       6.0,
       0.5415
      ],
      [
       6.06,
       0.5665
      ],
      [
       6.12,
       0.5917
      ],
      [
       6.18,
       0.6162
      ],
      [
       6.24,
       0.6381
      ],
      [
       6.3,
       0.657
      ],
      [
       6.36,
       0.6736
      ],
      [
       6.42,
       0.6888
      ],
      [
       6.48,
       0.7036
      ],
      [
       6.54,
       0.7187
      ],
      [
       6.6,
       0.7347
      ],
      [
       6.66,
       0.752
      ],
      [
       6.72,
       0.7703
      ],
      [
       6.78,
       0.79
      ],
      [
       6.84,
       0.8117
      ],
      [
       6.9,
       0.8358
      ],
      [
       6.96,
       0.8622
      ],
      [
       7.02,
       0.8903
      ],
      [
       7.08,
       0.9
      ],
      [
       7.14,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.26,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.38,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.5,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.62,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.74,
       0.8952
      ],
      [
       7.8,
       0.8841
      ],
      [
       7.86,
       0.8732
      ],
      [
       7.92,
       0.8622
      ],
      [
       7.98,
       0.8519
      ],
      [
       8.04,
       0.8433
      ],
      [
       8.1,
       0.8364
      ],
      [
       8.16,
       0.8312
      ],
      [
       8.22,
       0.8273
      ],
      [
       8.28,
       0.8245
      ],
      [
       8.34,
       0.8226
      ],
      [
       8.4,
       0.8214
      ],
      [
       8.46,
       0.8208
      ],
      [
       8.52,
       0.8208
      ],
      [
       8.58,
       0.8212
      ],
      [
       8.64,
       0.822
      ],
      [
       8.7,
       0.8232
      ],
      [
       8.76,
       0.8283
      ],
      [
       8.82,
       0.8321
      ],
      [
       8.88,
       0.8359
      ],
      [
       8.94,
       0.8439
      ],
      [
       9.0,
       0.8544
      ],
      [
       9.06,
       0.8695
      ],
      [
       9.12,
       0.8888
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       1.0
      ],
      [
       9.36,
       1.0
      ],
      [
       9.42,
       1.0
      ],
      [
       9.48,
       1.0
      ],
      [
       9.54,
       1.0
      ],
      [
       9.6,
       1.0
      ],
      [
       9.66,
       1.0
      ],
      [
       9.72,
       1.0
      ],
      [
       9.78,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "738c719580bdb074eaa5dc6af73987d9d6540590671c8134ec35b09f8f4b6de7",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0010022873008019018,
       "final_progress": 0.0010022873008019018,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.04134410216298462,
       "final_progress": 0.06459419114618861,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.8638382394011181,
       "final_progress": 0.8638382394011181,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 489,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "task_object",
       "label": "colored wooden blocks"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "goal_support",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "49f1931b1d68ec671cb8f7f671614e652976c1a9c3fb592ffc7a8be58fc33183",
   "recording_id": 4940,
   "task_number": 4,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "glass dining tabletop",
   "human_action": false,
   "description": "Lift the paper cup off the red spot on the glass dining tabletop, set it aside among the aerosol can and the blue spray bottle, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the paper cup off the red spot on the glass dining tabletop, set it aside among the aerosol can and the blue spray bottle, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 4940,
    "contributor_id": 6,
    "video": "media/source-4940-6fca99362902.mp4",
    "poster": "media/source-4940.jpg",
    "source_sha256": null,
    "interval_s": [
     9.466667,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4940,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4940_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 66.985,
      "original_end_s": 86.985,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "7c99da55334895c0a51b3a75a411c021de75db5c038f364f767d10cb843108ce",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 9.47\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
      "duration_s": 10.32,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "6fca993629020f0c0bfbc12c2206e95dcca38eb0c340fb83b17e98437c11c882",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 11,
    "physical_objects": 9,
    "flat_decor": 2,
    "observed": 10,
    "added_context": 1,
    "recording_observed": 10,
    "recording_added": 0,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "49f1931b1d68-panda",
     "video": "media/sim-49f1931b1d68-panda-s0.mp4",
     "poster": "media/sim-49f1931b1d68-panda-s0.jpg",
     "trajectory": "trajectories/49f1931b1d68-panda.json",
     "recipe": "recipes/49f1931b1d68-panda.json",
     "seed": 0,
     "steps": 435,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0011
      ],
      [
       0.72,
       0.0044
      ],
      [
       0.76,
       0.0082
      ],
      [
       0.8,
       0.0123
      ],
      [
       0.84,
       0.0168
      ],
      [
       0.88,
       0.0216
      ],
      [
       0.92,
       0.0261
      ],
      [
       0.96,
       0.03
      ],
      [
       1.0,
       0.0336
      ],
      [
       1.04,
       0.0374
      ],
      [
       1.08,
       0.0414
      ],
      [
       1.12,
       0.0456
      ],
      [
       1.16,
       0.05
      ],
      [
       1.2,
       0.0544
      ],
      [
       1.24,
       0.0588
      ],
      [
       1.28,
       0.0632
      ],
      [
       1.32,
       0.0676
      ],
      [
       1.36,
       0.0713
      ],
      [
       1.4,
       0.0742
      ],
      [
       1.44,
       0.0766
      ],
      [
       1.48,
       0.0789
      ],
      [
       1.52,
       0.0813
      ],
      [
       1.56,
       0.0838
      ],
      [
       1.6,
       0.0863
      ],
      [
       1.64,
       0.0888
      ],
      [
       1.68,
       0.0914
      ],
      [
       1.72,
       0.0943
      ],
      [
       1.76,
       0.0981
      ],
      [
       1.8,
       0.0976
      ],
      [
       1.84,
       0.0964
      ],
      [
       1.88,
       0.0968
      ],
      [
       1.92,
       0.0973
      ],
      [
       1.96,
       0.0977
      ],
      [
       2.0,
       0.0979
      ],
      [
       2.04,
       0.098
      ],
      [
       2.08,
       0.098
      ],
      [
       2.12,
       0.098
      ],
      [
       2.16,
       0.098
      ],
      [
       2.2,
       0.098
      ],
      [
       2.24,
       0.0981
      ],
      [
       2.28,
       0.0981
      ],
      [
       2.32,
       0.0978
      ],
      [
       2.36,
       0.0975
      ],
      [
       2.4,
       0.0974
      ],
      [
       2.44,
       0.0974
      ],
      [
       2.48,
       0.0974
      ],
      [
       2.52,
       0.0974
      ],
      [
       2.56,
       0.0974
      ],
      [
       2.6,
       0.0974
      ],
      [
       2.64,
       0.0974
      ],
      [
       2.68,
       0.0974
      ],
      [
       2.72,
       0.0974
      ],
      [
       2.76,
       0.0974
      ],
      [
       2.8,
       0.0973
      ],
      [
       2.84,
       0.568
      ],
      [
       2.88,
       0.5669
      ],
      [
       2.92,
       0.5615
      ],
      [
       2.96,
       0.5513
      ],
      [
       3.0,
       0.5365
      ],
      [
       3.04,
       0.5205
      ],
      [
       3.08,
       0.5046
      ],
      [
       3.12,
       0.4886
      ],
      [
       3.16,
       0.4721
      ],
      [
       3.2,
       0.4546
      ],
      [
       3.24,
       0.4365
      ],
      [
       3.28,
       0.4189
      ],
      [
       3.32,
       0.4008
      ],
      [
       3.36,
       0.3819
      ],
      [
       3.4,
       0.3596
      ],
      [
       3.44,
       0.3333
      ],
      [
       3.48,
       0.3213
      ],
      [
       3.52,
       0.3716
      ],
      [
       3.56,
       0.4368
      ],
      [
       3.6,
       0.5144
      ],
      [
       3.64,
       0.6
      ],
      [
       3.68,
       0.6
      ],
      [
       3.72,
       0.6
      ],
      [
       3.76,
       0.6
      ],
      [
       3.8,
       0.6
      ],
      [
       3.84,
       0.6
      ],
      [
       3.88,
       0.6
      ],
      [
       3.92,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.0,
       0.6
      ],
      [
       4.04,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.12,
       0.6
      ],
      [
       4.16,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.24,
       0.6
      ],
      [
       4.28,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6533
      ],
      [
       8.48,
       0.7067
      ],
      [
       8.52,
       0.76
      ],
      [
       8.56,
       0.8133
      ],
      [
       8.6,
       0.8667
      ],
      [
       8.64,
       0.92
      ],
      [
       8.68,
       0.9733
      ],
      [
       8.7,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ff69b4b04c5942f305ea15f52367b7fbf924e1b5daffad5ad88b9ff6bfe78041",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -4.336808689942018e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.0829254671168809,
       "final_progress": 0.0829254671168809,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 435,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx90",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "49f1931b1d68-aloha",
     "video": "media/sim-49f1931b1d68-aloha-s0.mp4",
     "poster": "media/sim-49f1931b1d68-aloha-s0.jpg",
     "trajectory": "trajectories/49f1931b1d68-aloha.json",
     "recipe": "recipes/49f1931b1d68-aloha.json",
     "seed": 0,
     "steps": 791,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0009
      ],
      [
       0.16,
       0.0022
      ],
      [
       0.24,
       0.0038
      ],
      [
       0.32,
       0.0056
      ],
      [
       0.4,
       0.0078
      ],
      [
       0.48,
       0.0102
      ],
      [
       0.56,
       0.013
      ],
      [
       0.64,
       0.0162
      ],
      [
       0.72,
       0.0196
      ],
      [
       0.8,
       0.0234
      ],
      [
       0.88,
       0.0275
      ],
      [
       0.96,
       0.0319
      ],
      [
       1.04,
       0.0367
      ],
      [
       1.12,
       0.0424
      ],
      [
       1.2,
       0.0496
      ],
      [
       1.28,
       0.0577
      ],
      [
       1.36,
       0.0633
      ],
      [
       1.44,
       0.0691
      ],
      [
       1.52,
       0.0757
      ],
      [
       1.6,
       0.0818
      ],
      [
       1.68,
       0.0883
      ],
      [
       1.76,
       0.0899
      ],
      [
       1.84,
       0.0893
      ],
      [
       1.92,
       0.0889
      ],
      [
       2.0,
       0.0888
      ],
      [
       2.08,
       0.089
      ],
      [
       2.16,
       0.0896
      ],
      [
       2.24,
       0.0902
      ],
      [
       2.32,
       0.0911
      ],
      [
       2.4,
       0.0922
      ],
      [
       2.48,
       0.0935
      ],
      [
       2.56,
       0.0953
      ],
      [
       2.64,
       0.0973
      ],
      [
       2.72,
       0.0973
      ],
      [
       2.8,
       0.0973
      ],
      [
       2.88,
       0.0973
      ],
      [
       2.96,
       0.0973
      ],
      [
       3.04,
       0.0973
      ],
      [
       3.12,
       0.0973
      ],
      [
       3.2,
       0.0968
      ],
      [
       3.28,
       0.096
      ],
      [
       3.36,
       0.0961
      ],
      [
       3.44,
       0.0961
      ],
      [
       3.52,
       0.096
      ],
      [
       3.6,
       0.0959
      ],
      [
       3.68,
       0.0959
      ],
      [
       3.76,
       0.0958
      ],
      [
       3.84,
       0.0958
      ],
      [
       3.92,
       0.0957
      ],
      [
       4.0,
       0.0956
      ],
      [
       4.08,
       0.0955
      ],
      [
       4.16,
       0.0955
      ],
      [
       4.24,
       0.0954
      ],
      [
       4.32,
       0.0953
      ],
      [
       4.4,
       0.0953
      ],
      [
       4.48,
       0.0952
      ],
      [
       4.56,
       0.0951
      ],
      [
       4.64,
       0.0951
      ],
      [
       4.72,
       0.095
      ],
      [
       4.8,
       0.095
      ],
      [
       4.88,
       0.0947
      ],
      [
       4.96,
       0.094
      ],
      [
       5.04,
       0.0949
      ],
      [
       5.12,
       0.0948
      ],
      [
       5.2,
       0.095
      ],
      [
       5.28,
       0.0951
      ],
      [
       5.36,
       0.0953
      ],
      [
       5.44,
       0.0954
      ],
      [
       5.52,
       0.0957
      ],
      [
       5.6,
       0.0958
      ],
      [
       5.68,
       0.096
      ],
      [
       5.76,
       0.0962
      ],
      [
       5.84,
       0.0964
      ],
      [
       5.92,
       0.0966
      ],
      [
       6.0,
       0.0967
      ],
      [
       6.08,
       0.0969
      ],
      [
       6.16,
       0.0971
      ],
      [
       6.24,
       0.0971
      ],
      [
       6.32,
       0.0971
      ],
      [
       6.4,
       0.0971
      ],
      [
       6.48,
       0.0971
      ],
      [
       6.56,
       0.0971
      ],
      [
       6.64,
       0.0971
      ],
      [
       6.72,
       0.0971
      ],
      [
       6.8,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.04,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.28,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.44,
       0.6
      ],
      [
       9.52,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.68,
       0.6
      ],
      [
       9.76,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.92,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.16,
       0.6
      ],
      [
       10.24,
       0.6
      ],
      [
       10.32,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.48,
       0.6
      ],
      [
       10.56,
       0.6
      ],
      [
       10.64,
       0.6
      ],
      [
       10.72,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.88,
       0.6
      ],
      [
       10.96,
       0.6
      ],
      [
       11.04,
       0.6
      ],
      [
       11.12,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.28,
       0.6
      ],
      [
       11.36,
       0.6
      ],
      [
       11.44,
       0.6
      ],
      [
       11.52,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.68,
       0.6
      ],
      [
       11.76,
       0.6
      ],
      [
       11.84,
       0.6
      ],
      [
       11.92,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.08,
       0.6
      ],
      [
       12.16,
       0.6
      ],
      [
       12.24,
       0.6
      ],
      [
       12.32,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.48,
       0.6
      ],
      [
       12.56,
       0.6
      ],
      [
       12.64,
       0.6
      ],
      [
       12.72,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.88,
       0.6
      ],
      [
       12.96,
       0.6
      ],
      [
       13.04,
       0.6
      ],
      [
       13.12,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.28,
       0.6
      ],
      [
       13.36,
       0.6
      ],
      [
       13.44,
       0.6
      ],
      [
       13.52,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.68,
       0.6
      ],
      [
       13.76,
       0.6
      ],
      [
       13.84,
       0.6
      ],
      [
       13.92,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.08,
       0.6
      ],
      [
       14.16,
       0.6
      ],
      [
       14.24,
       0.6
      ],
      [
       14.32,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.48,
       0.6
      ],
      [
       14.56,
       0.6
      ],
      [
       14.64,
       0.6
      ],
      [
       14.72,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.88,
       0.6
      ],
      [
       14.96,
       0.6533
      ],
      [
       15.04,
       0.6
      ],
      [
       15.12,
       0.6267
      ],
      [
       15.2,
       0.6
      ],
      [
       15.28,
       0.6267
      ],
      [
       15.36,
       0.68
      ],
      [
       15.44,
       0.6267
      ],
      [
       15.52,
       0.6
      ],
      [
       15.6,
       0.7067
      ],
      [
       15.68,
       0.8133
      ],
      [
       15.76,
       0.92
      ],
      [
       15.82,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c5afd58a672e07dc01a2d224e2f8d472f9873bb195bb816744e62bce7defb4f6",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.00043533613568194076,
       "final_progress": 0.00043533613568194076,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 2.0328790734103208e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07029634852421851,
       "final_progress": 0.07029634852421851,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 791,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "paper_cup_ctx90",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "lace doily"
      },
      {
       "name": "orange_basket_of_wooden_bloc_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket of wooden blocks"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "glass_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "glass_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bottles"
      },
      {
       "name": "blue_spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue spray bottle"
      },
      {
       "name": "colored_wooden_blocks_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "colored_wooden_blocks_1",
       "source": "ycb:077_rubiks_cube",
       "grounding": "observed",
       "role": "clutter",
       "label": "colored wooden blocks"
      },
      {
       "name": "aerosol_can_0",
       "source": "primitive:bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "aerosol can"
      },
      {
       "name": "green_glue_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green glue bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "b08167d2440d54458e32b4240acd5002221a54d3296bb5995c9743e9e89f593f",
   "recording_id": 4971,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "glass dining tabletop",
   "human_action": true,
   "description": "In the footage: Wipe the visible glass dining tabletop with the purple wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 12\u00d76 cm patch (square to the table edge) on the glass dining tabletop among the star-shaped lace doily and the clear glass mug and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 4971,
    "contributor_id": 6,
    "video": "media/source-4971-ea76f082365d.mp4",
    "poster": "media/source-4971.jpg",
    "source_sha256": null,
    "interval_s": [
     2.733333,
     15.533333
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4971,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4971_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 15.733333,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "54f8a07d6da7494def007f2105567e70b143ebdce1925666b1c4a1ffa1c7bcd7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.73\u201315.53 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
      "duration_s": 12.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 5,
    "flat_decor": 2,
    "observed": 6,
    "added_context": 1,
    "recording_observed": 6,
    "recording_added": 1,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "b08167d2440d-panda",
     "video": "media/sim-b08167d2440d-panda-s0.mp4",
     "poster": "media/sim-b08167d2440d-panda-s0.jpg",
     "trajectory": "trajectories/b08167d2440d-panda.json",
     "recipe": "recipes/b08167d2440d-panda.json",
     "seed": 0,
     "steps": 302,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0001
      ],
      [
       0.04,
       0.0005
      ],
      [
       0.06,
       0.0013
      ],
      [
       0.08,
       0.0028
      ],
      [
       0.1,
       0.0049
      ],
      [
       0.12,
       0.0072
      ],
      [
       0.14,
       0.0097
      ],
      [
       0.16,
       0.012
      ],
      [
       0.18,
       0.0143
      ],
      [
       0.2,
       0.0165
      ],
      [
       0.22,
       0.0188
      ],
      [
       0.24,
       0.0212
      ],
      [
       0.26,
       0.0238
      ],
      [
       0.28,
       0.0264
      ],
      [
       0.3,
       0.0291
      ],
      [
       0.32,
       0.0319
      ],
      [
       0.34,
       0.0347
      ],
      [
       0.36,
       0.0376
      ],
      [
       0.38,
       0.0405
      ],
      [
       0.4,
       0.0434
      ],
      [
       0.42,
       0.0465
      ],
      [
       0.44,
       0.0495
      ],
      [
       0.46,
       0.0527
      ],
      [
       0.48,
       0.0559
      ],
      [
       0.5,
       0.0591
      ],
      [
       0.52,
       0.0624
      ],
      [
       0.54,
       0.0657
      ],
      [
       0.56,
       0.0691
      ],
      [
       0.58,
       0.0725
      ],
      [
       0.6,
       0.076
      ],
      [
       0.62,
       0.0795
      ],
      [
       0.64,
       0.083
      ],
      [
       0.66,
       0.0866
      ],
      [
       0.68,
       0.0902
      ],
      [
       0.7,
       0.0938
      ],
      [
       0.72,
       0.0974
      ],
      [
       0.74,
       0.1011
      ],
      [
       0.76,
       0.1047
      ],
      [
       0.78,
       0.1084
      ],
      [
       0.8,
       0.112
      ],
      [
       0.82,
       0.1156
      ],
      [
       0.84,
       0.1192
      ],
      [
       0.86,
       0.1227
      ],
      [
       0.88,
       0.1262
      ],
      [
       0.9,
       0.1294
      ],
      [
       0.92,
       0.1324
      ],
      [
       0.94,
       0.1351
      ],
      [
       0.96,
       0.1374
      ],
      [
       0.98,
       0.1397
      ],
      [
       1.0,
       0.1419
      ],
      [
       1.02,
       0.1438
      ],
      [
       1.04,
       0.1454
      ],
      [
       1.06,
       0.1465
      ],
      [
       1.08,
       0.1473
      ],
      [
       1.1,
       0.1476
      ],
      [
       1.12,
       0.1474
      ],
      [
       1.14,
       0.147
      ],
      [
       1.16,
       0.1463
      ],
      [
       1.18,
       0.1456
      ],
      [
       1.2,
       0.145
      ],
      [
       1.22,
       0.1443
      ],
      [
       1.24,
       0.1436
      ],
      [
       1.26,
       0.1429
      ],
      [
       1.28,
       0.1421
      ],
      [
       1.3,
       0.1414
      ],
      [
       1.32,
       0.1408
      ],
      [
       1.34,
       0.1403
      ],
      [
       1.36,
       0.14
      ],
      [
       1.38,
       0.1399
      ],
      [
       1.4,
       0.1399
      ],
      [
       1.42,
       0.1401
      ],
      [
       1.44,
       0.1403
      ],
      [
       1.46,
       0.1405
      ],
      [
       1.48,
       0.1408
      ],
      [
       1.5,
       0.141
      ],
      [
       1.52,
       0.1411
      ],
      [
       1.54,
       0.1413
      ],
      [
       1.56,
       0.1414
      ],
      [
       1.58,
       0.1416
      ],
      [
       1.6,
       0.1418
      ],
      [
       1.62,
       0.1422
      ],
      [
       1.64,
       0.1426
      ],
      [
       1.66,
       0.1431
      ],
      [
       1.68,
       0.1436
      ],
      [
       1.7,
       0.1442
      ],
      [
       1.72,
       0.1448
      ],
      [
       1.74,
       0.1453
      ],
      [
       1.76,
       0.1459
      ],
      [
       1.78,
       0.1464
      ],
      [
       1.8,
       0.1469
      ],
      [
       1.82,
       0.1472
      ],
      [
       1.84,
       0.1476
      ],
      [
       1.86,
       0.1478
      ],
      [
       1.88,
       0.148
      ],
      [
       1.9,
       0.1482
      ],
      [
       1.92,
       0.1484
      ],
      [
       1.94,
       0.1486
      ],
      [
       1.96,
       0.1488
      ],
      [
       1.98,
       0.149
      ],
      [
       2.0,
       0.1492
      ],
      [
       2.02,
       0.1494
      ],
      [
       2.04,
       0.1497
      ],
      [
       2.06,
       0.1499
      ],
      [
       2.08,
       0.15
      ],
      [
       2.1,
       0.15
      ],
      [
       2.12,
       0.15
      ],
      [
       2.14,
       0.15
      ],
      [
       2.16,
       0.15
      ],
      [
       2.18,
       0.15
      ],
      [
       2.2,
       0.15
      ],
      [
       2.22,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.26,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.3,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.34,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.38,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.42,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.46,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.5,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.54,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.58,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.62,
       0.15
      ],
      [
       2.64,
       0.3389
      ],
      [
       2.66,
       0.3389
      ],
      [
       2.68,
       0.3389
      ],
      [
       2.7,
       0.3389
      ],
      [
       2.72,
       0.3389
      ],
      [
       2.74,
       0.3389
      ],
      [
       2.76,
       0.3389
      ],
      [
       2.78,
       0.3389
      ],
      [
       2.8,
       0.3389
      ],
      [
       2.82,
       0.3389
      ],
      [
       2.84,
       0.3389
      ],
      [
       2.86,
       0.3389
      ],
      [
       2.88,
       0.3389
      ],
      [
       2.9,
       0.3389
      ],
      [
       2.92,
       0.3389
      ],
      [
       2.94,
       0.3389
      ],
      [
       2.96,
       0.3389
      ],
      [
       2.98,
       0.3389
      ],
      [
       3.0,
       0.3389
      ],
      [
       3.02,
       0.3389
      ],
      [
       3.04,
       0.3389
      ],
      [
       3.06,
       0.3389
      ],
      [
       3.08,
       0.3389
      ],
      [
       3.1,
       0.3389
      ],
      [
       3.12,
       0.4333
      ],
      [
       3.14,
       0.4333
      ],
      [
       3.16,
       0.4333
      ],
      [
       3.18,
       0.4333
      ],
      [
       3.2,
       0.4333
      ],
      [
       3.22,
       0.4333
      ],
      [
       3.24,
       0.4333
      ],
      [
       3.26,
       0.4333
      ],
      [
       3.28,
       0.4333
      ],
      [
       3.3,
       0.4333
      ],
      [
       3.32,
       0.4333
      ],
      [
       3.34,
       0.4333
      ],
      [
       3.36,
       0.4333
      ],
      [
       3.38,
       0.4333
      ],
      [
       3.4,
       0.4333
      ],
      [
       3.42,
       0.4333
      ],
      [
       3.44,
       0.4333
      ],
      [
       3.46,
       0.4333
      ],
      [
       3.48,
       0.4333
      ],
      [
       3.5,
       0.4333
      ],
      [
       3.52,
       0.4333
      ],
      [
       3.54,
       0.4333
      ],
      [
       3.56,
       0.4333
      ],
      [
       3.58,
       0.5278
      ],
      [
       3.6,
       0.5278
      ],
      [
       3.62,
       0.5278
      ],
      [
       3.64,
       0.5278
      ],
      [
       3.66,
       0.5278
      ],
      [
       3.68,
       0.5278
      ],
      [
       3.7,
       0.5278
      ],
      [
       3.72,
       0.5278
      ],
      [
       3.74,
       0.5278
      ],
      [
       3.76,
       0.5278
      ],
      [
       3.78,
       0.5278
      ],
      [
       3.8,
       0.5278
      ],
      [
       3.82,
       0.6222
      ],
      [
       3.84,
       0.6222
      ],
      [
       3.86,
       0.6222
      ],
      [
       3.88,
       0.6222
      ],
      [
       3.9,
       0.6222
      ],
      [
       3.92,
       0.6222
      ],
      [
       3.94,
       0.6222
      ],
      [
       3.96,
       0.6222
      ],
      [
       3.98,
       0.6222
      ],
      [
       4.0,
       0.6222
      ],
      [
       4.02,
       0.6222
      ],
      [
       4.04,
       0.6222
      ],
      [
       4.06,
       0.6222
      ],
      [
       4.08,
       0.6222
      ],
      [
       4.1,
       0.6222
      ],
      [
       4.12,
       0.6222
      ],
      [
       4.14,
       0.6222
      ],
      [
       4.16,
       0.6222
      ],
      [
       4.18,
       0.6222
      ],
      [
       4.2,
       0.6222
      ],
      [
       4.22,
       0.7167
      ],
      [
       4.24,
       0.7167
      ],
      [
       4.26,
       0.7167
      ],
      [
       4.28,
       0.7167
      ],
      [
       4.3,
       0.7167
      ],
      [
       4.32,
       0.7167
      ],
      [
       4.34,
       0.7167
      ],
      [
       4.36,
       0.7167
      ],
      [
       4.38,
       0.7167
      ],
      [
       4.4,
       0.7167
      ],
      [
       4.42,
       0.7167
      ],
      [
       4.44,
       0.7167
      ],
      [
       4.46,
       0.7167
      ],
      [
       4.48,
       0.7167
      ],
      [
       4.5,
       0.7167
      ],
      [
       4.52,
       0.7167
      ],
      [
       4.54,
       0.7167
      ],
      [
       4.56,
       0.7167
      ],
      [
       4.58,
       0.7167
      ],
      [
       4.6,
       0.7167
      ],
      [
       4.62,
       0.7167
      ],
      [
       4.64,
       0.7167
      ],
      [
       4.66,
       0.7167
      ],
      [
       4.68,
       0.7167
      ],
      [
       4.7,
       0.8111
      ],
      [
       4.72,
       0.8111
      ],
      [
       4.74,
       0.8111
      ],
      [
       4.76,
       0.8111
      ],
      [
       4.78,
       0.8111
      ],
      [
       4.8,
       0.8111
      ],
      [
       4.82,
       0.8111
      ],
      [
       4.84,
       0.8111
      ],
      [
       4.86,
       0.8111
      ],
      [
       4.88,
       0.8111
      ],
      [
       4.9,
       0.8111
      ],
      [
       4.92,
       0.8111
      ],
      [
       4.94,
       0.8111
      ],
      [
       4.96,
       0.8111
      ],
      [
       4.98,
       0.8111
      ],
      [
       5.0,
       0.8111
      ],
      [
       5.02,
       0.8111
      ],
      [
       5.04,
       0.8111
      ],
      [
       5.06,
       0.8111
      ],
      [
       5.08,
       0.8111
      ],
      [
       5.1,
       0.8111
      ],
      [
       5.12,
       0.8111
      ],
      [
       5.14,
       0.8111
      ],
      [
       5.16,
       0.8111
      ],
      [
       5.18,
       0.8111
      ],
      [
       5.2,
       0.8111
      ],
      [
       5.22,
       0.8111
      ],
      [
       5.24,
       0.8111
      ],
      [
       5.26,
       0.8111
      ],
      [
       5.28,
       0.8111
      ],
      [
       5.3,
       0.8111
      ],
      [
       5.32,
       0.8111
      ],
      [
       5.34,
       0.8111
      ],
      [
       5.36,
       0.8111
      ],
      [
       5.38,
       0.8111
      ],
      [
       5.4,
       0.8111
      ],
      [
       5.42,
       0.8111
      ],
      [
       5.44,
       0.8111
      ],
      [
       5.46,
       0.8111
      ],
      [
       5.48,
       0.8111
      ],
      [
       5.5,
       0.8111
      ],
      [
       5.52,
       0.8583
      ],
      [
       5.54,
       0.8583
      ],
      [
       5.56,
       0.8583
      ],
      [
       5.58,
       0.9056
      ],
      [
       5.6,
       0.9056
      ],
      [
       5.62,
       0.9056
      ],
      [
       5.64,
       0.9056
      ],
      [
       5.66,
       0.9056
      ],
      [
       5.68,
       0.9056
      ],
      [
       5.7,
       0.9056
      ],
      [
       5.72,
       0.9056
      ],
      [
       5.74,
       0.9056
      ],
      [
       5.76,
       0.9056
      ],
      [
       5.78,
       0.9056
      ],
      [
       5.8,
       0.9056
      ],
      [
       5.82,
       0.9056
      ],
      [
       5.84,
       0.9056
      ],
      [
       5.86,
       0.9056
      ],
      [
       5.88,
       0.9056
      ],
      [
       5.9,
       0.9056
      ],
      [
       5.92,
       0.9056
      ],
      [
       5.94,
       0.9056
      ],
      [
       5.96,
       0.9056
      ],
      [
       5.98,
       0.9056
      ],
      [
       6.0,
       0.9056
      ],
      [
       6.02,
       0.9056
      ],
      [
       6.04,
       0.9528
      ]
     ],
     "total_reward": 1.9528,
     "initial_progress": 0.0,
     "final_progress": 0.9528,
     "physics_sha256": "01185fd1ff0324281c053bcfa542ae40b9599a7ecbf500101deff9cb76d7678e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.6641293310776706,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3388888888888889,
       "final_progress": 0.3388888888888889,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 302,
       "return": 1.9527777777777775,
       "final_progress": 0.9527777777777777
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned tissue box"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "b08167d2440d-aloha",
     "video": "media/sim-b08167d2440d-aloha-s5.mp4",
     "poster": "media/sim-b08167d2440d-aloha-s5.jpg",
     "trajectory": "trajectories/b08167d2440d-aloha.json",
     "recipe": "recipes/b08167d2440d-aloha.json",
     "seed": 5,
     "steps": 612,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0009
      ],
      [
       0.12,
       0.0025
      ],
      [
       0.18,
       0.0044
      ],
      [
       0.24,
       0.0066
      ],
      [
       0.3,
       0.0094
      ],
      [
       0.36,
       0.0126
      ],
      [
       0.42,
       0.0165
      ],
      [
       0.48,
       0.0209
      ],
      [
       0.54,
       0.0263
      ],
      [
       0.6,
       0.0326
      ],
      [
       0.66,
       0.04
      ],
      [
       0.72,
       0.0483
      ],
      [
       0.78,
       0.0572
      ],
      [
       0.84,
       0.0667
      ],
      [
       0.9,
       0.077
      ],
      [
       0.96,
       0.0882
      ],
      [
       1.02,
       0.1005
      ],
      [
       1.08,
       0.1141
      ],
      [
       1.14,
       0.129
      ],
      [
       1.2,
       0.1374
      ],
      [
       1.26,
       0.1397
      ],
      [
       1.32,
       0.141
      ],
      [
       1.38,
       0.1422
      ],
      [
       1.44,
       0.1432
      ],
      [
       1.5,
       0.1443
      ],
      [
       1.56,
       0.1454
      ],
      [
       1.62,
       0.1466
      ],
      [
       1.68,
       0.1473
      ],
      [
       1.74,
       0.1473
      ],
      [
       1.8,
       0.1478
      ],
      [
       1.86,
       0.1498
      ],
      [
       1.92,
       0.15
      ],
      [
       1.98,
       0.15
      ],
      [
       2.04,
       0.4333
      ],
      [
       2.1,
       0.4333
      ],
      [
       2.16,
       0.4333
      ],
      [
       2.22,
       0.4333
      ],
      [
       2.28,
       0.4333
      ],
      [
       2.34,
       0.4333
      ],
      [
       2.4,
       0.4806
      ],
      [
       2.46,
       0.4806
      ],
      [
       2.52,
       0.4806
      ],
      [
       2.58,
       0.4806
      ],
      [
       2.64,
       0.4806
      ],
      [
       2.7,
       0.4806
      ],
      [
       2.76,
       0.4806
      ],
      [
       2.82,
       0.4806
      ],
      [
       2.88,
       0.4806
      ],
      [
       2.94,
       0.4806
      ],
      [
       3.0,
       0.4806
      ],
      [
       3.06,
       0.4806
      ],
      [
       3.12,
       0.4806
      ],
      [
       3.18,
       0.4806
      ],
      [
       3.24,
       0.4806
      ],
      [
       3.3,
       0.4806
      ],
      [
       3.36,
       0.4806
      ],
      [
       3.42,
       0.5278
      ],
      [
       3.48,
       0.5278
      ],
      [
       3.54,
       0.5278
      ],
      [
       3.6,
       0.575
      ],
      [
       3.66,
       0.575
      ],
      [
       3.72,
       0.575
      ],
      [
       3.78,
       0.6222
      ],
      [
       3.84,
       0.7167
      ],
      [
       3.9,
       0.7167
      ],
      [
       3.96,
       0.7167
      ],
      [
       4.02,
       0.7167
      ],
      [
       4.08,
       0.7167
      ],
      [
       4.14,
       0.7167
      ],
      [
       4.2,
       0.7147
      ],
      [
       4.26,
       0.7128
      ],
      [
       4.32,
       0.7111
      ],
      [
       4.38,
       0.7096
      ],
      [
       4.44,
       0.7083
      ],
      [
       4.5,
       0.707
      ],
      [
       4.56,
       0.7056
      ],
      [
       4.62,
       0.704
      ],
      [
       4.68,
       0.7021
      ],
      [
       4.74,
       0.6998
      ],
      [
       4.8,
       0.6975
      ],
      [
       4.86,
       0.6955
      ],
      [
       4.92,
       0.6945
      ],
      [
       4.98,
       0.695
      ],
      [
       5.04,
       0.6959
      ],
      [
       5.1,
       0.6967
      ],
      [
       5.16,
       0.6972
      ],
      [
       5.22,
       0.6977
      ],
      [
       5.28,
       0.6983
      ],
      [
       5.34,
       0.699
      ],
      [
       5.4,
       0.6995
      ],
      [
       5.46,
       0.6999
      ],
      [
       5.52,
       0.7002
      ],
      [
       5.58,
       0.7004
      ],
      [
       5.64,
       0.7006
      ],
      [
       5.7,
       0.7008
      ],
      [
       5.76,
       0.7009
      ],
      [
       5.82,
       0.7011
      ],
      [
       5.88,
       0.7013
      ],
      [
       5.94,
       0.7016
      ],
      [
       6.0,
       0.7018
      ],
      [
       6.06,
       0.7034
      ],
      [
       6.12,
       0.7073
      ],
      [
       6.18,
       0.7122
      ],
      [
       6.24,
       0.716
      ],
      [
       6.3,
       0.7167
      ],
      [
       6.36,
       0.7167
      ],
      [
       6.42,
       0.7163
      ],
      [
       6.48,
       0.7167
      ],
      [
       6.54,
       0.7167
      ],
      [
       6.6,
       0.7167
      ],
      [
       6.66,
       0.7167
      ],
      [
       6.72,
       0.7167
      ],
      [
       6.78,
       0.7167
      ],
      [
       6.84,
       0.7167
      ],
      [
       6.9,
       0.7167
      ],
      [
       6.96,
       0.7167
      ],
      [
       7.02,
       0.7167
      ],
      [
       7.08,
       0.7167
      ],
      [
       7.14,
       0.7167
      ],
      [
       7.2,
       0.7167
      ],
      [
       7.26,
       0.7167
      ],
      [
       7.32,
       0.7167
      ],
      [
       7.38,
       0.7167
      ],
      [
       7.44,
       0.7167
      ],
      [
       7.5,
       0.7167
      ],
      [
       7.56,
       0.7167
      ],
      [
       7.62,
       0.7167
      ],
      [
       7.68,
       0.7167
      ],
      [
       7.74,
       0.7167
      ],
      [
       7.8,
       0.7167
      ],
      [
       7.86,
       0.7167
      ],
      [
       7.92,
       0.7167
      ],
      [
       7.98,
       0.7167
      ],
      [
       8.04,
       0.7167
      ],
      [
       8.1,
       0.7167
      ],
      [
       8.16,
       0.7167
      ],
      [
       8.22,
       0.7167
      ],
      [
       8.28,
       0.7167
      ],
      [
       8.34,
       0.7167
      ],
      [
       8.4,
       0.7167
      ],
      [
       8.46,
       0.7167
      ],
      [
       8.52,
       0.7167
      ],
      [
       8.58,
       0.7167
      ],
      [
       8.64,
       0.7167
      ],
      [
       8.7,
       0.7167
      ],
      [
       8.76,
       0.7167
      ],
      [
       8.82,
       0.7167
      ],
      [
       8.88,
       0.7167
      ],
      [
       8.94,
       0.7167
      ],
      [
       9.0,
       0.7167
      ],
      [
       9.06,
       0.7167
      ],
      [
       9.12,
       0.7167
      ],
      [
       9.18,
       0.7167
      ],
      [
       9.24,
       0.7167
      ],
      [
       9.3,
       0.7167
      ],
      [
       9.36,
       0.7167
      ],
      [
       9.42,
       0.7167
      ],
      [
       9.48,
       0.7167
      ],
      [
       9.54,
       0.7167
      ],
      [
       9.6,
       0.7167
      ],
      [
       9.66,
       0.7167
      ],
      [
       9.72,
       0.7167
      ],
      [
       9.78,
       0.7167
      ],
      [
       9.84,
       0.7167
      ],
      [
       9.9,
       0.7167
      ],
      [
       9.96,
       0.8583
      ],
      [
       10.02,
       0.8583
      ],
      [
       10.08,
       0.8583
      ],
      [
       10.14,
       0.8583
      ],
      [
       10.2,
       0.8583
      ],
      [
       10.26,
       0.8583
      ],
      [
       10.32,
       0.8583
      ],
      [
       10.38,
       0.8583
      ],
      [
       10.44,
       0.8583
      ],
      [
       10.5,
       0.8583
      ],
      [
       10.56,
       0.8583
      ],
      [
       10.62,
       0.8583
      ],
      [
       10.68,
       0.8583
      ],
      [
       10.74,
       0.8583
      ],
      [
       10.8,
       0.8583
      ],
      [
       10.86,
       0.8583
      ],
      [
       10.92,
       0.8583
      ],
      [
       10.98,
       0.8583
      ],
      [
       11.04,
       0.8583
      ],
      [
       11.1,
       0.8583
      ],
      [
       11.16,
       0.8583
      ],
      [
       11.22,
       0.8583
      ],
      [
       11.28,
       0.8583
      ],
      [
       11.34,
       0.8583
      ],
      [
       11.4,
       0.8583
      ],
      [
       11.46,
       0.8583
      ],
      [
       11.52,
       0.8583
      ],
      [
       11.58,
       0.8583
      ],
      [
       11.64,
       0.8583
      ],
      [
       11.7,
       0.8583
      ],
      [
       11.76,
       0.8583
      ],
      [
       11.82,
       0.8583
      ],
      [
       11.88,
       0.8583
      ],
      [
       11.94,
       0.8583
      ],
      [
       12.0,
       0.8583
      ],
      [
       12.06,
       0.8583
      ],
      [
       12.12,
       0.8583
      ],
      [
       12.18,
       0.8583
      ],
      [
       12.24,
       0.9528
      ]
     ],
     "total_reward": 1.9461,
     "initial_progress": 0.0,
     "final_progress": 0.9528,
     "physics_sha256": "b1050e6991cfc8aa43cef02c6dbff9ee784e60ffd68ee8981eac4640ac230537",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001465801401534189,
       "final_progress": 0.001465801401534189,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.07741327465223692,
       "final_progress": 0.07741327465223694,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.7166666666666667,
       "final_progress": 0.7166666666666667,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 1,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 2,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 3,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 4,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 612,
       "return": 1.9461320677229241,
       "final_progress": 0.9527777777777777
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned tissue box"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "a0ab6775764ec3a6db3ca2573b2e9a47266033789cd9491ac4273227b5bb272e",
   "recording_id": 4971,
   "task_number": 2,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "glass dining tabletop",
   "human_action": false,
   "description": "Pick up the paper cup and balance it on top of the patterned tissue box on the glass dining tabletop among the star-shaped lace doily and the clear glass mug.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the paper cup and balance it on top of the patterned tissue box on the glass dining tabletop among the star-shaped lace doily and the clear glass mug.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 4971,
    "contributor_id": 6,
    "video": "media/source-4971-ea76f082365d.mp4",
    "poster": "media/source-4971.jpg",
    "source_sha256": null,
    "interval_s": [
     2.733333,
     15.533333
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4971,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4971_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 15.733333,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "54f8a07d6da7494def007f2105567e70b143ebdce1925666b1c4a1ffa1c7bcd7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.73\u201315.53 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
      "duration_s": 12.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 6,
    "flat_decor": 2,
    "observed": 6,
    "added_context": 2,
    "recording_observed": 6,
    "recording_added": 1,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "a0ab6775764e-panda",
     "video": "media/sim-a0ab6775764e-panda-s0.mp4",
     "poster": "media/sim-a0ab6775764e-panda-s0.jpg",
     "trajectory": "trajectories/a0ab6775764e-panda.json",
     "recipe": "recipes/a0ab6775764e-panda.json",
     "seed": 0,
     "steps": 341,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0035
      ],
      [
       0.44,
       0.0077
      ],
      [
       0.48,
       0.0104
      ],
      [
       0.52,
       0.0112
      ],
      [
       0.56,
       0.012
      ],
      [
       0.6,
       0.0135
      ],
      [
       0.64,
       0.0153
      ],
      [
       0.68,
       0.017
      ],
      [
       0.72,
       0.0187
      ],
      [
       0.76,
       0.0207
      ],
      [
       0.8,
       0.0228
      ],
      [
       0.84,
       0.025
      ],
      [
       0.88,
       0.0274
      ],
      [
       0.92,
       0.03
      ],
      [
       0.96,
       0.0327
      ],
      [
       1.0,
       0.0356
      ],
      [
       1.04,
       0.0387
      ],
      [
       1.08,
       0.0419
      ],
      [
       1.12,
       0.0454
      ],
      [
       1.16,
       0.0491
      ],
      [
       1.2,
       0.0529
      ],
      [
       1.24,
       0.057
      ],
      [
       1.28,
       0.0613
      ],
      [
       1.32,
       0.0657
      ],
      [
       1.36,
       0.0704
      ],
      [
       1.4,
       0.0752
      ],
      [
       1.44,
       0.0803
      ],
      [
       1.48,
       0.0854
      ],
      [
       1.52,
       0.0906
      ],
      [
       1.56,
       0.0958
      ],
      [
       1.6,
       0.1009
      ],
      [
       1.64,
       0.106
      ],
      [
       1.68,
       0.1101
      ],
      [
       1.72,
       0.1129
      ],
      [
       1.76,
       0.1151
      ],
      [
       1.8,
       0.1173
      ],
      [
       1.84,
       0.1198
      ],
      [
       1.88,
       0.1222
      ],
      [
       1.92,
       0.1246
      ],
      [
       1.96,
       0.127
      ],
      [
       2.0,
       0.1296
      ],
      [
       2.04,
       0.1324
      ],
      [
       2.08,
       0.1356
      ],
      [
       2.12,
       0.1388
      ],
      [
       2.16,
       0.1426
      ],
      [
       2.2,
       0.1476
      ],
      [
       2.24,
       0.1468
      ],
      [
       2.28,
       0.1462
      ],
      [
       2.32,
       0.1469
      ],
      [
       2.36,
       0.1474
      ],
      [
       2.4,
       0.1477
      ],
      [
       2.44,
       0.1479
      ],
      [
       2.48,
       0.1481
      ],
      [
       2.52,
       0.1481
      ],
      [
       2.56,
       0.1482
      ],
      [
       2.6,
       0.1483
      ],
      [
       2.64,
       0.1484
      ],
      [
       2.68,
       0.1484
      ],
      [
       2.72,
       0.1485
      ],
      [
       2.76,
       0.1485
      ],
      [
       2.8,
       0.1485
      ],
      [
       2.84,
       0.1485
      ],
      [
       2.88,
       0.1486
      ],
      [
       2.92,
       0.1486
      ],
      [
       2.96,
       0.1485
      ],
      [
       3.0,
       0.1485
      ],
      [
       3.04,
       0.1485
      ],
      [
       3.08,
       0.1484
      ],
      [
       3.12,
       0.1484
      ],
      [
       3.16,
       0.1484
      ],
      [
       3.2,
       0.1484
      ],
      [
       3.24,
       0.1484
      ],
      [
       3.28,
       0.1484
      ],
      [
       3.32,
       0.1484
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4031
      ],
      [
       4.0,
       0.4062
      ],
      [
       4.04,
       0.4088
      ],
      [
       4.08,
       0.4109
      ],
      [
       4.12,
       0.4124
      ],
      [
       4.16,
       0.4133
      ],
      [
       4.2,
       0.4136
      ],
      [
       4.24,
       0.4133
      ],
      [
       4.28,
       0.4119
      ],
      [
       4.32,
       0.4096
      ],
      [
       4.36,
       0.4206
      ],
      [
       4.4,
       0.4457
      ],
      [
       4.44,
       0.4782
      ],
      [
       4.48,
       0.5149
      ],
      [
       4.52,
       0.5545
      ],
      [
       4.56,
       0.5965
      ],
      [
       4.6,
       0.6407
      ],
      [
       4.64,
       0.6871
      ],
      [
       4.68,
       0.7354
      ],
      [
       4.72,
       0.7856
      ],
      [
       4.76,
       0.8376
      ],
      [
       4.8,
       0.8913
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.897
      ],
      [
       5.04,
       0.8947
      ],
      [
       5.08,
       0.8948
      ],
      [
       5.12,
       0.8971
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       1.0
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       1.0
      ],
      [
       5.6,
       1.0
      ],
      [
       5.64,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.76,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       1.0
      ],
      [
       5.96,
       1.0
      ],
      [
       6.0,
       1.0
      ],
      [
       6.04,
       1.0
      ],
      [
       6.08,
       1.0
      ],
      [
       6.12,
       1.0
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       1.0
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.82,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ae6be2f964e7f31016edf53610dc784ef5068a228cdd3d1765e655f5deecc397",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7296674274179802,
       "final_progress": 0.7296674274179802,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 341,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx24",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "goal_support",
       "label": "patterned tissue box"
      },
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "a0ab6775764e-aloha",
     "video": "media/sim-a0ab6775764e-aloha-s5.mp4",
     "poster": "media/sim-a0ab6775764e-aloha-s5.jpg",
     "trajectory": "trajectories/a0ab6775764e-aloha.json",
     "recipe": "recipes/a0ab6775764e-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0086
      ],
      [
       0.28,
       0.0199
      ],
      [
       0.42,
       0.0303
      ],
      [
       0.56,
       0.0405
      ],
      [
       0.7,
       0.0513
      ],
      [
       0.84,
       0.0628
      ],
      [
       0.98,
       0.0748
      ],
      [
       1.12,
       0.0885
      ],
      [
       1.26,
       0.1036
      ],
      [
       1.4,
       0.1174
      ],
      [
       1.54,
       0.1275
      ],
      [
       1.68,
       0.142
      ],
      [
       1.82,
       0.1442
      ],
      [
       1.96,
       0.1442
      ],
      [
       2.1,
       0.1439
      ],
      [
       2.24,
       0.1437
      ],
      [
       2.38,
       0.1435
      ],
      [
       2.52,
       0.1437
      ],
      [
       2.66,
       0.1438
      ],
      [
       2.8,
       0.1438
      ],
      [
       2.94,
       0.1438
      ],
      [
       3.08,
       0.1438
      ],
      [
       3.22,
       0.1438
      ],
      [
       3.36,
       0.4
      ],
      [
       3.5,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.78,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       4.06,
       0.4147
      ],
      [
       4.2,
       0.4249
      ],
      [
       4.34,
       0.4254
      ],
      [
       4.48,
       0.4209
      ],
      [
       4.62,
       0.4159
      ],
      [
       4.76,
       0.4141
      ],
      [
       4.9,
       0.4167
      ],
      [
       5.04,
       0.4204
      ],
      [
       5.18,
       0.4223
      ],
      [
       5.32,
       0.4221
      ],
      [
       5.46,
       0.4186
      ],
      [
       5.6,
       0.4209
      ],
      [
       5.74,
       0.444
      ],
      [
       5.88,
       0.4724
      ],
      [
       6.02,
       0.503
      ],
      [
       6.16,
       0.5344
      ],
      [
       6.3,
       0.571
      ],
      [
       6.44,
       0.6162
      ],
      [
       6.58,
       0.6697
      ],
      [
       6.72,
       0.7381
      ],
      [
       6.86,
       0.8224
      ],
      [
       7.0,
       0.9
      ],
      [
       7.14,
       0.9
      ],
      [
       7.28,
       0.9
      ],
      [
       7.42,
       0.8944
      ],
      [
       7.56,
       0.8451
      ],
      [
       7.7,
       0.8028
      ],
      [
       7.84,
       0.7667
      ],
      [
       7.98,
       0.7358
      ],
      [
       8.12,
       0.7109
      ],
      [
       8.26,
       0.6924
      ],
      [
       8.4,
       0.6798
      ],
      [
       8.54,
       0.672
      ],
      [
       8.68,
       0.6701
      ],
      [
       8.82,
       0.6649
      ],
      [
       8.96,
       0.6262
      ],
      [
       9.1,
       0.6035
      ],
      [
       9.24,
       0.6122
      ],
      [
       9.38,
       0.6129
      ],
      [
       9.52,
       0.6129
      ],
      [
       9.66,
       0.6129
      ],
      [
       9.8,
       0.6129
      ],
      [
       9.94,
       0.6129
      ],
      [
       10.08,
       0.6129
      ],
      [
       10.22,
       0.6129
      ],
      [
       10.36,
       0.6129
      ],
      [
       10.5,
       0.6129
      ],
      [
       10.64,
       0.6129
      ],
      [
       10.78,
       0.6129
      ],
      [
       10.92,
       0.6129
      ],
      [
       11.06,
       0.6129
      ],
      [
       11.2,
       0.6129
      ],
      [
       11.34,
       0.6129
      ],
      [
       11.48,
       0.6129
      ],
      [
       11.62,
       0.6129
      ],
      [
       11.76,
       0.6129
      ],
      [
       11.9,
       0.6129
      ],
      [
       12.04,
       0.6129
      ],
      [
       12.18,
       0.6129
      ],
      [
       12.32,
       0.6129
      ],
      [
       12.46,
       0.6129
      ],
      [
       12.6,
       0.6129
      ],
      [
       12.74,
       0.6129
      ],
      [
       12.88,
       0.6129
      ],
      [
       13.02,
       0.6129
      ],
      [
       13.16,
       0.6129
      ],
      [
       13.3,
       0.6129
      ],
      [
       13.44,
       0.6129
      ],
      [
       13.58,
       0.6129
      ],
      [
       13.72,
       0.6129
      ],
      [
       13.86,
       0.6129
      ],
      [
       14.0,
       0.6129
      ],
      [
       14.14,
       0.6129
      ],
      [
       14.28,
       0.6129
      ],
      [
       14.42,
       0.6129
      ],
      [
       14.56,
       0.6129
      ],
      [
       14.7,
       0.6129
      ],
      [
       14.84,
       0.6129
      ],
      [
       14.98,
       0.6129
      ],
      [
       15.12,
       0.6129
      ],
      [
       15.26,
       0.6129
      ],
      [
       15.4,
       0.6129
      ],
      [
       15.54,
       0.6129
      ],
      [
       15.68,
       0.6129
      ],
      [
       15.82,
       0.6129
      ],
      [
       15.96,
       0.6129
      ],
      [
       16.1,
       0.6129
      ],
      [
       16.24,
       0.6129
      ],
      [
       16.38,
       0.6129
      ],
      [
       16.52,
       0.6129
      ],
      [
       16.66,
       0.6129
      ],
      [
       16.8,
       0.6129
      ],
      [
       16.94,
       0.6129
      ],
      [
       17.08,
       0.6129
      ],
      [
       17.22,
       0.6129
      ],
      [
       17.36,
       0.6129
      ],
      [
       17.5,
       0.6129
      ],
      [
       17.64,
       0.6129
      ],
      [
       17.78,
       0.6129
      ],
      [
       17.92,
       0.6129
      ],
      [
       18.06,
       0.6129
      ],
      [
       18.2,
       0.6129
      ],
      [
       18.34,
       0.6129
      ],
      [
       18.48,
       0.6129
      ],
      [
       18.62,
       0.6129
      ],
      [
       18.76,
       0.6129
      ],
      [
       18.9,
       0.6129
      ],
      [
       19.04,
       0.6129
      ],
      [
       19.18,
       0.6129
      ],
      [
       19.32,
       0.6129
      ],
      [
       19.46,
       0.6129
      ],
      [
       19.6,
       0.6129
      ],
      [
       19.74,
       0.6129
      ],
      [
       19.88,
       0.6129
      ],
      [
       20.02,
       0.6129
      ],
      [
       20.16,
       0.6129
      ],
      [
       20.3,
       0.6129
      ],
      [
       20.44,
       0.6129
      ],
      [
       20.58,
       0.6129
      ],
      [
       20.72,
       0.6129
      ],
      [
       20.86,
       0.6129
      ],
      [
       21.0,
       0.6129
      ],
      [
       21.14,
       0.6129
      ],
      [
       21.28,
       0.6129
      ],
      [
       21.42,
       0.6129
      ],
      [
       21.56,
       0.6129
      ],
      [
       21.7,
       0.6129
      ],
      [
       21.84,
       0.6129
      ],
      [
       21.98,
       0.6129
      ],
      [
       22.12,
       0.6129
      ],
      [
       22.26,
       0.6129
      ],
      [
       22.4,
       0.6129
      ],
      [
       22.54,
       0.6129
      ],
      [
       22.68,
       0.6129
      ],
      [
       22.82,
       0.6129
      ],
      [
       22.96,
       0.6129
      ],
      [
       23.1,
       0.6129
      ],
      [
       23.24,
       0.6129
      ],
      [
       23.38,
       0.6129
      ],
      [
       23.52,
       0.6129
      ],
      [
       23.66,
       0.6129
      ],
      [
       23.8,
       0.6129
      ],
      [
       23.94,
       0.6129
      ],
      [
       24.0,
       0.6129
      ]
     ],
     "total_reward": 0.6129,
     "initial_progress": 0.0,
     "final_progress": 0.6129,
     "physics_sha256": "72bac9909924afa0f9d82a6a45675805440007767dc1dd6be35d4fe8967b0fa3",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0010914985904104946,
       "final_progress": 0.0010914985904104946,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.06714638297540862,
       "final_progress": 0.06714638297540862,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.8485421782078292,
       "final_progress": 0.8485421782078292,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.845213665921194,
       "final_progress": 0.845213665921194
      },
      {
       "layout_seed": 2,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 3,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 4,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6129180549557913,
       "final_progress": 0.6129180549557913
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx24",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "goal_support",
       "label": "patterned tissue box"
      },
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "9189a2978129d3d61dc97a700dcf37bd73c853bced959d9895852d0c90076866",
   "recording_id": 4971,
   "task_number": 3,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "glass dining tabletop",
   "human_action": false,
   "description": "Slide the sponge across the glass dining tabletop among the patterned tissue box and the orange basket onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the sponge across the glass dining tabletop among the patterned tissue box and the orange basket onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 4971,
    "contributor_id": 6,
    "video": "media/source-4971-ea76f082365d.mp4",
    "poster": "media/source-4971.jpg",
    "source_sha256": null,
    "interval_s": [
     2.733333,
     15.533333
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4971,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4971_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 15.733333,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "54f8a07d6da7494def007f2105567e70b143ebdce1925666b1c4a1ffa1c7bcd7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.73\u201315.53 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
      "duration_s": 12.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 6,
    "flat_decor": 2,
    "observed": 6,
    "added_context": 2,
    "recording_observed": 6,
    "recording_added": 1,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "9189a2978129-panda",
     "video": "media/sim-9189a2978129-panda-s0.mp4",
     "poster": "media/sim-9189a2978129-panda-s0.jpg",
     "trajectory": "trajectories/9189a2978129-panda.json",
     "recipe": "recipes/9189a2978129-panda.json",
     "seed": 0,
     "steps": 473,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0008
      ],
      [
       0.08,
       0.0028
      ],
      [
       0.12,
       0.0058
      ],
      [
       0.16,
       0.0097
      ],
      [
       0.2,
       0.0143
      ],
      [
       0.24,
       0.0197
      ],
      [
       0.28,
       0.026
      ],
      [
       0.32,
       0.0332
      ],
      [
       0.36,
       0.0411
      ],
      [
       0.4,
       0.0495
      ],
      [
       0.44,
       0.0581
      ],
      [
       0.48,
       0.0666
      ],
      [
       0.52,
       0.0749
      ],
      [
       0.56,
       0.0829
      ],
      [
       0.6,
       0.0903
      ],
      [
       0.64,
       0.0973
      ],
      [
       0.68,
       0.104
      ],
      [
       0.72,
       0.1087
      ],
      [
       0.76,
       0.1125
      ],
      [
       0.8,
       0.1161
      ],
      [
       0.84,
       0.1197
      ],
      [
       0.88,
       0.1234
      ],
      [
       0.92,
       0.1273
      ],
      [
       0.96,
       0.1313
      ],
      [
       1.0,
       0.1349
      ],
      [
       1.04,
       0.1356
      ],
      [
       1.08,
       0.1359
      ],
      [
       1.12,
       0.1363
      ],
      [
       1.16,
       0.1366
      ],
      [
       1.2,
       0.1372
      ],
      [
       1.24,
       0.1378
      ],
      [
       1.28,
       0.1381
      ],
      [
       1.32,
       0.1381
      ],
      [
       1.36,
       0.1379
      ],
      [
       1.4,
       0.1375
      ],
      [
       1.44,
       0.1371
      ],
      [
       1.48,
       0.1369
      ],
      [
       1.52,
       0.137
      ],
      [
       1.56,
       0.1373
      ],
      [
       1.6,
       0.1383
      ],
      [
       1.64,
       0.1391
      ],
      [
       1.68,
       0.1395
      ],
      [
       1.72,
       0.1399
      ],
      [
       1.76,
       0.1406
      ],
      [
       1.8,
       0.1416
      ],
      [
       1.84,
       0.1428
      ],
      [
       1.88,
       0.1445
      ],
      [
       1.92,
       0.1463
      ],
      [
       1.96,
       0.1525
      ],
      [
       2.0,
       0.1582
      ],
      [
       2.04,
       0.1608
      ],
      [
       2.08,
       0.1629
      ],
      [
       2.12,
       0.1659
      ],
      [
       2.16,
       0.1692
      ],
      [
       2.2,
       0.1722
      ],
      [
       2.24,
       0.1752
      ],
      [
       2.28,
       0.1781
      ],
      [
       2.32,
       0.181
      ],
      [
       2.36,
       0.1843
      ],
      [
       2.4,
       0.1876
      ],
      [
       2.44,
       0.1947
      ],
      [
       2.48,
       0.1984
      ],
      [
       2.52,
       0.2022
      ],
      [
       2.56,
       0.2057
      ],
      [
       2.6,
       0.2098
      ],
      [
       2.64,
       0.2146
      ],
      [
       2.68,
       0.2187
      ],
      [
       2.72,
       0.2232
      ],
      [
       2.76,
       0.2281
      ],
      [
       2.8,
       0.2331
      ],
      [
       2.84,
       0.2385
      ],
      [
       2.88,
       0.2441
      ],
      [
       2.92,
       0.2492
      ],
      [
       2.96,
       0.2553
      ],
      [
       3.0,
       0.2604
      ],
      [
       3.04,
       0.2661
      ],
      [
       3.08,
       0.2711
      ],
      [
       3.12,
       0.2763
      ],
      [
       3.16,
       0.2814
      ],
      [
       3.2,
       0.2865
      ],
      [
       3.24,
       0.2919
      ],
      [
       3.28,
       0.2975
      ],
      [
       3.32,
       0.305
      ],
      [
       3.36,
       0.3107
      ],
      [
       3.4,
       0.3162
      ],
      [
       3.44,
       0.3217
      ],
      [
       3.48,
       0.3283
      ],
      [
       3.52,
       0.335
      ],
      [
       3.56,
       0.3413
      ],
      [
       3.6,
       0.3479
      ],
      [
       3.64,
       0.3545
      ],
      [
       3.68,
       0.3613
      ],
      [
       3.72,
       0.3677
      ],
      [
       3.76,
       0.3734
      ],
      [
       3.8,
       0.3786
      ],
      [
       3.84,
       0.3839
      ],
      [
       3.88,
       0.3912
      ],
      [
       3.92,
       0.3976
      ],
      [
       3.96,
       0.4033
      ],
      [
       4.0,
       0.4096
      ],
      [
       4.04,
       0.415
      ],
      [
       4.08,
       0.4201
      ],
      [
       4.12,
       0.4258
      ],
      [
       4.16,
       0.4313
      ],
      [
       4.2,
       0.4363
      ],
      [
       4.24,
       0.442
      ],
      [
       4.28,
       0.4481
      ],
      [
       4.32,
       0.4527
      ],
      [
       4.36,
       0.4576
      ],
      [
       4.4,
       0.462
      ],
      [
       4.44,
       0.4659
      ],
      [
       4.48,
       0.4698
      ],
      [
       4.52,
       0.474
      ],
      [
       4.56,
       0.4783
      ],
      [
       4.6,
       0.4825
      ],
      [
       4.64,
       0.4866
      ],
      [
       4.68,
       0.4906
      ],
      [
       4.72,
       0.4954
      ],
      [
       4.76,
       0.4998
      ],
      [
       4.8,
       0.504
      ],
      [
       4.84,
       0.5078
      ],
      [
       4.88,
       0.5122
      ],
      [
       4.92,
       0.5167
      ],
      [
       4.96,
       0.521
      ],
      [
       5.0,
       0.5261
      ],
      [
       5.04,
       0.5303
      ],
      [
       5.08,
       0.5343
      ],
      [
       5.12,
       0.5397
      ],
      [
       5.16,
       0.5443
      ],
      [
       5.2,
       0.5487
      ],
      [
       5.24,
       0.5528
      ],
      [
       5.28,
       0.5569
      ],
      [
       5.32,
       0.5615
      ],
      [
       5.36,
       0.5662
      ],
      [
       5.4,
       0.5699
      ],
      [
       5.44,
       0.5738
      ],
      [
       5.48,
       0.5782
      ],
      [
       5.52,
       0.5825
      ],
      [
       5.56,
       0.5866
      ],
      [
       5.6,
       0.5902
      ],
      [
       5.64,
       0.594
      ],
      [
       5.68,
       0.5978
      ],
      [
       5.72,
       0.6012
      ],
      [
       5.76,
       0.6067
      ],
      [
       5.8,
       0.6108
      ],
      [
       5.84,
       0.6137
      ],
      [
       5.88,
       0.6172
      ],
      [
       5.92,
       0.6202
      ],
      [
       5.96,
       0.6226
      ],
      [
       6.0,
       0.6259
      ],
      [
       6.04,
       0.6295
      ],
      [
       6.08,
       0.6335
      ],
      [
       6.12,
       0.637
      ],
      [
       6.16,
       0.6406
      ],
      [
       6.2,
       0.6439
      ],
      [
       6.24,
       0.6484
      ],
      [
       6.28,
       0.6526
      ],
      [
       6.32,
       0.6571
      ],
      [
       6.36,
       0.6619
      ],
      [
       6.4,
       0.6668
      ],
      [
       6.44,
       0.6734
      ],
      [
       6.48,
       0.6803
      ],
      [
       6.52,
       0.6849
      ],
      [
       6.56,
       0.6892
      ],
      [
       6.6,
       0.6943
      ],
      [
       6.64,
       0.6984
      ],
      [
       6.68,
       0.7023
      ],
      [
       6.72,
       0.7039
      ],
      [
       6.76,
       0.707
      ],
      [
       6.8,
       0.7097
      ],
      [
       6.84,
       0.7133
      ],
      [
       6.88,
       0.717
      ],
      [
       6.92,
       0.7194
      ],
      [
       6.96,
       0.7228
      ],
      [
       7.0,
       0.725
      ],
      [
       7.04,
       0.7276
      ],
      [
       7.08,
       0.7304
      ],
      [
       7.12,
       0.7333
      ],
      [
       7.16,
       0.7364
      ],
      [
       7.2,
       0.7408
      ],
      [
       7.24,
       0.7441
      ],
      [
       7.28,
       0.7472
      ],
      [
       7.32,
       0.7515
      ],
      [
       7.36,
       0.7539
      ],
      [
       7.4,
       0.7582
      ],
      [
       7.44,
       0.7611
      ],
      [
       7.48,
       0.7643
      ],
      [
       7.52,
       0.7693
      ],
      [
       7.56,
       0.7725
      ],
      [
       7.6,
       0.776
      ],
      [
       7.64,
       0.7804
      ],
      [
       7.68,
       0.7833
      ],
      [
       7.72,
       0.7872
      ],
      [
       7.76,
       0.7902
      ],
      [
       7.8,
       0.7931
      ],
      [
       7.84,
       0.7971
      ],
      [
       7.88,
       0.8004
      ],
      [
       7.92,
       0.8034
      ],
      [
       7.96,
       0.8081
      ],
      [
       8.0,
       0.8146
      ],
      [
       8.04,
       0.8191
      ],
      [
       8.08,
       0.8223
      ],
      [
       8.12,
       0.8251
      ],
      [
       8.16,
       0.8284
      ],
      [
       8.2,
       0.8317
      ],
      [
       8.24,
       0.8355
      ],
      [
       8.28,
       0.8422
      ],
      [
       8.32,
       0.846
      ],
      [
       8.36,
       0.8495
      ],
      [
       8.4,
       0.8546
      ],
      [
       8.44,
       0.86
      ],
      [
       8.48,
       0.8641
      ],
      [
       8.52,
       0.8672
      ],
      [
       8.56,
       0.8713
      ],
      [
       8.6,
       0.8763
      ],
      [
       8.64,
       0.8822
      ],
      [
       8.68,
       0.8874
      ],
      [
       8.72,
       0.8915
      ],
      [
       8.76,
       0.8952
      ],
      [
       8.8,
       0.9
      ],
      [
       8.84,
       0.906
      ],
      [
       8.88,
       0.9141
      ],
      [
       8.92,
       0.9234
      ],
      [
       8.96,
       0.9342
      ],
      [
       9.0,
       0.9407
      ],
      [
       9.04,
       0.9462
      ],
      [
       9.08,
       0.9529
      ],
      [
       9.12,
       0.9595
      ],
      [
       9.16,
       0.9657
      ],
      [
       9.2,
       0.9712
      ],
      [
       9.24,
       0.9762
      ],
      [
       9.28,
       0.984
      ],
      [
       9.32,
       0.9928
      ],
      [
       9.36,
       0.9946
      ],
      [
       9.4,
       0.9965
      ],
      [
       9.44,
       0.9992
      ],
      [
       9.46,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "cc4b69e1fd96eab7ca8ebf5767130376bb5ea77b5d6ff69aa28998d75159c5ac",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.013208761474790826,
       "final_progress": 0.013208761474790826,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 473,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "sponge_ctx24",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned tissue box"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "9189a2978129-aloha",
     "video": "media/sim-9189a2978129-aloha-s0.mp4",
     "poster": "media/sim-9189a2978129-aloha-s0.jpg",
     "trajectory": "trajectories/9189a2978129-aloha.json",
     "recipe": "recipes/9189a2978129-aloha.json",
     "seed": 0,
     "steps": 866,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0012
      ],
      [
       0.2,
       0.0026
      ],
      [
       0.3,
       0.0042
      ],
      [
       0.4,
       0.0061
      ],
      [
       0.5,
       0.0092
      ],
      [
       0.6,
       0.0139
      ],
      [
       0.7,
       0.0202
      ],
      [
       0.8,
       0.0283
      ],
      [
       0.9,
       0.0381
      ],
      [
       1.0,
       0.0504
      ],
      [
       1.1,
       0.0646
      ],
      [
       1.2,
       0.0776
      ],
      [
       1.3,
       0.0918
      ],
      [
       1.4,
       0.1043
      ],
      [
       1.5,
       0.1123
      ],
      [
       1.6,
       0.1126
      ],
      [
       1.7,
       0.1116
      ],
      [
       1.8,
       0.1113
      ],
      [
       1.9,
       0.1113
      ],
      [
       2.0,
       0.1114
      ],
      [
       2.1,
       0.1122
      ],
      [
       2.2,
       0.1137
      ],
      [
       2.3,
       0.1158
      ],
      [
       2.4,
       0.1184
      ],
      [
       2.5,
       0.1231
      ],
      [
       2.6,
       0.128
      ],
      [
       2.7,
       0.1336
      ],
      [
       2.8,
       0.1411
      ],
      [
       2.9,
       0.1674
      ],
      [
       3.0,
       0.2365
      ],
      [
       3.1,
       0.3099
      ],
      [
       3.2,
       0.3735
      ],
      [
       3.3,
       0.4043
      ],
      [
       3.4,
       0.4152
      ],
      [
       3.5,
       0.4151
      ],
      [
       3.6,
       0.4212
      ],
      [
       3.7,
       0.4222
      ],
      [
       3.8,
       0.423
      ],
      [
       3.9,
       0.4234
      ],
      [
       4.0,
       0.423
      ],
      [
       4.1,
       0.4242
      ],
      [
       4.2,
       0.4177
      ],
      [
       4.3,
       0.4364
      ],
      [
       4.4,
       0.4564
      ],
      [
       4.5,
       0.4713
      ],
      [
       4.6,
       0.482
      ],
      [
       4.7,
       0.4978
      ],
      [
       4.8,
       0.5152
      ],
      [
       4.9,
       0.5427
      ],
      [
       5.0,
       0.5673
      ],
      [
       5.1,
       0.5729
      ],
      [
       5.2,
       0.5761
      ],
      [
       5.3,
       0.5776
      ],
      [
       5.4,
       0.5805
      ],
      [
       5.5,
       0.5833
      ],
      [
       5.6,
       0.5868
      ],
      [
       5.7,
       0.5894
      ],
      [
       5.8,
       0.5911
      ],
      [
       5.9,
       0.5963
      ],
      [
       6.0,
       0.621
      ],
      [
       6.1,
       0.6363
      ],
      [
       6.2,
       0.6394
      ],
      [
       6.3,
       0.6392
      ],
      [
       6.4,
       0.6406
      ],
      [
       6.5,
       0.6411
      ],
      [
       6.6,
       0.648
      ],
      [
       6.7,
       0.6494
      ],
      [
       6.8,
       0.6475
      ],
      [
       6.9,
       0.6467
      ],
      [
       7.0,
       0.6467
      ],
      [
       7.1,
       0.6467
      ],
      [
       7.2,
       0.6467
      ],
      [
       7.3,
       0.6467
      ],
      [
       7.4,
       0.6467
      ],
      [
       7.5,
       0.6467
      ],
      [
       7.6,
       0.6467
      ],
      [
       7.7,
       0.6467
      ],
      [
       7.8,
       0.6467
      ],
      [
       7.9,
       0.6467
      ],
      [
       8.0,
       0.6467
      ],
      [
       8.1,
       0.6467
      ],
      [
       8.2,
       0.6467
      ],
      [
       8.3,
       0.6467
      ],
      [
       8.4,
       0.6467
      ],
      [
       8.5,
       0.6467
      ],
      [
       8.6,
       0.6467
      ],
      [
       8.7,
       0.6467
      ],
      [
       8.8,
       0.6467
      ],
      [
       8.9,
       0.6467
      ],
      [
       9.0,
       0.6467
      ],
      [
       9.1,
       0.6467
      ],
      [
       9.2,
       0.6467
      ],
      [
       9.3,
       0.6467
      ],
      [
       9.4,
       0.6467
      ],
      [
       9.5,
       0.6467
      ],
      [
       9.6,
       0.6467
      ],
      [
       9.7,
       0.6467
      ],
      [
       9.8,
       0.6467
      ],
      [
       9.9,
       0.6467
      ],
      [
       10.0,
       0.6467
      ],
      [
       10.1,
       0.6467
      ],
      [
       10.2,
       0.6467
      ],
      [
       10.3,
       0.6467
      ],
      [
       10.4,
       0.6467
      ],
      [
       10.5,
       0.6467
      ],
      [
       10.6,
       0.6467
      ],
      [
       10.7,
       0.6467
      ],
      [
       10.8,
       0.6467
      ],
      [
       10.9,
       0.6467
      ],
      [
       11.0,
       0.7092
      ],
      [
       11.1,
       0.7626
      ],
      [
       11.2,
       0.7689
      ],
      [
       11.3,
       0.7697
      ],
      [
       11.4,
       0.7697
      ],
      [
       11.5,
       0.7697
      ],
      [
       11.6,
       0.7697
      ],
      [
       11.7,
       0.7697
      ],
      [
       11.8,
       0.7697
      ],
      [
       11.9,
       0.7697
      ],
      [
       12.0,
       0.7697
      ],
      [
       12.1,
       0.7697
      ],
      [
       12.2,
       0.7697
      ],
      [
       12.3,
       0.7697
      ],
      [
       12.4,
       0.7697
      ],
      [
       12.5,
       0.7697
      ],
      [
       12.6,
       0.7697
      ],
      [
       12.7,
       0.7697
      ],
      [
       12.8,
       0.7697
      ],
      [
       12.9,
       0.7697
      ],
      [
       13.0,
       0.7697
      ],
      [
       13.1,
       0.7697
      ],
      [
       13.2,
       0.7697
      ],
      [
       13.3,
       0.7697
      ],
      [
       13.4,
       0.7697
      ],
      [
       13.5,
       0.7697
      ],
      [
       13.6,
       0.7697
      ],
      [
       13.7,
       0.7697
      ],
      [
       13.8,
       0.7697
      ],
      [
       13.9,
       0.7697
      ],
      [
       14.0,
       0.7697
      ],
      [
       14.1,
       0.7697
      ],
      [
       14.2,
       0.7697
      ],
      [
       14.3,
       0.7697
      ],
      [
       14.4,
       0.7697
      ],
      [
       14.5,
       0.7697
      ],
      [
       14.6,
       0.7697
      ],
      [
       14.7,
       0.7697
      ],
      [
       14.8,
       0.7697
      ],
      [
       14.9,
       0.7697
      ],
      [
       15.0,
       0.7697
      ],
      [
       15.1,
       0.7697
      ],
      [
       15.2,
       0.7697
      ],
      [
       15.3,
       0.7697
      ],
      [
       15.4,
       0.7697
      ],
      [
       15.5,
       0.7697
      ],
      [
       15.6,
       0.7697
      ],
      [
       15.7,
       0.7697
      ],
      [
       15.8,
       0.7697
      ],
      [
       15.9,
       0.7697
      ],
      [
       16.0,
       0.7697
      ],
      [
       16.1,
       0.7697
      ],
      [
       16.2,
       0.7697
      ],
      [
       16.3,
       0.7697
      ],
      [
       16.4,
       0.7697
      ],
      [
       16.5,
       0.7697
      ],
      [
       16.6,
       0.7697
      ],
      [
       16.7,
       0.7697
      ],
      [
       16.8,
       0.7697
      ],
      [
       16.9,
       0.7697
      ],
      [
       17.0,
       0.7875
      ],
      [
       17.1,
       0.8519
      ],
      [
       17.2,
       0.9219
      ],
      [
       17.3,
       0.992
      ],
      [
       17.32,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6fe71bdee2e3ebe8f40a63a397ef388161f5fd55b94520cd4cc26848237eda75",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011220647990773768,
       "final_progress": 0.0011220647990773768,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.08861238503347113,
       "final_progress": 0.028468455659563394,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.014767770808007745,
       "final_progress": 0.014767770808007745,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 866,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "sponge_ctx24",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "clutter",
       "label": "orange basket"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned tissue box"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "960ed9587c2ac14fe36a1174ebe421481b9f6b90cd37695a272a3852ed3c0bb5",
   "recording_id": 4971,
   "task_number": 4,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "glass dining tabletop",
   "human_action": false,
   "description": "Grasp the foam block from among the clear glass mug and the green small bottle, lift it clear and set it down on the orange basket on the glass dining tabletop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the foam block from among the clear glass mug and the green small bottle, lift it clear and set it down on the orange basket on the glass dining tabletop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 4971,
    "contributor_id": 6,
    "video": "media/source-4971-ea76f082365d.mp4",
    "poster": "media/source-4971.jpg",
    "source_sha256": null,
    "interval_s": [
     2.733333,
     15.533333
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4971,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4971_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 15.733333,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "54f8a07d6da7494def007f2105567e70b143ebdce1925666b1c4a1ffa1c7bcd7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.73\u201315.53 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
      "duration_s": 12.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "ea76f082365dd22b2c84d5100d1cb2e0756a3d6ca7403ed49c18d0b5c4dee99a",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 6,
    "flat_decor": 2,
    "observed": 6,
    "added_context": 2,
    "recording_observed": 6,
    "recording_added": 1,
    "surface": "glass dining tabletop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "960ed9587c2a-panda",
     "video": "media/sim-960ed9587c2a-panda-s2.mp4",
     "poster": "media/sim-960ed9587c2a-panda-s2.jpg",
     "trajectory": "trajectories/960ed9587c2a-panda.json",
     "recipe": "recipes/960ed9587c2a-panda.json",
     "seed": 2,
     "steps": 377,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0017
      ],
      [
       0.6,
       0.0047
      ],
      [
       0.64,
       0.0085
      ],
      [
       0.68,
       0.0129
      ],
      [
       0.72,
       0.0179
      ],
      [
       0.76,
       0.0235
      ],
      [
       0.8,
       0.0296
      ],
      [
       0.84,
       0.0362
      ],
      [
       0.88,
       0.0432
      ],
      [
       0.92,
       0.0507
      ],
      [
       0.96,
       0.0587
      ],
      [
       1.0,
       0.0673
      ],
      [
       1.04,
       0.0762
      ],
      [
       1.08,
       0.085
      ],
      [
       1.12,
       0.0929
      ],
      [
       1.16,
       0.0998
      ],
      [
       1.2,
       0.1053
      ],
      [
       1.24,
       0.1093
      ],
      [
       1.28,
       0.1113
      ],
      [
       1.32,
       0.1116
      ],
      [
       1.36,
       0.1125
      ],
      [
       1.4,
       0.1132
      ],
      [
       1.44,
       0.1129
      ],
      [
       1.48,
       0.1121
      ],
      [
       1.52,
       0.1114
      ],
      [
       1.56,
       0.1106
      ],
      [
       1.6,
       0.1097
      ],
      [
       1.64,
       0.1087
      ],
      [
       1.68,
       0.1076
      ],
      [
       1.72,
       0.1066
      ],
      [
       1.76,
       0.1053
      ],
      [
       1.8,
       0.1035
      ],
      [
       1.84,
       0.1031
      ],
      [
       1.88,
       0.1038
      ],
      [
       1.92,
       0.1053
      ],
      [
       1.96,
       0.1084
      ],
      [
       2.0,
       0.1124
      ],
      [
       2.04,
       0.1166
      ],
      [
       2.08,
       0.1213
      ],
      [
       2.12,
       0.1266
      ],
      [
       2.16,
       0.1326
      ],
      [
       2.2,
       0.1391
      ],
      [
       2.24,
       0.1453
      ],
      [
       2.28,
       0.1449
      ],
      [
       2.32,
       0.1438
      ],
      [
       2.36,
       0.1442
      ],
      [
       2.4,
       0.1452
      ],
      [
       2.44,
       0.1458
      ],
      [
       2.48,
       0.1459
      ],
      [
       2.52,
       0.1458
      ],
      [
       2.56,
       0.1458
      ],
      [
       2.6,
       0.1458
      ],
      [
       2.64,
       0.1458
      ],
      [
       2.68,
       0.1458
      ],
      [
       2.72,
       0.1459
      ],
      [
       2.76,
       0.1459
      ],
      [
       2.8,
       0.1458
      ],
      [
       2.84,
       0.1459
      ],
      [
       2.88,
       0.146
      ],
      [
       2.92,
       0.1461
      ],
      [
       2.96,
       0.1462
      ],
      [
       3.0,
       0.1462
      ],
      [
       3.04,
       0.1463
      ],
      [
       3.08,
       0.1464
      ],
      [
       3.12,
       0.1465
      ],
      [
       3.16,
       0.1465
      ],
      [
       3.2,
       0.1466
      ],
      [
       3.24,
       0.1467
      ],
      [
       3.28,
       0.5103
      ],
      [
       3.32,
       0.5138
      ],
      [
       3.36,
       0.5159
      ],
      [
       3.4,
       0.5165
      ],
      [
       3.44,
       0.5154
      ],
      [
       3.48,
       0.5127
      ],
      [
       3.52,
       0.5081
      ],
      [
       3.56,
       0.5025
      ],
      [
       3.6,
       0.4967
      ],
      [
       3.64,
       0.4909
      ],
      [
       3.68,
       0.4851
      ],
      [
       3.72,
       0.479
      ],
      [
       3.76,
       0.4723
      ],
      [
       3.8,
       0.4655
      ],
      [
       3.84,
       0.4583
      ],
      [
       3.88,
       0.4508
      ],
      [
       3.92,
       0.4431
      ],
      [
       3.96,
       0.4352
      ],
      [
       4.0,
       0.4269
      ],
      [
       4.04,
       0.4166
      ],
      [
       4.08,
       0.4095
      ],
      [
       4.12,
       0.4141
      ],
      [
       4.16,
       0.4324
      ],
      [
       4.2,
       0.4605
      ],
      [
       4.24,
       0.4905
      ],
      [
       4.28,
       0.5209
      ],
      [
       4.32,
       0.5533
      ],
      [
       4.36,
       0.588
      ],
      [
       4.4,
       0.624
      ],
      [
       4.44,
       0.6606
      ],
      [
       4.48,
       0.6972
      ],
      [
       4.52,
       0.7333
      ],
      [
       4.56,
       0.768
      ],
      [
       4.6,
       0.8004
      ],
      [
       4.64,
       0.8297
      ],
      [
       4.68,
       0.8552
      ],
      [
       4.72,
       0.8766
      ],
      [
       4.76,
       0.8942
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.54,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "fe9e0ee3ea3372edbdef19de4d4956d3b07c191460ae339e94f212b1726e7014",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.5,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.871365851584662,
       "final_progress": 0.871365851584662,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8534755009305287,
       "final_progress": 0.8534755009305287
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8569986861942555,
       "final_progress": 0.8569986861942555
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 377,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx24",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "goal_support",
       "label": "orange basket"
      },
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned tissue box"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "960ed9587c2a-aloha",
     "video": "media/sim-960ed9587c2a-aloha-s5.mp4",
     "poster": "media/sim-960ed9587c2a-aloha-s5.jpg",
     "trajectory": "trajectories/960ed9587c2a-aloha.json",
     "recipe": "recipes/960ed9587c2a-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0078
      ],
      [
       0.28,
       0.0184
      ],
      [
       0.42,
       0.0305
      ],
      [
       0.56,
       0.0432
      ],
      [
       0.7,
       0.0556
      ],
      [
       0.84,
       0.0691
      ],
      [
       0.98,
       0.0797
      ],
      [
       1.12,
       0.0841
      ],
      [
       1.26,
       0.0865
      ],
      [
       1.4,
       0.0927
      ],
      [
       1.54,
       0.1009
      ],
      [
       1.68,
       0.1092
      ],
      [
       1.82,
       0.116
      ],
      [
       1.96,
       0.1207
      ],
      [
       2.1,
       0.1204
      ],
      [
       2.24,
       0.1203
      ],
      [
       2.38,
       0.1203
      ],
      [
       2.52,
       0.1203
      ],
      [
       2.66,
       0.1202
      ],
      [
       2.8,
       0.1199
      ],
      [
       2.94,
       0.1201
      ],
      [
       3.08,
       0.1216
      ],
      [
       3.22,
       0.1219
      ],
      [
       3.36,
       0.1214
      ],
      [
       3.5,
       0.1277
      ],
      [
       3.64,
       0.132
      ],
      [
       3.78,
       0.1302
      ],
      [
       3.92,
       0.1292
      ],
      [
       4.06,
       0.1287
      ],
      [
       4.2,
       0.1285
      ],
      [
       4.34,
       0.1276
      ],
      [
       4.48,
       0.1272
      ],
      [
       4.62,
       0.1262
      ],
      [
       4.76,
       0.1255
      ],
      [
       4.9,
       0.1278
      ],
      [
       5.04,
       0.141
      ],
      [
       5.18,
       0.1351
      ],
      [
       5.32,
       0.135
      ],
      [
       5.46,
       0.135
      ],
      [
       5.6,
       0.135
      ],
      [
       5.74,
       0.1349
      ],
      [
       5.88,
       0.1349
      ],
      [
       6.02,
       0.1349
      ],
      [
       6.16,
       0.1348
      ],
      [
       6.3,
       0.1347
      ],
      [
       6.44,
       0.1347
      ],
      [
       6.58,
       0.1347
      ],
      [
       6.72,
       0.1347
      ],
      [
       6.86,
       0.1347
      ],
      [
       7.0,
       0.1347
      ],
      [
       7.14,
       0.1347
      ],
      [
       7.28,
       0.1348
      ],
      [
       7.42,
       0.1348
      ],
      [
       7.56,
       0.1348
      ],
      [
       7.7,
       0.1347
      ],
      [
       7.84,
       0.4
      ],
      [
       7.98,
       0.4
      ],
      [
       8.12,
       0.4
      ],
      [
       8.26,
       0.4
      ],
      [
       8.4,
       0.4299
      ],
      [
       8.54,
       0.4601
      ],
      [
       8.68,
       0.477
      ],
      [
       8.82,
       0.4823
      ],
      [
       8.96,
       0.4785
      ],
      [
       9.1,
       0.474
      ],
      [
       9.24,
       0.4728
      ],
      [
       9.38,
       0.4648
      ],
      [
       9.52,
       0.4596
      ],
      [
       9.66,
       0.4663
      ],
      [
       9.8,
       0.5101
      ],
      [
       9.94,
       0.5615
      ],
      [
       10.08,
       0.6141
      ],
      [
       10.22,
       0.659
      ],
      [
       10.36,
       0.6872
      ],
      [
       10.5,
       0.6991
      ],
      [
       10.64,
       0.7038
      ],
      [
       10.78,
       0.7114
      ],
      [
       10.92,
       0.7288
      ],
      [
       11.06,
       0.763
      ],
      [
       11.2,
       0.8163
      ],
      [
       11.34,
       0.8887
      ],
      [
       11.48,
       0.9
      ],
      [
       11.62,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.9,
       0.9
      ],
      [
       12.04,
       0.8878
      ],
      [
       12.18,
       0.8596
      ],
      [
       12.32,
       0.8314
      ],
      [
       12.46,
       0.8063
      ],
      [
       12.6,
       0.792
      ],
      [
       12.74,
       0.7874
      ],
      [
       12.88,
       0.7845
      ],
      [
       13.02,
       0.7823
      ],
      [
       13.16,
       0.7811
      ],
      [
       13.3,
       0.7809
      ],
      [
       13.44,
       0.7811
      ],
      [
       13.58,
       0.7815
      ],
      [
       13.72,
       0.7821
      ],
      [
       13.86,
       0.7829
      ],
      [
       14.0,
       0.784
      ],
      [
       14.14,
       0.788
      ],
      [
       14.28,
       0.807
      ],
      [
       14.42,
       0.8102
      ],
      [
       14.56,
       0.8156
      ],
      [
       14.7,
       0.8245
      ],
      [
       14.84,
       0.8383
      ],
      [
       14.98,
       0.852
      ],
      [
       15.12,
       0.8695
      ],
      [
       15.26,
       0.8856
      ],
      [
       15.4,
       0.8764
      ],
      [
       15.54,
       0.8517
      ],
      [
       15.68,
       0.85
      ],
      [
       15.82,
       0.8496
      ],
      [
       15.96,
       0.8489
      ],
      [
       16.1,
       0.8488
      ],
      [
       16.24,
       0.8491
      ],
      [
       16.38,
       0.8488
      ],
      [
       16.52,
       0.8489
      ],
      [
       16.66,
       0.8483
      ],
      [
       16.8,
       0.8487
      ],
      [
       16.94,
       0.8481
      ],
      [
       17.08,
       0.8478
      ],
      [
       17.22,
       0.8474
      ],
      [
       17.36,
       0.8475
      ],
      [
       17.5,
       0.8477
      ],
      [
       17.64,
       0.8476
      ],
      [
       17.78,
       0.847
      ],
      [
       17.92,
       0.8472
      ],
      [
       18.06,
       0.8466
      ],
      [
       18.2,
       0.8463
      ],
      [
       18.34,
       0.8465
      ],
      [
       18.48,
       0.8463
      ],
      [
       18.62,
       0.8462
      ],
      [
       18.76,
       0.8461
      ],
      [
       18.9,
       0.846
      ],
      [
       19.04,
       0.845
      ],
      [
       19.18,
       0.8456
      ],
      [
       19.32,
       0.8451
      ],
      [
       19.46,
       0.8449
      ],
      [
       19.6,
       0.8451
      ],
      [
       19.74,
       0.8445
      ],
      [
       19.88,
       0.8445
      ],
      [
       20.02,
       0.8444
      ],
      [
       20.16,
       0.844
      ],
      [
       20.3,
       0.8439
      ],
      [
       20.44,
       0.8436
      ],
      [
       20.58,
       0.8432
      ],
      [
       20.72,
       0.8434
      ],
      [
       20.86,
       0.8435
      ],
      [
       21.0,
       0.8427
      ],
      [
       21.14,
       0.8426
      ],
      [
       21.28,
       0.8426
      ],
      [
       21.42,
       0.8422
      ],
      [
       21.56,
       0.8427
      ],
      [
       21.7,
       0.8418
      ],
      [
       21.84,
       0.8417
      ],
      [
       21.98,
       0.8412
      ],
      [
       22.12,
       0.8412
      ],
      [
       22.26,
       0.8412
      ],
      [
       22.4,
       0.841
      ],
      [
       22.54,
       0.8406
      ],
      [
       22.68,
       0.8403
      ],
      [
       22.82,
       0.8406
      ],
      [
       22.96,
       0.8402
      ],
      [
       23.1,
       0.8403
      ],
      [
       23.24,
       0.8396
      ],
      [
       23.38,
       0.8397
      ],
      [
       23.52,
       0.8392
      ],
      [
       23.66,
       0.8391
      ],
      [
       23.8,
       0.8391
      ],
      [
       23.94,
       0.8384
      ],
      [
       24.0,
       0.8392
      ]
     ],
     "total_reward": 0.7655,
     "initial_progress": 0.0,
     "final_progress": 0.8392,
     "physics_sha256": "8010773c0453488e3b6668f794522f8d30faa0b350c4f9ee45e92e2edf48113c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0009037155960215926,
       "final_progress": 0.0009037155960215926,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.010551384772485616,
       "final_progress": 0.010551384772485616,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.642273421997709,
       "final_progress": 0.6793241680758235,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 1,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.13623371633971906,
       "final_progress": 0.0
      },
      {
       "layout_seed": 3,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 4,
       "outcome": "layout_rejected",
       "reason": "No free table space for star_shaped_lace_doily_0"
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7654770369319256,
       "final_progress": 0.8392454397472937
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "foam_block_ctx24",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "orange_basket_0",
       "source": "primitive:basket",
       "grounding": "observed",
       "role": "goal_support",
       "label": "orange basket"
      },
      {
       "name": "star_shaped_lace_doily_0",
       "source": "primitive:doily",
       "grounding": "observed",
       "role": "decor",
       "label": "star-shaped lace doily"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "patterned_tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned tissue box"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "clear_glass_mug_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass mug"
      },
      {
       "name": "green_small_bottle_0",
       "source": "ycb:040_large_marker",
       "grounding": "observed",
       "role": "clutter",
       "label": "green small bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "0f4770768fc845c1863eb1c8010e4d9c8618cc10c1c134bc0a1f9375e93590b1",
   "recording_id": 4974,
   "task_number": 1,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "wooden strip countertop",
   "human_action": true,
   "description": "In the footage: Grasp, shift and release the beige insulated jug onto the wooden countertop at the shifted jug position. Robot version: The jug is wider than both grippers, so it is slid to its shifted position.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the beige insulated jug across the wooden strip countertop among the purple cloth and the blue water bottle onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 4974,
    "contributor_id": 6,
    "video": "media/source-4974-44050a34e078.mp4",
    "poster": "media/source-4974.jpg",
    "source_sha256": null,
    "interval_s": [
     2.6,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4974,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4974_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "fd992d33b7d316090a03c087488576de99efbac49431d113e9a2990fc5e04387",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.60\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
      "duration_s": 4.28,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 8,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 0,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden strip countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "0f4770768fc8-panda",
     "video": "media/sim-0f4770768fc8-panda-s0.mp4",
     "poster": "media/sim-0f4770768fc8-panda-s0.jpg",
     "trajectory": "trajectories/0f4770768fc8-panda.json",
     "recipe": "recipes/0f4770768fc8-panda.json",
     "seed": 0,
     "steps": 150,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0001
      ],
      [
       0.04,
       0.0004
      ],
      [
       0.06,
       0.0007
      ],
      [
       0.08,
       0.0011
      ],
      [
       0.1,
       0.0017
      ],
      [
       0.12,
       0.0024
      ],
      [
       0.14,
       0.0032
      ],
      [
       0.16,
       0.0039
      ],
      [
       0.18,
       0.0046
      ],
      [
       0.2,
       0.0053
      ],
      [
       0.22,
       0.006
      ],
      [
       0.24,
       0.0067
      ],
      [
       0.26,
       0.0075
      ],
      [
       0.28,
       0.0083
      ],
      [
       0.3,
       0.0091
      ],
      [
       0.32,
       0.0099
      ],
      [
       0.34,
       0.0108
      ],
      [
       0.36,
       0.0116
      ],
      [
       0.38,
       0.0125
      ],
      [
       0.4,
       0.0134
      ],
      [
       0.42,
       0.0142
      ],
      [
       0.44,
       0.0152
      ],
      [
       0.46,
       0.0161
      ],
      [
       0.48,
       0.017
      ],
      [
       0.5,
       0.0179
      ],
      [
       0.52,
       0.0189
      ],
      [
       0.54,
       0.0199
      ],
      [
       0.56,
       0.0209
      ],
      [
       0.58,
       0.0219
      ],
      [
       0.6,
       0.0229
      ],
      [
       0.62,
       0.0239
      ],
      [
       0.64,
       0.025
      ],
      [
       0.66,
       0.0261
      ],
      [
       0.68,
       0.0272
      ],
      [
       0.7,
       0.0283
      ],
      [
       0.72,
       0.0295
      ],
      [
       0.74,
       0.0306
      ],
      [
       0.76,
       0.0318
      ],
      [
       0.78,
       0.0331
      ],
      [
       0.8,
       0.0343
      ],
      [
       0.82,
       0.0356
      ],
      [
       0.84,
       0.0369
      ],
      [
       0.86,
       0.0382
      ],
      [
       0.88,
       0.0396
      ],
      [
       0.9,
       0.041
      ],
      [
       0.92,
       0.0424
      ],
      [
       0.94,
       0.0439
      ],
      [
       0.96,
       0.0454
      ],
      [
       0.98,
       0.0469
      ],
      [
       1.0,
       0.0485
      ],
      [
       1.02,
       0.0501
      ],
      [
       1.04,
       0.0518
      ],
      [
       1.06,
       0.0535
      ],
      [
       1.08,
       0.0552
      ],
      [
       1.1,
       0.057
      ],
      [
       1.12,
       0.0589
      ],
      [
       1.14,
       0.0608
      ],
      [
       1.16,
       0.0627
      ],
      [
       1.18,
       0.0647
      ],
      [
       1.2,
       0.0668
      ],
      [
       1.22,
       0.0689
      ],
      [
       1.24,
       0.071
      ],
      [
       1.26,
       0.0732
      ],
      [
       1.28,
       0.0755
      ],
      [
       1.3,
       0.0778
      ],
      [
       1.32,
       0.0802
      ],
      [
       1.34,
       0.0827
      ],
      [
       1.36,
       0.0852
      ],
      [
       1.38,
       0.0878
      ],
      [
       1.4,
       0.0905
      ],
      [
       1.42,
       0.0932
      ],
      [
       1.44,
       0.0962
      ],
      [
       1.46,
       0.0991
      ],
      [
       1.48,
       0.1017
      ],
      [
       1.5,
       0.1039
      ],
      [
       1.52,
       0.1057
      ],
      [
       1.54,
       0.1072
      ],
      [
       1.56,
       0.1085
      ],
      [
       1.58,
       0.1095
      ],
      [
       1.6,
       0.1103
      ],
      [
       1.62,
       0.1109
      ],
      [
       1.64,
       0.1115
      ],
      [
       1.66,
       0.1122
      ],
      [
       1.68,
       0.1131
      ],
      [
       1.7,
       0.1141
      ],
      [
       1.72,
       0.1151
      ],
      [
       1.74,
       0.1161
      ],
      [
       1.76,
       0.117
      ],
      [
       1.78,
       0.1177
      ],
      [
       1.8,
       0.1184
      ],
      [
       1.82,
       0.119
      ],
      [
       1.84,
       0.1195
      ],
      [
       1.86,
       0.1199
      ],
      [
       1.88,
       0.1203
      ],
      [
       1.9,
       0.1207
      ],
      [
       1.92,
       0.121
      ],
      [
       1.94,
       0.1213
      ],
      [
       1.96,
       0.1217
      ],
      [
       1.98,
       0.1223
      ],
      [
       2.0,
       0.1229
      ],
      [
       2.02,
       0.1236
      ],
      [
       2.04,
       0.1242
      ],
      [
       2.06,
       0.125
      ],
      [
       2.08,
       0.1258
      ],
      [
       2.1,
       0.1268
      ],
      [
       2.12,
       0.128
      ],
      [
       2.14,
       0.1294
      ],
      [
       2.16,
       0.1308
      ],
      [
       2.18,
       0.1323
      ],
      [
       2.2,
       0.1338
      ],
      [
       2.22,
       0.1352
      ],
      [
       2.24,
       0.1433
      ],
      [
       2.26,
       0.1655
      ],
      [
       2.28,
       0.2023
      ],
      [
       2.3,
       0.2223
      ],
      [
       2.32,
       0.2442
      ],
      [
       2.34,
       0.2657
      ],
      [
       2.36,
       0.2888
      ],
      [
       2.38,
       0.3123
      ],
      [
       2.4,
       0.3361
      ],
      [
       2.42,
       0.3601
      ],
      [
       2.44,
       0.3833
      ],
      [
       2.46,
       0.4096
      ],
      [
       2.48,
       0.4325
      ],
      [
       2.5,
       0.4588
      ],
      [
       2.52,
       0.4824
      ],
      [
       2.54,
       0.511
      ],
      [
       2.56,
       0.5316
      ],
      [
       2.58,
       0.5578
      ],
      [
       2.6,
       0.5799
      ],
      [
       2.62,
       0.6048
      ],
      [
       2.64,
       0.6292
      ],
      [
       2.66,
       0.6508
      ],
      [
       2.68,
       0.6793
      ],
      [
       2.7,
       0.6991
      ],
      [
       2.72,
       0.7232
      ],
      [
       2.74,
       0.7483
      ],
      [
       2.76,
       0.7669
      ],
      [
       2.78,
       0.7934
      ],
      [
       2.8,
       0.8144
      ],
      [
       2.82,
       0.8378
      ],
      [
       2.84,
       0.8601
      ],
      [
       2.86,
       0.8828
      ],
      [
       2.88,
       0.9027
      ],
      [
       2.9,
       0.9274
      ],
      [
       2.92,
       0.9457
      ],
      [
       2.94,
       0.9616
      ],
      [
       2.96,
       0.9767
      ],
      [
       2.98,
       0.9899
      ],
      [
       3.0,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "e6e8b978e95539e3311671fdc4f5c2454cba8a0475b7196a88e9b994a7a5acdb",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": -3.534096855390133e-27,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.184832373347201,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 150,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "task_object",
       "label": "beige insulated jug"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "0f4770768fc8-aloha",
     "video": "media/sim-0f4770768fc8-aloha-s2.mp4",
     "poster": "media/sim-0f4770768fc8-aloha-s2.jpg",
     "trajectory": "trajectories/0f4770768fc8-aloha.json",
     "recipe": "recipes/0f4770768fc8-aloha.json",
     "seed": 2,
     "steps": 609,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0061
      ],
      [
       0.12,
       0.0055
      ],
      [
       0.18,
       0.0062
      ],
      [
       0.24,
       0.0048
      ],
      [
       0.3,
       0.005
      ],
      [
       0.36,
       0.0053
      ],
      [
       0.42,
       0.0059
      ],
      [
       0.48,
       0.0068
      ],
      [
       0.54,
       0.0079
      ],
      [
       0.6,
       0.0094
      ],
      [
       0.66,
       0.0114
      ],
      [
       0.72,
       0.0137
      ],
      [
       0.78,
       0.0164
      ],
      [
       0.84,
       0.0196
      ],
      [
       0.9,
       0.0241
      ],
      [
       0.96,
       0.0303
      ],
      [
       1.02,
       0.0356
      ],
      [
       1.08,
       0.0406
      ],
      [
       1.14,
       0.0456
      ],
      [
       1.2,
       0.0507
      ],
      [
       1.26,
       0.0555
      ],
      [
       1.32,
       0.0603
      ],
      [
       1.38,
       0.0646
      ],
      [
       1.44,
       0.0691
      ],
      [
       1.5,
       0.0713
      ],
      [
       1.56,
       0.068
      ],
      [
       1.62,
       0.0612
      ],
      [
       1.68,
       0.0592
      ],
      [
       1.74,
       0.0598
      ],
      [
       1.8,
       0.0582
      ],
      [
       1.86,
       0.0553
      ],
      [
       1.92,
       0.0557
      ],
      [
       1.98,
       0.0594
      ],
      [
       2.04,
       0.0594
      ],
      [
       2.1,
       0.055
      ],
      [
       2.16,
       0.0524
      ],
      [
       2.22,
       0.0545
      ],
      [
       2.28,
       0.0582
      ],
      [
       2.34,
       0.0582
      ],
      [
       2.4,
       0.0583
      ],
      [
       2.46,
       0.0625
      ],
      [
       2.52,
       0.0694
      ],
      [
       2.58,
       0.073
      ],
      [
       2.64,
       0.0725
      ],
      [
       2.7,
       0.075
      ],
      [
       2.76,
       0.0826
      ],
      [
       2.82,
       0.0903
      ],
      [
       2.88,
       0.0915
      ],
      [
       2.94,
       0.0907
      ],
      [
       3.0,
       0.0938
      ],
      [
       3.06,
       0.0981
      ],
      [
       3.12,
       0.0977
      ],
      [
       3.18,
       0.0933
      ],
      [
       3.24,
       0.0923
      ],
      [
       3.3,
       0.0967
      ],
      [
       3.36,
       0.1019
      ],
      [
       3.42,
       0.1017
      ],
      [
       3.48,
       0.0994
      ],
      [
       3.54,
       0.1007
      ],
      [
       3.6,
       0.1048
      ],
      [
       3.66,
       0.1042
      ],
      [
       3.72,
       0.1021
      ],
      [
       3.78,
       0.1026
      ],
      [
       3.84,
       0.1032
      ],
      [
       3.9,
       0.1019
      ],
      [
       3.96,
       0.099
      ],
      [
       4.02,
       0.0998
      ],
      [
       4.08,
       0.1024
      ],
      [
       4.14,
       0.1009
      ],
      [
       4.2,
       0.099
      ],
      [
       4.26,
       0.1003
      ],
      [
       4.32,
       0.1016
      ],
      [
       4.38,
       0.101
      ],
      [
       4.44,
       0.1009
      ],
      [
       4.5,
       0.1017
      ],
      [
       4.56,
       0.1005
      ],
      [
       4.62,
       0.1013
      ],
      [
       4.68,
       0.101
      ],
      [
       4.74,
       0.101
      ],
      [
       4.8,
       0.1016
      ],
      [
       4.86,
       0.102
      ],
      [
       4.92,
       0.1029
      ],
      [
       4.98,
       0.1036
      ],
      [
       5.04,
       0.1044
      ],
      [
       5.1,
       0.1054
      ],
      [
       5.16,
       0.1063
      ],
      [
       5.22,
       0.1069
      ],
      [
       5.28,
       0.1075
      ],
      [
       5.34,
       0.1081
      ],
      [
       5.4,
       0.1084
      ],
      [
       5.46,
       0.1082
      ],
      [
       5.52,
       0.1074
      ],
      [
       5.58,
       0.1055
      ],
      [
       5.64,
       0.1032
      ],
      [
       5.7,
       0.1006
      ],
      [
       5.76,
       0.0975
      ],
      [
       5.82,
       0.0942
      ],
      [
       5.88,
       0.0908
      ],
      [
       5.94,
       0.0872
      ],
      [
       6.0,
       0.0837
      ],
      [
       6.06,
       0.0797
      ],
      [
       6.12,
       0.0754
      ],
      [
       6.18,
       0.0708
      ],
      [
       6.24,
       0.0666
      ],
      [
       6.3,
       0.0628
      ],
      [
       6.36,
       0.0603
      ],
      [
       6.42,
       0.0631
      ],
      [
       6.48,
       0.0681
      ],
      [
       6.54,
       0.0736
      ],
      [
       6.6,
       0.0794
      ],
      [
       6.66,
       0.0841
      ],
      [
       6.72,
       0.0895
      ],
      [
       6.78,
       0.0931
      ],
      [
       6.84,
       0.0963
      ],
      [
       6.9,
       0.0984
      ],
      [
       6.96,
       0.0985
      ],
      [
       7.02,
       0.0979
      ],
      [
       7.08,
       0.0967
      ],
      [
       7.14,
       0.096
      ],
      [
       7.2,
       0.0957
      ],
      [
       7.26,
       0.0955
      ],
      [
       7.32,
       0.0954
      ],
      [
       7.38,
       0.0955
      ],
      [
       7.44,
       0.0956
      ],
      [
       7.5,
       0.0958
      ],
      [
       7.56,
       0.096
      ],
      [
       7.62,
       0.0963
      ],
      [
       7.68,
       0.0965
      ],
      [
       7.74,
       0.0965
      ],
      [
       7.8,
       0.0965
      ],
      [
       7.86,
       0.0964
      ],
      [
       7.92,
       0.0963
      ],
      [
       7.98,
       0.0962
      ],
      [
       8.04,
       0.096
      ],
      [
       8.1,
       0.0959
      ],
      [
       8.16,
       0.0957
      ],
      [
       8.22,
       0.0956
      ],
      [
       8.28,
       0.0954
      ],
      [
       8.34,
       0.0952
      ],
      [
       8.4,
       0.095
      ],
      [
       8.46,
       0.0947
      ],
      [
       8.52,
       0.0945
      ],
      [
       8.58,
       0.0942
      ],
      [
       8.64,
       0.0939
      ],
      [
       8.7,
       0.0936
      ],
      [
       8.76,
       0.0934
      ],
      [
       8.82,
       0.0928
      ],
      [
       8.88,
       0.0922
      ],
      [
       8.94,
       0.0915
      ],
      [
       9.0,
       0.0908
      ],
      [
       9.06,
       0.0906
      ],
      [
       9.12,
       0.0902
      ],
      [
       9.18,
       0.0898
      ],
      [
       9.24,
       0.0894
      ],
      [
       9.3,
       0.089
      ],
      [
       9.36,
       0.0885
      ],
      [
       9.42,
       0.0879
      ],
      [
       9.48,
       0.1202
      ],
      [
       9.54,
       0.2409
      ],
      [
       9.6,
       0.3017
      ],
      [
       9.66,
       0.3542
      ],
      [
       9.72,
       0.4062
      ],
      [
       9.78,
       0.4513
      ],
      [
       9.84,
       0.4903
      ],
      [
       9.9,
       0.5272
      ],
      [
       9.96,
       0.5638
      ],
      [
       10.02,
       0.5966
      ],
      [
       10.08,
       0.6306
      ],
      [
       10.14,
       0.6592
      ],
      [
       10.2,
       0.6848
      ],
      [
       10.26,
       0.7092
      ],
      [
       10.32,
       0.7284
      ],
      [
       10.38,
       0.7452
      ],
      [
       10.44,
       0.7599
      ],
      [
       10.5,
       0.7711
      ],
      [
       10.56,
       0.7783
      ],
      [
       10.62,
       0.7801
      ],
      [
       10.68,
       0.7802
      ],
      [
       10.74,
       0.7788
      ],
      [
       10.8,
       0.7719
      ],
      [
       10.86,
       0.7636
      ],
      [
       10.92,
       0.7538
      ],
      [
       10.98,
       0.7498
      ],
      [
       11.04,
       0.7396
      ],
      [
       11.1,
       0.7232
      ],
      [
       11.16,
       0.7023
      ],
      [
       11.22,
       0.6902
      ],
      [
       11.28,
       0.6971
      ],
      [
       11.34,
       0.7012
      ],
      [
       11.4,
       0.7102
      ],
      [
       11.46,
       0.7235
      ],
      [
       11.52,
       0.7354
      ],
      [
       11.58,
       0.7491
      ],
      [
       11.64,
       0.7713
      ],
      [
       11.7,
       0.7987
      ],
      [
       11.76,
       0.8287
      ],
      [
       11.82,
       0.8604
      ],
      [
       11.88,
       0.8908
      ],
      [
       11.94,
       0.9213
      ],
      [
       12.0,
       0.9494
      ],
      [
       12.06,
       0.9752
      ],
      [
       12.12,
       0.9922
      ],
      [
       12.18,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c1bb38038e0149758b690cb6c7c39e85618dba95d6f30a6584746d5fa74b20f5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.003908574334899639,
       "final_progress": 0.003908574334899639,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.3101732671397776,
       "final_progress": 0.42259432555630727,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.5,
       "final_progress": 0.0
      },
      {
       "layout_seed": 1,
       "outcome": "layout_rejected",
       "reason": "beige_insulated_jug_0 did not settle in place"
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 609,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "task_object",
       "label": "beige insulated jug"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "7b91437959f29fa5b2cf6cd4a84a3a1b90aefb1174683dc7cf576478f14b69d4",
   "recording_id": 4974,
   "task_number": 2,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "wooden strip countertop",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the wooden strip countertop among the bread loaf in bag and the plastic bag of vegetables and pull the drawer 6 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the wooden strip countertop among the bread loaf in bag and the plastic bag of vegetables and pull the drawer 6 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22656 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 4974,
    "contributor_id": 6,
    "video": "media/source-4974-44050a34e078.mp4",
    "poster": "media/source-4974.jpg",
    "source_sha256": null,
    "interval_s": [
     2.6,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4974,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4974_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "fd992d33b7d316090a03c087488576de99efbac49431d113e9a2990fc5e04387",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.60\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
      "duration_s": 4.28,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden strip countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "7b91437959f2-panda",
     "video": "media/sim-7b91437959f2-panda-s0.mp4",
     "poster": "media/sim-7b91437959f2-panda-s0.jpg",
     "trajectory": "trajectories/7b91437959f2-panda.json",
     "recipe": "recipes/7b91437959f2-panda.json",
     "seed": 0,
     "steps": 269,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0
      ],
      [
       1.32,
       0.0
      ],
      [
       1.34,
       0.0011
      ],
      [
       1.36,
       0.0026
      ],
      [
       1.38,
       0.0042
      ],
      [
       1.4,
       0.0059
      ],
      [
       1.42,
       0.0077
      ],
      [
       1.44,
       0.0097
      ],
      [
       1.46,
       0.0117
      ],
      [
       1.48,
       0.0139
      ],
      [
       1.5,
       0.0161
      ],
      [
       1.52,
       0.0186
      ],
      [
       1.54,
       0.0211
      ],
      [
       1.56,
       0.0239
      ],
      [
       1.58,
       0.0267
      ],
      [
       1.6,
       0.0297
      ],
      [
       1.62,
       0.0327
      ],
      [
       1.64,
       0.0358
      ],
      [
       1.66,
       0.0389
      ],
      [
       1.68,
       0.0419
      ],
      [
       1.7,
       0.0448
      ],
      [
       1.72,
       0.0476
      ],
      [
       1.74,
       0.0502
      ],
      [
       1.76,
       0.0527
      ],
      [
       1.78,
       0.0549
      ],
      [
       1.8,
       0.057
      ],
      [
       1.82,
       0.0589
      ],
      [
       1.84,
       0.0606
      ],
      [
       1.86,
       0.0621
      ],
      [
       1.88,
       0.0635
      ],
      [
       1.9,
       0.0647
      ],
      [
       1.92,
       0.0658
      ],
      [
       1.94,
       0.0668
      ],
      [
       1.96,
       0.0678
      ],
      [
       1.98,
       0.0686
      ],
      [
       2.0,
       0.0694
      ],
      [
       2.02,
       0.0702
      ],
      [
       2.04,
       0.071
      ],
      [
       2.06,
       0.0716
      ],
      [
       2.08,
       0.0723
      ],
      [
       2.1,
       0.0729
      ],
      [
       2.12,
       0.0735
      ],
      [
       2.14,
       0.0741
      ],
      [
       2.16,
       0.0747
      ],
      [
       2.18,
       0.0753
      ],
      [
       2.2,
       0.0759
      ],
      [
       2.22,
       0.0764
      ],
      [
       2.24,
       0.077
      ],
      [
       2.26,
       0.0776
      ],
      [
       2.28,
       0.0782
      ],
      [
       2.3,
       0.0789
      ],
      [
       2.32,
       0.0795
      ],
      [
       2.34,
       0.0802
      ],
      [
       2.36,
       0.0808
      ],
      [
       2.38,
       0.0815
      ],
      [
       2.4,
       0.0822
      ],
      [
       2.42,
       0.083
      ],
      [
       2.44,
       0.0837
      ],
      [
       2.46,
       0.0845
      ],
      [
       2.48,
       0.0853
      ],
      [
       2.5,
       0.0861
      ],
      [
       2.52,
       0.0869
      ],
      [
       2.54,
       0.0877
      ],
      [
       2.56,
       0.0886
      ],
      [
       2.58,
       0.0895
      ],
      [
       2.6,
       0.0903
      ],
      [
       2.62,
       0.0913
      ],
      [
       2.64,
       0.0922
      ],
      [
       2.66,
       0.0931
      ],
      [
       2.68,
       0.0941
      ],
      [
       2.7,
       0.095
      ],
      [
       2.72,
       0.0961
      ],
      [
       2.74,
       0.0971
      ],
      [
       2.76,
       0.0982
      ],
      [
       2.78,
       0.0994
      ],
      [
       2.8,
       0.1007
      ],
      [
       2.82,
       0.102
      ],
      [
       2.84,
       0.1034
      ],
      [
       2.86,
       0.1048
      ],
      [
       2.88,
       0.1063
      ],
      [
       2.9,
       0.1079
      ],
      [
       2.92,
       0.1095
      ],
      [
       2.94,
       0.1113
      ],
      [
       2.96,
       0.1131
      ],
      [
       2.98,
       0.1148
      ],
      [
       3.0,
       0.1162
      ],
      [
       3.02,
       0.1173
      ],
      [
       3.04,
       0.1183
      ],
      [
       3.06,
       0.1192
      ],
      [
       3.08,
       0.1199
      ],
      [
       3.1,
       0.1205
      ],
      [
       3.12,
       0.1209
      ],
      [
       3.14,
       0.1213
      ],
      [
       3.16,
       0.1219
      ],
      [
       3.18,
       0.1226
      ],
      [
       3.2,
       0.1235
      ],
      [
       3.22,
       0.1245
      ],
      [
       3.24,
       0.1255
      ],
      [
       3.26,
       0.1266
      ],
      [
       3.28,
       0.1277
      ],
      [
       3.3,
       0.1288
      ],
      [
       3.32,
       0.13
      ],
      [
       3.34,
       0.1313
      ],
      [
       3.36,
       0.1327
      ],
      [
       3.38,
       0.1342
      ],
      [
       3.4,
       0.1358
      ],
      [
       3.42,
       0.1375
      ],
      [
       3.44,
       0.1392
      ],
      [
       3.46,
       0.141
      ],
      [
       3.48,
       0.1429
      ],
      [
       3.5,
       0.1449
      ],
      [
       3.52,
       0.1471
      ],
      [
       3.54,
       0.1493
      ],
      [
       3.56,
       0.1482
      ],
      [
       3.58,
       0.1468
      ],
      [
       3.6,
       0.1466
      ],
      [
       3.62,
       0.1468
      ],
      [
       3.64,
       0.147
      ],
      [
       3.66,
       0.1473
      ],
      [
       3.68,
       0.1474
      ],
      [
       3.7,
       0.1474
      ],
      [
       3.72,
       0.1474
      ],
      [
       3.74,
       0.1473
      ],
      [
       3.76,
       0.1472
      ],
      [
       3.78,
       0.1471
      ],
      [
       3.8,
       0.147
      ],
      [
       3.82,
       0.1469
      ],
      [
       3.84,
       0.1468
      ],
      [
       3.86,
       0.1467
      ],
      [
       3.88,
       0.1466
      ],
      [
       3.9,
       0.1466
      ],
      [
       3.92,
       0.1465
      ],
      [
       3.94,
       0.1464
      ],
      [
       3.96,
       0.1488
      ],
      [
       3.98,
       0.1551
      ],
      [
       4.0,
       0.1628
      ],
      [
       4.02,
       0.1717
      ],
      [
       4.04,
       0.1817
      ],
      [
       4.06,
       0.1923
      ],
      [
       4.08,
       0.1948
      ],
      [
       4.1,
       0.1903
      ],
      [
       4.12,
       0.1842
      ],
      [
       4.14,
       0.1782
      ],
      [
       4.16,
       0.1728
      ],
      [
       4.18,
       0.1689
      ],
      [
       4.2,
       0.168
      ],
      [
       4.22,
       0.1707
      ],
      [
       4.24,
       0.1762
      ],
      [
       4.26,
       0.1835
      ],
      [
       4.28,
       0.1916
      ],
      [
       4.3,
       0.1999
      ],
      [
       4.32,
       0.2086
      ],
      [
       4.34,
       0.2177
      ],
      [
       4.36,
       0.2274
      ],
      [
       4.38,
       0.2376
      ],
      [
       4.4,
       0.2485
      ],
      [
       4.42,
       0.2598
      ],
      [
       4.44,
       0.2718
      ],
      [
       4.46,
       0.2842
      ],
      [
       4.48,
       0.3036
      ],
      [
       4.5,
       0.3173
      ],
      [
       4.52,
       0.3315
      ],
      [
       4.54,
       0.3462
      ],
      [
       4.56,
       0.3614
      ],
      [
       4.58,
       0.3772
      ],
      [
       4.6,
       0.3935
      ],
      [
       4.62,
       0.4104
      ],
      [
       4.64,
       0.4281
      ],
      [
       4.66,
       0.4465
      ],
      [
       4.68,
       0.4655
      ],
      [
       4.7,
       0.4852
      ],
      [
       4.72,
       0.5056
      ],
      [
       4.74,
       0.5266
      ],
      [
       4.76,
       0.5483
      ],
      [
       4.78,
       0.5707
      ],
      [
       4.8,
       0.5938
      ],
      [
       4.82,
       0.6175
      ],
      [
       4.84,
       0.6419
      ],
      [
       4.86,
       0.6671
      ],
      [
       4.88,
       0.6929
      ],
      [
       4.9,
       0.7194
      ],
      [
       4.92,
       0.7465
      ],
      [
       4.94,
       0.7742
      ],
      [
       4.96,
       0.8025
      ],
      [
       4.98,
       0.8315
      ],
      [
       5.0,
       0.8611
      ],
      [
       5.02,
       0.8913
      ],
      [
       5.04,
       0.9221
      ],
      [
       5.06,
       0.9536
      ],
      [
       5.08,
       0.9856
      ],
      [
       5.1,
       1.0
      ],
      [
       5.12,
       1.0
      ],
      [
       5.14,
       1.0
      ],
      [
       5.16,
       1.0
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       1.0
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       1.0
      ],
      [
       5.34,
       1.0
      ],
      [
       5.36,
       1.0
      ],
      [
       5.38,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "96702de5235489a80907dd15bd6eb843f7dd2000b65466a78e23051f2b55f219",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 6.577219223449826e-05,
       "final_progress": 7.124470808097067e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.36960096535285086,
       "final_progress": 0.00011374840788856069,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.08939844380504311,
       "final_progress": 0.08940391632088959,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 269,
       "return": 1.9999945274841535,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx27",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "7b91437959f2-aloha",
     "video": "media/sim-7b91437959f2-aloha-s0.mp4",
     "poster": "media/sim-7b91437959f2-aloha-s0.jpg",
     "trajectory": "trajectories/7b91437959f2-aloha.json",
     "recipe": "recipes/7b91437959f2-aloha.json",
     "seed": 0,
     "steps": 298,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0005
      ],
      [
       0.04,
       0.0016
      ],
      [
       0.06,
       0.0032
      ],
      [
       0.08,
       0.0049
      ],
      [
       0.1,
       0.0068
      ],
      [
       0.12,
       0.0088
      ],
      [
       0.14,
       0.0109
      ],
      [
       0.16,
       0.0131
      ],
      [
       0.18,
       0.0153
      ],
      [
       0.2,
       0.0176
      ],
      [
       0.22,
       0.0199
      ],
      [
       0.24,
       0.0222
      ],
      [
       0.26,
       0.0246
      ],
      [
       0.28,
       0.027
      ],
      [
       0.3,
       0.0294
      ],
      [
       0.32,
       0.0318
      ],
      [
       0.34,
       0.0343
      ],
      [
       0.36,
       0.0368
      ],
      [
       0.38,
       0.0394
      ],
      [
       0.4,
       0.042
      ],
      [
       0.42,
       0.0448
      ],
      [
       0.44,
       0.0475
      ],
      [
       0.46,
       0.0502
      ],
      [
       0.48,
       0.0527
      ],
      [
       0.5,
       0.0545
      ],
      [
       0.52,
       0.0558
      ],
      [
       0.54,
       0.0567
      ],
      [
       0.56,
       0.0576
      ],
      [
       0.58,
       0.0586
      ],
      [
       0.6,
       0.0595
      ],
      [
       0.62,
       0.0605
      ],
      [
       0.64,
       0.0615
      ],
      [
       0.66,
       0.0625
      ],
      [
       0.68,
       0.0635
      ],
      [
       0.7,
       0.0645
      ],
      [
       0.72,
       0.0655
      ],
      [
       0.74,
       0.0665
      ],
      [
       0.76,
       0.0675
      ],
      [
       0.78,
       0.0686
      ],
      [
       0.8,
       0.0696
      ],
      [
       0.82,
       0.0706
      ],
      [
       0.84,
       0.0717
      ],
      [
       0.86,
       0.0727
      ],
      [
       0.88,
       0.0738
      ],
      [
       0.9,
       0.0749
      ],
      [
       0.92,
       0.076
      ],
      [
       0.94,
       0.0771
      ],
      [
       0.96,
       0.0782
      ],
      [
       0.98,
       0.0793
      ],
      [
       1.0,
       0.0805
      ],
      [
       1.02,
       0.0816
      ],
      [
       1.04,
       0.0828
      ],
      [
       1.06,
       0.0839
      ],
      [
       1.08,
       0.0851
      ],
      [
       1.1,
       0.0863
      ],
      [
       1.12,
       0.0875
      ],
      [
       1.14,
       0.0886
      ],
      [
       1.16,
       0.0898
      ],
      [
       1.18,
       0.091
      ],
      [
       1.2,
       0.0921
      ],
      [
       1.22,
       0.0932
      ],
      [
       1.24,
       0.0944
      ],
      [
       1.26,
       0.0956
      ],
      [
       1.28,
       0.0968
      ],
      [
       1.3,
       0.0982
      ],
      [
       1.32,
       0.0996
      ],
      [
       1.34,
       0.1012
      ],
      [
       1.36,
       0.1026
      ],
      [
       1.38,
       0.1033
      ],
      [
       1.4,
       0.1044
      ],
      [
       1.42,
       0.1057
      ],
      [
       1.44,
       0.107
      ],
      [
       1.46,
       0.1085
      ],
      [
       1.48,
       0.1104
      ],
      [
       1.5,
       0.1129
      ],
      [
       1.52,
       0.1158
      ],
      [
       1.54,
       0.1191
      ],
      [
       1.56,
       0.1226
      ],
      [
       1.58,
       0.1264
      ],
      [
       1.6,
       0.1286
      ],
      [
       1.62,
       0.1287
      ],
      [
       1.64,
       0.1287
      ],
      [
       1.66,
       0.1287
      ],
      [
       1.68,
       0.1288
      ],
      [
       1.7,
       0.1289
      ],
      [
       1.72,
       0.129
      ],
      [
       1.74,
       0.1291
      ],
      [
       1.76,
       0.1292
      ],
      [
       1.78,
       0.1294
      ],
      [
       1.8,
       0.1295
      ],
      [
       1.82,
       0.1297
      ],
      [
       1.84,
       0.1299
      ],
      [
       1.86,
       0.1301
      ],
      [
       1.88,
       0.1303
      ],
      [
       1.9,
       0.1306
      ],
      [
       1.92,
       0.131
      ],
      [
       1.94,
       0.1314
      ],
      [
       1.96,
       0.1319
      ],
      [
       1.98,
       0.1324
      ],
      [
       2.0,
       0.133
      ],
      [
       2.02,
       0.1337
      ],
      [
       2.04,
       0.1345
      ],
      [
       2.06,
       0.1354
      ],
      [
       2.08,
       0.1364
      ],
      [
       2.1,
       0.1375
      ],
      [
       2.12,
       0.1386
      ],
      [
       2.14,
       0.1399
      ],
      [
       2.16,
       0.1411
      ],
      [
       2.18,
       0.1419
      ],
      [
       2.2,
       0.1419
      ],
      [
       2.22,
       0.1419
      ],
      [
       2.24,
       0.1421
      ],
      [
       2.26,
       0.142
      ],
      [
       2.28,
       0.1421
      ],
      [
       2.3,
       0.1421
      ],
      [
       2.32,
       0.1422
      ],
      [
       2.34,
       0.1422
      ],
      [
       2.36,
       0.1423
      ],
      [
       2.38,
       0.1423
      ],
      [
       2.4,
       0.1424
      ],
      [
       2.42,
       0.1424
      ],
      [
       2.44,
       0.1425
      ],
      [
       2.46,
       0.1425
      ],
      [
       2.48,
       0.1425
      ],
      [
       2.5,
       0.1426
      ],
      [
       2.52,
       0.1426
      ],
      [
       2.54,
       0.1426
      ],
      [
       2.56,
       0.1427
      ],
      [
       2.58,
       0.1427
      ],
      [
       2.6,
       0.1427
      ],
      [
       2.62,
       0.1427
      ],
      [
       2.64,
       0.1427
      ],
      [
       2.66,
       0.1427
      ],
      [
       2.68,
       0.1428
      ],
      [
       2.7,
       0.1428
      ],
      [
       2.72,
       0.1428
      ],
      [
       2.74,
       0.1428
      ],
      [
       2.76,
       0.1428
      ],
      [
       2.78,
       0.1428
      ],
      [
       2.8,
       0.1428
      ],
      [
       2.82,
       0.1428
      ],
      [
       2.84,
       0.1428
      ],
      [
       2.86,
       0.1428
      ],
      [
       2.88,
       0.1428
      ],
      [
       2.9,
       0.1428
      ],
      [
       2.92,
       0.1428
      ],
      [
       2.94,
       0.1428
      ],
      [
       2.96,
       0.1428
      ],
      [
       2.98,
       0.1428
      ],
      [
       3.0,
       0.1428
      ],
      [
       3.02,
       0.1428
      ],
      [
       3.04,
       0.1428
      ],
      [
       3.06,
       0.1428
      ],
      [
       3.08,
       0.1428
      ],
      [
       3.1,
       0.1428
      ],
      [
       3.12,
       0.1428
      ],
      [
       3.14,
       0.1428
      ],
      [
       3.16,
       0.1428
      ],
      [
       3.18,
       0.1428
      ],
      [
       3.2,
       0.1428
      ],
      [
       3.22,
       0.1428
      ],
      [
       3.24,
       0.1428
      ],
      [
       3.26,
       0.1428
      ],
      [
       3.28,
       0.1428
      ],
      [
       3.3,
       0.1428
      ],
      [
       3.32,
       0.1428
      ],
      [
       3.34,
       0.1428
      ],
      [
       3.36,
       0.1427
      ],
      [
       3.38,
       0.1427
      ],
      [
       3.4,
       0.1427
      ],
      [
       3.42,
       0.1427
      ],
      [
       3.44,
       0.1427
      ],
      [
       3.46,
       0.1427
      ],
      [
       3.48,
       0.1427
      ],
      [
       3.5,
       0.1426
      ],
      [
       3.52,
       0.1426
      ],
      [
       3.54,
       0.1426
      ],
      [
       3.56,
       0.1426
      ],
      [
       3.58,
       0.1426
      ],
      [
       3.6,
       0.1426
      ],
      [
       3.62,
       0.1426
      ],
      [
       3.64,
       0.1425
      ],
      [
       3.66,
       0.1425
      ],
      [
       3.68,
       0.1425
      ],
      [
       3.7,
       0.1425
      ],
      [
       3.72,
       0.1425
      ],
      [
       3.74,
       0.1425
      ],
      [
       3.76,
       0.1424
      ],
      [
       3.78,
       0.1424
      ],
      [
       3.8,
       0.1423
      ],
      [
       3.82,
       0.1423
      ],
      [
       3.84,
       0.1422
      ],
      [
       3.86,
       0.1422
      ],
      [
       3.88,
       0.1422
      ],
      [
       3.9,
       0.1421
      ],
      [
       3.92,
       0.1421
      ],
      [
       3.94,
       0.1421
      ],
      [
       3.96,
       0.142
      ],
      [
       3.98,
       0.142
      ],
      [
       4.0,
       0.142
      ],
      [
       4.02,
       0.1419
      ],
      [
       4.04,
       0.1419
      ],
      [
       4.06,
       0.1419
      ],
      [
       4.08,
       0.142
      ],
      [
       4.1,
       0.1419
      ],
      [
       4.12,
       0.1418
      ],
      [
       4.14,
       0.1418
      ],
      [
       4.16,
       0.1418
      ],
      [
       4.18,
       0.1417
      ],
      [
       4.2,
       0.1416
      ],
      [
       4.22,
       0.1416
      ],
      [
       4.24,
       0.1415
      ],
      [
       4.26,
       0.1416
      ],
      [
       4.28,
       0.1415
      ],
      [
       4.3,
       0.1414
      ],
      [
       4.32,
       0.1414
      ],
      [
       4.34,
       0.1413
      ],
      [
       4.36,
       0.1419
      ],
      [
       4.38,
       0.1415
      ],
      [
       4.4,
       0.1442
      ],
      [
       4.42,
       0.1454
      ],
      [
       4.44,
       0.1481
      ],
      [
       4.46,
       0.1498
      ],
      [
       4.48,
       0.1525
      ],
      [
       4.5,
       0.1559
      ],
      [
       4.52,
       0.1575
      ],
      [
       4.54,
       0.1605
      ],
      [
       4.56,
       0.1642
      ],
      [
       4.58,
       0.1675
      ],
      [
       4.6,
       0.1701
      ],
      [
       4.62,
       0.1739
      ],
      [
       4.64,
       0.1771
      ],
      [
       4.66,
       0.1819
      ],
      [
       4.68,
       0.1867
      ],
      [
       4.7,
       0.1913
      ],
      [
       4.72,
       0.1962
      ],
      [
       4.74,
       0.2007
      ],
      [
       4.76,
       0.2073
      ],
      [
       4.78,
       0.214
      ],
      [
       4.8,
       0.2192
      ],
      [
       4.82,
       0.2274
      ],
      [
       4.84,
       0.2346
      ],
      [
       4.86,
       0.2407
      ],
      [
       4.88,
       0.2515
      ],
      [
       4.9,
       0.2615
      ],
      [
       4.92,
       0.2709
      ],
      [
       4.94,
       0.2999
      ],
      [
       4.96,
       0.3174
      ],
      [
       4.98,
       0.3347
      ],
      [
       5.0,
       0.3514
      ],
      [
       5.02,
       0.3684
      ],
      [
       5.04,
       0.3856
      ],
      [
       5.06,
       0.403
      ],
      [
       5.08,
       0.4205
      ],
      [
       5.1,
       0.4383
      ],
      [
       5.12,
       0.4562
      ],
      [
       5.14,
       0.4743
      ],
      [
       5.16,
       0.4926
      ],
      [
       5.18,
       0.5111
      ],
      [
       5.2,
       0.5298
      ],
      [
       5.22,
       0.5486
      ],
      [
       5.24,
       0.5677
      ],
      [
       5.26,
       0.5869
      ],
      [
       5.28,
       0.6063
      ],
      [
       5.3,
       0.6258
      ],
      [
       5.32,
       0.6455
      ],
      [
       5.34,
       0.6653
      ],
      [
       5.36,
       0.6852
      ],
      [
       5.38,
       0.7053
      ],
      [
       5.4,
       0.7255
      ],
      [
       5.42,
       0.7459
      ],
      [
       5.44,
       0.7663
      ],
      [
       5.46,
       0.7868
      ],
      [
       5.48,
       0.8074
      ],
      [
       5.5,
       0.8282
      ],
      [
       5.52,
       0.8489
      ],
      [
       5.54,
       0.8698
      ],
      [
       5.56,
       0.8907
      ],
      [
       5.58,
       0.9117
      ],
      [
       5.6,
       0.9328
      ],
      [
       5.62,
       0.9538
      ],
      [
       5.64,
       0.9747
      ],
      [
       5.66,
       0.9945
      ],
      [
       5.68,
       1.0
      ],
      [
       5.7,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.74,
       1.0
      ],
      [
       5.76,
       1.0
      ],
      [
       5.78,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.82,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.86,
       1.0
      ],
      [
       5.88,
       1.0
      ],
      [
       5.9,
       1.0
      ],
      [
       5.92,
       1.0
      ],
      [
       5.94,
       1.0
      ],
      [
       5.96,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "e652225c9189e011b5e02f793a22f07b7d820360cb368176a7701c484d72faab",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0015942641842116012,
       "final_progress": 0.001595359581784995,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.02578706199934022,
       "final_progress": 0.043958393297197786,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 1.3159380200815298e-05,
       "final_progress": 1.4254777774209413e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 298,
       "return": 1.9999989046024267,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx27",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "87bc56dcaf5905fb35884b82c661cb2cff5ae2b2b4c67f5a5c955a733052e4de",
   "recording_id": 4974,
   "task_number": 3,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "wooden strip countertop",
   "human_action": false,
   "description": "Pick up the paper cup and balance it on top of the coffee can on the wooden strip countertop among the red lidded pot and the white insulated jug.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the paper cup and balance it on top of the coffee can on the wooden strip countertop among the red lidded pot and the white insulated jug.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 4974,
    "contributor_id": 6,
    "video": "media/source-4974-44050a34e078.mp4",
    "poster": "media/source-4974.jpg",
    "source_sha256": null,
    "interval_s": [
     2.6,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4974,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4974_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "fd992d33b7d316090a03c087488576de99efbac49431d113e9a2990fc5e04387",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.60\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
      "duration_s": 4.28,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 10,
    "physical_objects": 10,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 2,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden strip countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "87bc56dcaf59-panda",
     "video": "media/sim-87bc56dcaf59-panda-s0.mp4",
     "poster": "media/sim-87bc56dcaf59-panda-s0.jpg",
     "trajectory": "trajectories/87bc56dcaf59-panda.json",
     "recipe": "recipes/87bc56dcaf59-panda.json",
     "seed": 0,
     "steps": 377,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0003
      ],
      [
       0.6,
       0.0061
      ],
      [
       0.64,
       0.0127
      ],
      [
       0.68,
       0.0202
      ],
      [
       0.72,
       0.0284
      ],
      [
       0.76,
       0.0372
      ],
      [
       0.8,
       0.0459
      ],
      [
       0.84,
       0.0537
      ],
      [
       0.88,
       0.0608
      ],
      [
       0.92,
       0.0678
      ],
      [
       0.96,
       0.0747
      ],
      [
       1.0,
       0.0818
      ],
      [
       1.04,
       0.089
      ],
      [
       1.08,
       0.0962
      ],
      [
       1.12,
       0.1025
      ],
      [
       1.16,
       0.1076
      ],
      [
       1.2,
       0.1124
      ],
      [
       1.24,
       0.1171
      ],
      [
       1.28,
       0.1217
      ],
      [
       1.32,
       0.1264
      ],
      [
       1.36,
       0.1311
      ],
      [
       1.4,
       0.1359
      ],
      [
       1.44,
       0.1411
      ],
      [
       1.48,
       0.1474
      ],
      [
       1.52,
       0.146
      ],
      [
       1.56,
       0.1448
      ],
      [
       1.6,
       0.1453
      ],
      [
       1.64,
       0.1461
      ],
      [
       1.68,
       0.1467
      ],
      [
       1.72,
       0.147
      ],
      [
       1.76,
       0.1471
      ],
      [
       1.8,
       0.1471
      ],
      [
       1.84,
       0.1472
      ],
      [
       1.88,
       0.1472
      ],
      [
       1.92,
       0.1472
      ],
      [
       1.96,
       0.1473
      ],
      [
       2.0,
       0.1471
      ],
      [
       2.04,
       0.1465
      ],
      [
       2.08,
       0.1462
      ],
      [
       2.12,
       0.1462
      ],
      [
       2.16,
       0.1462
      ],
      [
       2.2,
       0.1462
      ],
      [
       2.24,
       0.1462
      ],
      [
       2.28,
       0.1462
      ],
      [
       2.32,
       0.1462
      ],
      [
       2.36,
       0.1462
      ],
      [
       2.4,
       0.1462
      ],
      [
       2.44,
       0.1461
      ],
      [
       2.48,
       0.1461
      ],
      [
       2.52,
       0.1461
      ],
      [
       2.56,
       0.1461
      ],
      [
       2.6,
       0.6769
      ],
      [
       2.64,
       0.6896
      ],
      [
       2.68,
       0.7004
      ],
      [
       2.72,
       0.7091
      ],
      [
       2.76,
       0.7156
      ],
      [
       2.8,
       0.7196
      ],
      [
       2.84,
       0.7212
      ],
      [
       2.88,
       0.7205
      ],
      [
       2.92,
       0.7166
      ],
      [
       2.96,
       0.7111
      ],
      [
       3.0,
       0.7057
      ],
      [
       3.04,
       0.7009
      ],
      [
       3.08,
       0.6961
      ],
      [
       3.12,
       0.6913
      ],
      [
       3.16,
       0.6859
      ],
      [
       3.2,
       0.6791
      ],
      [
       3.24,
       0.6707
      ],
      [
       3.28,
       0.6611
      ],
      [
       3.32,
       0.6505
      ],
      [
       3.36,
       0.6387
      ],
      [
       3.4,
       0.6259
      ],
      [
       3.44,
       0.6123
      ],
      [
       3.48,
       0.598
      ],
      [
       3.52,
       0.5832
      ],
      [
       3.56,
       0.5677
      ],
      [
       3.6,
       0.5515
      ],
      [
       3.64,
       0.5349
      ],
      [
       3.68,
       0.5177
      ],
      [
       3.72,
       0.4999
      ],
      [
       3.76,
       0.4817
      ],
      [
       3.8,
       0.4631
      ],
      [
       3.84,
       0.4436
      ],
      [
       3.88,
       0.4196
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4124
      ],
      [
       4.08,
       0.4359
      ],
      [
       4.12,
       0.4555
      ],
      [
       4.16,
       0.4768
      ],
      [
       4.2,
       0.5017
      ],
      [
       4.24,
       0.5287
      ],
      [
       4.28,
       0.5568
      ],
      [
       4.32,
       0.5861
      ],
      [
       4.36,
       0.6169
      ],
      [
       4.4,
       0.6492
      ],
      [
       4.44,
       0.6828
      ],
      [
       4.48,
       0.7175
      ],
      [
       4.52,
       0.7526
      ],
      [
       4.56,
       0.7873
      ],
      [
       4.6,
       0.8212
      ],
      [
       4.64,
       0.8538
      ],
      [
       4.68,
       0.8843
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.54,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "29cc8f0670cc5944ab44144f6408dca5faca3db2559d73b3491131bc248c5459",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.5,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": -0.08570371531486129,
       "final_progress": 0.0198036192739597,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 377,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx27",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "coffee_can_ctx27",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "87bc56dcaf59-aloha",
     "video": "media/sim-87bc56dcaf59-aloha-s0.mp4",
     "poster": "media/sim-87bc56dcaf59-aloha-s0.jpg",
     "trajectory": "trajectories/87bc56dcaf59-aloha.json",
     "recipe": "recipes/87bc56dcaf59-aloha.json",
     "seed": 0,
     "steps": 1130,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.004
      ],
      [
       0.28,
       0.01
      ],
      [
       0.42,
       0.0168
      ],
      [
       0.56,
       0.0251
      ],
      [
       0.7,
       0.0352
      ],
      [
       0.84,
       0.0476
      ],
      [
       0.98,
       0.0628
      ],
      [
       1.12,
       0.0775
      ],
      [
       1.26,
       0.0928
      ],
      [
       1.4,
       0.1104
      ],
      [
       1.54,
       0.1247
      ],
      [
       1.68,
       0.1407
      ],
      [
       1.82,
       0.1439
      ],
      [
       1.96,
       0.1441
      ],
      [
       2.1,
       0.144
      ],
      [
       2.24,
       0.1439
      ],
      [
       2.38,
       0.1435
      ],
      [
       2.52,
       0.1432
      ],
      [
       2.66,
       0.1431
      ],
      [
       2.8,
       0.1432
      ],
      [
       2.94,
       0.1432
      ],
      [
       3.08,
       0.1431
      ],
      [
       3.22,
       0.1431
      ],
      [
       3.36,
       0.1431
      ],
      [
       3.5,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.78,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       4.06,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.34,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.62,
       0.4
      ],
      [
       4.76,
       0.4
      ],
      [
       4.9,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.18,
       0.4
      ],
      [
       5.32,
       0.4
      ],
      [
       5.46,
       0.4
      ],
      [
       5.6,
       0.4
      ],
      [
       5.74,
       0.4
      ],
      [
       5.88,
       0.4
      ],
      [
       6.02,
       0.4213
      ],
      [
       6.16,
       0.46
      ],
      [
       6.3,
       0.5187
      ],
      [
       6.44,
       0.5983
      ],
      [
       6.58,
       0.7085
      ],
      [
       6.72,
       0.8394
      ],
      [
       6.86,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.14,
       0.9
      ],
      [
       7.28,
       0.9
      ],
      [
       7.42,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.7,
       0.9
      ],
      [
       7.84,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.12,
       0.9
      ],
      [
       8.26,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.54,
       0.9
      ],
      [
       8.68,
       1.0
      ],
      [
       8.82,
       1.0
      ],
      [
       8.96,
       0.9
      ],
      [
       9.1,
       0.9
      ],
      [
       9.24,
       0.8971
      ],
      [
       9.38,
       0.8776
      ],
      [
       9.52,
       0.8882
      ],
      [
       9.66,
       0.8954
      ],
      [
       9.8,
       0.8964
      ],
      [
       9.94,
       0.8969
      ],
      [
       10.08,
       0.8969
      ],
      [
       10.22,
       0.8965
      ],
      [
       10.36,
       0.8973
      ],
      [
       10.5,
       0.8971
      ],
      [
       10.64,
       0.8967
      ],
      [
       10.78,
       0.8975
      ],
      [
       10.92,
       0.8971
      ],
      [
       11.06,
       0.8975
      ],
      [
       11.2,
       0.8977
      ],
      [
       11.34,
       0.8976
      ],
      [
       11.48,
       0.8979
      ],
      [
       11.62,
       0.8979
      ],
      [
       11.76,
       0.898
      ],
      [
       11.9,
       0.898
      ],
      [
       12.04,
       0.8977
      ],
      [
       12.18,
       0.8981
      ],
      [
       12.32,
       0.8979
      ],
      [
       12.46,
       0.8981
      ],
      [
       12.6,
       0.8983
      ],
      [
       12.74,
       0.8981
      ],
      [
       12.88,
       0.8985
      ],
      [
       13.02,
       0.8984
      ],
      [
       13.16,
       0.8987
      ],
      [
       13.3,
       0.8986
      ],
      [
       13.44,
       0.8988
      ],
      [
       13.58,
       0.899
      ],
      [
       13.72,
       0.899
      ],
      [
       13.86,
       0.899
      ],
      [
       14.0,
       0.8987
      ],
      [
       14.14,
       0.8992
      ],
      [
       14.28,
       0.8992
      ],
      [
       14.42,
       0.8995
      ],
      [
       14.56,
       0.8996
      ],
      [
       14.7,
       0.8995
      ],
      [
       14.84,
       0.899
      ],
      [
       14.98,
       0.8995
      ],
      [
       15.12,
       0.8999
      ],
      [
       15.26,
       0.8998
      ],
      [
       15.4,
       0.8996
      ],
      [
       15.54,
       0.8999
      ],
      [
       15.68,
       0.8997
      ],
      [
       15.82,
       0.8998
      ],
      [
       15.96,
       0.8999
      ],
      [
       16.1,
       1.0
      ],
      [
       16.24,
       0.8999
      ],
      [
       16.38,
       0.8997
      ],
      [
       16.52,
       0.9
      ],
      [
       16.66,
       0.9
      ],
      [
       16.8,
       0.8999
      ],
      [
       16.94,
       0.8997
      ],
      [
       17.08,
       1.0
      ],
      [
       17.22,
       0.8996
      ],
      [
       17.36,
       1.0
      ],
      [
       17.5,
       0.9
      ],
      [
       17.64,
       1.0
      ],
      [
       17.78,
       0.9
      ],
      [
       17.92,
       0.8995
      ],
      [
       18.06,
       0.8999
      ],
      [
       18.2,
       0.8999
      ],
      [
       18.34,
       0.8999
      ],
      [
       18.48,
       1.0
      ],
      [
       18.62,
       0.8999
      ],
      [
       18.76,
       0.8997
      ],
      [
       18.9,
       1.0
      ],
      [
       19.04,
       1.0
      ],
      [
       19.18,
       0.8998
      ],
      [
       19.32,
       0.8998
      ],
      [
       19.46,
       0.8999
      ],
      [
       19.6,
       0.8996
      ],
      [
       19.74,
       0.8999
      ],
      [
       19.88,
       0.8998
      ],
      [
       20.02,
       0.9
      ],
      [
       20.16,
       1.0
      ],
      [
       20.3,
       1.0
      ],
      [
       20.44,
       0.9
      ],
      [
       20.58,
       1.0
      ],
      [
       20.72,
       1.0
      ],
      [
       20.86,
       0.8997
      ],
      [
       21.0,
       0.8997
      ],
      [
       21.14,
       1.0
      ],
      [
       21.28,
       1.0
      ],
      [
       21.42,
       1.0
      ],
      [
       21.56,
       1.0
      ],
      [
       21.7,
       1.0
      ],
      [
       21.84,
       1.0
      ],
      [
       21.98,
       1.0
      ],
      [
       22.12,
       1.0
      ],
      [
       22.26,
       1.0
      ],
      [
       22.4,
       1.0
      ],
      [
       22.54,
       1.0
      ],
      [
       22.6,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "04ee8c943e4fd967a15a265c83b501ef88442b107069dd786c54513a31e3aad5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0009624522166991444,
       "final_progress": 0.0009624522166991444,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.08045272251260237,
       "final_progress": 0.001548133550580527,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 1130,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "paper_cup_ctx27",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "coffee_can_ctx27",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "ee63bd569daeb8247787a1af60a58a9e399785c2d57759a44f0a2b259ff0587c",
   "recording_id": 4974,
   "task_number": 4,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "wooden strip countertop",
   "human_action": false,
   "description": "Grasp the foam block from among the dark cooking pot and the red lidded pot, lift it clear and set it down on the marked zone on the wooden strip countertop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the foam block from among the dark cooking pot and the red lidded pot, lift it clear and set it down on the marked zone on the wooden strip countertop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 4974,
    "contributor_id": 6,
    "video": "media/source-4974-44050a34e078.mp4",
    "poster": "media/source-4974.jpg",
    "source_sha256": null,
    "interval_s": [
     2.6,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 4974,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/004/4974_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "fd992d33b7d316090a03c087488576de99efbac49431d113e9a2990fc5e04387",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 2.60\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
      "duration_s": 4.28,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "44050a34e07833fcd0f6b184ed0567d66e27b4203c9995bb4b4a42dad8c53b2e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 8,
    "added_context": 1,
    "recording_observed": 8,
    "recording_added": 0,
    "surface": "wooden strip countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "ee63bd569dae-panda",
     "video": "media/sim-ee63bd569dae-panda-s0.mp4",
     "poster": "media/sim-ee63bd569dae-panda-s0.jpg",
     "trajectory": "trajectories/ee63bd569dae-panda.json",
     "recipe": "recipes/ee63bd569dae-panda.json",
     "seed": 0,
     "steps": 339,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0019
      ],
      [
       0.68,
       0.0073
      ],
      [
       0.72,
       0.0133
      ],
      [
       0.76,
       0.0188
      ],
      [
       0.8,
       0.0225
      ],
      [
       0.84,
       0.0257
      ],
      [
       0.88,
       0.0295
      ],
      [
       0.92,
       0.034
      ],
      [
       0.96,
       0.0387
      ],
      [
       1.0,
       0.0435
      ],
      [
       1.04,
       0.0485
      ],
      [
       1.08,
       0.0537
      ],
      [
       1.12,
       0.0592
      ],
      [
       1.16,
       0.0649
      ],
      [
       1.2,
       0.0706
      ],
      [
       1.24,
       0.0766
      ],
      [
       1.28,
       0.0826
      ],
      [
       1.32,
       0.0886
      ],
      [
       1.36,
       0.0944
      ],
      [
       1.4,
       0.1
      ],
      [
       1.44,
       0.1052
      ],
      [
       1.48,
       0.1092
      ],
      [
       1.52,
       0.1125
      ],
      [
       1.56,
       0.1158
      ],
      [
       1.6,
       0.1191
      ],
      [
       1.64,
       0.1224
      ],
      [
       1.68,
       0.1256
      ],
      [
       1.72,
       0.129
      ],
      [
       1.76,
       0.1325
      ],
      [
       1.8,
       0.1361
      ],
      [
       1.84,
       0.14
      ],
      [
       1.88,
       0.1443
      ],
      [
       1.92,
       0.1489
      ],
      [
       1.96,
       0.1453
      ],
      [
       2.0,
       0.1441
      ],
      [
       2.04,
       0.1445
      ],
      [
       2.08,
       0.1452
      ],
      [
       2.12,
       0.1457
      ],
      [
       2.16,
       0.1459
      ],
      [
       2.2,
       0.146
      ],
      [
       2.24,
       0.146
      ],
      [
       2.28,
       0.1461
      ],
      [
       2.32,
       0.1461
      ],
      [
       2.36,
       0.1461
      ],
      [
       2.4,
       0.1462
      ],
      [
       2.44,
       0.1461
      ],
      [
       2.48,
       0.1459
      ],
      [
       2.52,
       0.1458
      ],
      [
       2.56,
       0.1459
      ],
      [
       2.6,
       0.146
      ],
      [
       2.64,
       0.146
      ],
      [
       2.68,
       0.1461
      ],
      [
       2.72,
       0.1461
      ],
      [
       2.76,
       0.1462
      ],
      [
       2.8,
       0.1462
      ],
      [
       2.84,
       0.1463
      ],
      [
       2.88,
       0.1463
      ],
      [
       2.92,
       0.1464
      ],
      [
       2.96,
       0.1464
      ],
      [
       3.0,
       0.5229
      ],
      [
       3.04,
       0.5217
      ],
      [
       3.08,
       0.5189
      ],
      [
       3.12,
       0.5143
      ],
      [
       3.16,
       0.5077
      ],
      [
       3.2,
       0.4999
      ],
      [
       3.24,
       0.4914
      ],
      [
       3.28,
       0.4827
      ],
      [
       3.32,
       0.474
      ],
      [
       3.36,
       0.4651
      ],
      [
       3.4,
       0.4563
      ],
      [
       3.44,
       0.4475
      ],
      [
       3.48,
       0.4386
      ],
      [
       3.52,
       0.4295
      ],
      [
       3.56,
       0.42
      ],
      [
       3.6,
       0.4085
      ],
      [
       3.64,
       0.4022
      ],
      [
       3.68,
       0.4214
      ],
      [
       3.72,
       0.4621
      ],
      [
       3.76,
       0.5168
      ],
      [
       3.8,
       0.5759
      ],
      [
       3.84,
       0.6365
      ],
      [
       3.88,
       0.6999
      ],
      [
       3.92,
       0.7666
      ],
      [
       3.96,
       0.8352
      ],
      [
       4.0,
       0.9
      ],
      [
       4.04,
       0.9
      ],
      [
       4.08,
       0.9
      ],
      [
       4.12,
       0.9
      ],
      [
       4.16,
       0.9
      ],
      [
       4.2,
       0.9
      ],
      [
       4.24,
       0.9
      ],
      [
       4.28,
       0.9
      ],
      [
       4.32,
       0.9
      ],
      [
       4.36,
       0.9
      ],
      [
       4.4,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.48,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       1.0
      ],
      [
       5.56,
       1.0
      ],
      [
       5.6,
       1.0
      ],
      [
       5.64,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.76,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.88,
       1.0
      ],
      [
       5.92,
       1.0
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.78,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "398ec142241f84add27845dcd92156f77db122c321de40d29ac3ec540a06468d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 7.176907827567969e-05,
       "final_progress": 7.176907827567969e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 339,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx27",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "ee63bd569dae-aloha",
     "video": "media/sim-ee63bd569dae-aloha-s0.mp4",
     "poster": "media/sim-ee63bd569dae-aloha-s0.jpg",
     "trajectory": "trajectories/ee63bd569dae-aloha.json",
     "recipe": "recipes/ee63bd569dae-aloha.json",
     "seed": 0,
     "steps": 868,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0013
      ],
      [
       0.2,
       0.0034
      ],
      [
       0.3,
       0.006
      ],
      [
       0.4,
       0.0092
      ],
      [
       0.5,
       0.013
      ],
      [
       0.6,
       0.0175
      ],
      [
       0.7,
       0.0227
      ],
      [
       0.8,
       0.0289
      ],
      [
       0.9,
       0.0368
      ],
      [
       1.0,
       0.0467
      ],
      [
       1.1,
       0.0587
      ],
      [
       1.2,
       0.073
      ],
      [
       1.3,
       0.0887
      ],
      [
       1.4,
       0.0993
      ],
      [
       1.5,
       0.1115
      ],
      [
       1.6,
       0.1249
      ],
      [
       1.7,
       0.1378
      ],
      [
       1.8,
       0.1373
      ],
      [
       1.9,
       0.1358
      ],
      [
       2.0,
       0.1348
      ],
      [
       2.1,
       0.1346
      ],
      [
       2.2,
       0.1348
      ],
      [
       2.3,
       0.1353
      ],
      [
       2.4,
       0.136
      ],
      [
       2.5,
       0.1368
      ],
      [
       2.6,
       0.1376
      ],
      [
       2.7,
       0.1386
      ],
      [
       2.8,
       0.1397
      ],
      [
       2.9,
       0.1407
      ],
      [
       3.0,
       0.1415
      ],
      [
       3.1,
       0.1423
      ],
      [
       3.2,
       0.1424
      ],
      [
       3.3,
       0.1424
      ],
      [
       3.4,
       0.1427
      ],
      [
       3.5,
       0.1424
      ],
      [
       3.6,
       0.1426
      ],
      [
       3.7,
       0.1423
      ],
      [
       3.8,
       0.1424
      ],
      [
       3.9,
       0.1422
      ],
      [
       4.0,
       0.1422
      ],
      [
       4.1,
       0.142
      ],
      [
       4.2,
       0.1421
      ],
      [
       4.3,
       0.1422
      ],
      [
       4.4,
       0.1422
      ],
      [
       4.5,
       0.1423
      ],
      [
       4.6,
       0.142
      ],
      [
       4.7,
       0.1419
      ],
      [
       4.8,
       0.1414
      ],
      [
       4.9,
       0.1407
      ],
      [
       5.0,
       0.1401
      ],
      [
       5.1,
       0.1398
      ],
      [
       5.2,
       0.1398
      ],
      [
       5.3,
       0.1398
      ],
      [
       5.4,
       0.1399
      ],
      [
       5.5,
       0.14
      ],
      [
       5.6,
       0.14
      ],
      [
       5.7,
       0.14
      ],
      [
       5.8,
       0.14
      ],
      [
       5.9,
       0.14
      ],
      [
       6.0,
       0.14
      ],
      [
       6.1,
       0.1399
      ],
      [
       6.2,
       0.1399
      ],
      [
       6.3,
       0.14
      ],
      [
       6.4,
       0.14
      ],
      [
       6.5,
       0.1402
      ],
      [
       6.6,
       0.1402
      ],
      [
       6.7,
       0.1402
      ],
      [
       6.8,
       0.1403
      ],
      [
       6.9,
       0.1403
      ],
      [
       7.0,
       0.1404
      ],
      [
       7.1,
       0.1404
      ],
      [
       7.2,
       0.1405
      ],
      [
       7.3,
       0.1406
      ],
      [
       7.4,
       0.1408
      ],
      [
       7.5,
       0.1408
      ],
      [
       7.6,
       0.141
      ],
      [
       7.7,
       0.1412
      ],
      [
       7.8,
       0.1414
      ],
      [
       7.9,
       0.1419
      ],
      [
       8.0,
       0.1426
      ],
      [
       8.1,
       0.1433
      ],
      [
       8.2,
       0.1434
      ],
      [
       8.3,
       0.1435
      ],
      [
       8.4,
       0.5157
      ],
      [
       8.5,
       0.4883
      ],
      [
       8.6,
       0.4589
      ],
      [
       8.7,
       0.4383
      ],
      [
       8.8,
       0.4311
      ],
      [
       8.9,
       0.4372
      ],
      [
       9.0,
       0.4572
      ],
      [
       9.1,
       0.4901
      ],
      [
       9.2,
       0.5346
      ],
      [
       9.3,
       0.5902
      ],
      [
       9.4,
       0.6568
      ],
      [
       9.5,
       0.7341
      ],
      [
       9.6,
       0.8213
      ],
      [
       9.7,
       0.9
      ],
      [
       9.8,
       0.9
      ],
      [
       9.9,
       0.9
      ],
      [
       10.0,
       0.9
      ],
      [
       10.1,
       0.9
      ],
      [
       10.2,
       0.9
      ],
      [
       10.3,
       0.9
      ],
      [
       10.4,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.6,
       0.9
      ],
      [
       10.7,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.9,
       0.9
      ],
      [
       11.0,
       0.9
      ],
      [
       11.1,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.3,
       0.9
      ],
      [
       11.4,
       0.9
      ],
      [
       11.5,
       0.9
      ],
      [
       11.6,
       0.9
      ],
      [
       11.7,
       0.9
      ],
      [
       11.8,
       0.9
      ],
      [
       11.9,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.1,
       0.9
      ],
      [
       12.2,
       0.9
      ],
      [
       12.3,
       0.9
      ],
      [
       12.4,
       0.9
      ],
      [
       12.5,
       0.9
      ],
      [
       12.6,
       0.9
      ],
      [
       12.7,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.9,
       0.9
      ],
      [
       13.0,
       0.9
      ],
      [
       13.1,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.3,
       0.9
      ],
      [
       13.4,
       0.9
      ],
      [
       13.5,
       0.9
      ],
      [
       13.6,
       0.9
      ],
      [
       13.7,
       0.9
      ],
      [
       13.8,
       0.9
      ],
      [
       13.9,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.1,
       0.9
      ],
      [
       14.2,
       0.9
      ],
      [
       14.3,
       0.9
      ],
      [
       14.4,
       0.9
      ],
      [
       14.5,
       0.9
      ],
      [
       14.6,
       0.9
      ],
      [
       14.7,
       0.9
      ],
      [
       14.8,
       0.9
      ],
      [
       14.9,
       0.9
      ],
      [
       15.0,
       0.9
      ],
      [
       15.1,
       0.9
      ],
      [
       15.2,
       0.9
      ],
      [
       15.3,
       0.9
      ],
      [
       15.4,
       0.9
      ],
      [
       15.5,
       0.9
      ],
      [
       15.6,
       0.9
      ],
      [
       15.7,
       0.9
      ],
      [
       15.8,
       0.9
      ],
      [
       15.9,
       0.9
      ],
      [
       16.0,
       0.9
      ],
      [
       16.1,
       0.9
      ],
      [
       16.2,
       0.9
      ],
      [
       16.3,
       0.9
      ],
      [
       16.4,
       0.9
      ],
      [
       16.5,
       0.9
      ],
      [
       16.6,
       0.9
      ],
      [
       16.7,
       0.9
      ],
      [
       16.8,
       0.9
      ],
      [
       16.9,
       1.0
      ],
      [
       17.0,
       1.0
      ],
      [
       17.1,
       1.0
      ],
      [
       17.2,
       1.0
      ],
      [
       17.3,
       1.0
      ],
      [
       17.36,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "2ee45d246db066a4725be235c4bec8bcb1c79f0bb2e2ed7f42288443c3fb0830",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0006911209508361604,
       "final_progress": 0.0006911209508361604,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.05434477130785339,
       "final_progress": 0.05434477130785339,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 868,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx27",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "dark_cooking_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "dark cooking pot"
      },
      {
       "name": "red_lidded_pot_0",
       "source": "primitive:pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "red lidded pot"
      },
      {
       "name": "plastic_bag_of_vegetables_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "plastic bag of vegetables"
      },
      {
       "name": "bread_loaf_in_bag_0",
       "source": "primitive:bread",
       "grounding": "observed",
       "role": "clutter",
       "label": "bread loaf in bag"
      },
      {
       "name": "purple_cloth_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "purple cloth"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "blue_water_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "da8bdef4748a54cbbd3a947d2462450b76de7bbc28e082d9549d93efba8258a8",
   "recording_id": 5452,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "light wooden computer desk",
   "human_action": true,
   "description": "In the footage: Wipe the visible light wooden computer desk with the bright yellow wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d78 cm patch (square to the table edge) on the light wooden computer desk among the black power bank with cable and the patterned pillow and sweep it row by row at 4\u201314 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 4\u201314 N, no object moved >2 cm, peak force \u226442 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 5452,
    "contributor_id": 7,
    "video": "media/source-5452-d3139cc9d9f0.mp4",
    "poster": "media/source-5452.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5452,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5452_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 71.85,
      "original_end_s": 91.85,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "bc61a3a8c0b6fbf47ba64cc479403c659c0cc3ef820a9d74b9016a382174095f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 2,
    "recording_observed": 4,
    "recording_added": 2,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "da8bdef4748a-panda",
     "video": "media/sim-da8bdef4748a-panda-s0.mp4",
     "poster": "media/sim-da8bdef4748a-panda-s0.jpg",
     "trajectory": "trajectories/da8bdef4748a-panda.json",
     "recipe": "recipes/da8bdef4748a-panda.json",
     "seed": 0,
     "steps": 609,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0025
      ],
      [
       0.18,
       0.0056
      ],
      [
       0.24,
       0.0084
      ],
      [
       0.3,
       0.0118
      ],
      [
       0.36,
       0.0157
      ],
      [
       0.42,
       0.0198
      ],
      [
       0.48,
       0.0244
      ],
      [
       0.54,
       0.0293
      ],
      [
       0.6,
       0.0347
      ],
      [
       0.66,
       0.0405
      ],
      [
       0.72,
       0.0467
      ],
      [
       0.78,
       0.0532
      ],
      [
       0.84,
       0.0601
      ],
      [
       0.9,
       0.0671
      ],
      [
       0.96,
       0.0744
      ],
      [
       1.02,
       0.0823
      ],
      [
       1.08,
       0.0907
      ],
      [
       1.14,
       0.0995
      ],
      [
       1.2,
       0.1089
      ],
      [
       1.26,
       0.1186
      ],
      [
       1.32,
       0.1284
      ],
      [
       1.38,
       0.1377
      ],
      [
       1.44,
       0.142
      ],
      [
       1.5,
       0.1382
      ],
      [
       1.56,
       0.142
      ],
      [
       1.62,
       0.1428
      ],
      [
       1.68,
       0.1434
      ],
      [
       1.74,
       0.1425
      ],
      [
       1.8,
       0.1406
      ],
      [
       1.86,
       0.1399
      ],
      [
       1.92,
       0.1404
      ],
      [
       1.98,
       0.1411
      ],
      [
       2.04,
       0.1415
      ],
      [
       2.1,
       0.1425
      ],
      [
       2.16,
       0.1441
      ],
      [
       2.22,
       0.1457
      ],
      [
       2.28,
       0.147
      ],
      [
       2.34,
       0.1477
      ],
      [
       2.4,
       0.1482
      ],
      [
       2.46,
       0.1489
      ],
      [
       2.52,
       0.1496
      ],
      [
       2.58,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.7,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.82,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.94,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.06,
       0.15
      ],
      [
       3.12,
       0.15
      ],
      [
       3.18,
       0.2714
      ],
      [
       3.24,
       0.2714
      ],
      [
       3.3,
       0.2714
      ],
      [
       3.36,
       0.2714
      ],
      [
       3.42,
       0.2714
      ],
      [
       3.48,
       0.2714
      ],
      [
       3.54,
       0.2714
      ],
      [
       3.6,
       0.2714
      ],
      [
       3.66,
       0.2714
      ],
      [
       3.72,
       0.2714
      ],
      [
       3.78,
       0.2714
      ],
      [
       3.84,
       0.2714
      ],
      [
       3.9,
       0.2714
      ],
      [
       3.96,
       0.2714
      ],
      [
       4.02,
       0.2714
      ],
      [
       4.08,
       0.2714
      ],
      [
       4.14,
       0.2714
      ],
      [
       4.2,
       0.2714
      ],
      [
       4.26,
       0.2714
      ],
      [
       4.32,
       0.2714
      ],
      [
       4.38,
       0.2714
      ],
      [
       4.44,
       0.2714
      ],
      [
       4.5,
       0.2714
      ],
      [
       4.56,
       0.2714
      ],
      [
       4.62,
       0.2714
      ],
      [
       4.68,
       0.2714
      ],
      [
       4.74,
       0.2714
      ],
      [
       4.8,
       0.2714
      ],
      [
       4.86,
       0.2714
      ],
      [
       4.92,
       0.2714
      ],
      [
       4.98,
       0.2714
      ],
      [
       5.04,
       0.2714
      ],
      [
       5.1,
       0.2714
      ],
      [
       5.16,
       0.2714
      ],
      [
       5.22,
       0.2714
      ],
      [
       5.28,
       0.3929
      ],
      [
       5.34,
       0.3929
      ],
      [
       5.4,
       0.4536
      ],
      [
       5.46,
       0.4536
      ],
      [
       5.52,
       0.4536
      ],
      [
       5.58,
       0.4536
      ],
      [
       5.64,
       0.4536
      ],
      [
       5.7,
       0.4536
      ],
      [
       5.76,
       0.4536
      ],
      [
       5.82,
       0.4536
      ],
      [
       5.88,
       0.4536
      ],
      [
       5.94,
       0.5143
      ],
      [
       6.0,
       0.5143
      ],
      [
       6.06,
       0.5143
      ],
      [
       6.12,
       0.5143
      ],
      [
       6.18,
       0.5143
      ],
      [
       6.24,
       0.5143
      ],
      [
       6.3,
       0.5143
      ],
      [
       6.36,
       0.575
      ],
      [
       6.42,
       0.575
      ],
      [
       6.48,
       0.575
      ],
      [
       6.54,
       0.575
      ],
      [
       6.6,
       0.575
      ],
      [
       6.66,
       0.575
      ],
      [
       6.72,
       0.575
      ],
      [
       6.78,
       0.6357
      ],
      [
       6.84,
       0.6357
      ],
      [
       6.9,
       0.6357
      ],
      [
       6.96,
       0.6357
      ],
      [
       7.02,
       0.6357
      ],
      [
       7.08,
       0.6357
      ],
      [
       7.14,
       0.6661
      ],
      [
       7.2,
       0.6661
      ],
      [
       7.26,
       0.6661
      ],
      [
       7.32,
       0.6661
      ],
      [
       7.38,
       0.6661
      ],
      [
       7.44,
       0.6661
      ],
      [
       7.5,
       0.6661
      ],
      [
       7.56,
       0.6964
      ],
      [
       7.62,
       0.6964
      ],
      [
       7.68,
       0.6964
      ],
      [
       7.74,
       0.6964
      ],
      [
       7.8,
       0.6964
      ],
      [
       7.86,
       0.6964
      ],
      [
       7.92,
       0.6964
      ],
      [
       7.98,
       0.6964
      ],
      [
       8.04,
       0.7571
      ],
      [
       8.1,
       0.7571
      ],
      [
       8.16,
       0.7571
      ],
      [
       8.22,
       0.7571
      ],
      [
       8.28,
       0.7571
      ],
      [
       8.34,
       0.7571
      ],
      [
       8.4,
       0.7571
      ],
      [
       8.46,
       0.7571
      ],
      [
       8.52,
       0.7571
      ],
      [
       8.58,
       0.7571
      ],
      [
       8.64,
       0.7571
      ],
      [
       8.7,
       0.7571
      ],
      [
       8.76,
       0.7571
      ],
      [
       8.82,
       0.7571
      ],
      [
       8.88,
       0.7571
      ],
      [
       8.94,
       0.7571
      ],
      [
       9.0,
       0.7571
      ],
      [
       9.06,
       0.7571
      ],
      [
       9.12,
       0.7571
      ],
      [
       9.18,
       0.7571
      ],
      [
       9.24,
       0.7571
      ],
      [
       9.3,
       0.7571
      ],
      [
       9.36,
       0.7571
      ],
      [
       9.42,
       0.7571
      ],
      [
       9.48,
       0.7571
      ],
      [
       9.54,
       0.7571
      ],
      [
       9.6,
       0.7571
      ],
      [
       9.66,
       0.7571
      ],
      [
       9.72,
       0.7571
      ],
      [
       9.78,
       0.7571
      ],
      [
       9.84,
       0.7571
      ],
      [
       9.9,
       0.7571
      ],
      [
       9.96,
       0.7571
      ],
      [
       10.02,
       0.7571
      ],
      [
       10.08,
       0.8179
      ],
      [
       10.14,
       0.8179
      ],
      [
       10.2,
       0.8179
      ],
      [
       10.26,
       0.8179
      ],
      [
       10.32,
       0.8179
      ],
      [
       10.38,
       0.8482
      ],
      [
       10.44,
       0.8482
      ],
      [
       10.5,
       0.8482
      ],
      [
       10.56,
       0.8482
      ],
      [
       10.62,
       0.8482
      ],
      [
       10.68,
       0.8482
      ],
      [
       10.74,
       0.8482
      ],
      [
       10.8,
       0.8482
      ],
      [
       10.86,
       0.8786
      ],
      [
       10.92,
       0.8786
      ],
      [
       10.98,
       0.8786
      ],
      [
       11.04,
       0.8786
      ],
      [
       11.1,
       0.8786
      ],
      [
       11.16,
       0.8786
      ],
      [
       11.22,
       0.9089
      ],
      [
       11.28,
       0.9089
      ],
      [
       11.34,
       0.9089
      ],
      [
       11.4,
       0.9089
      ],
      [
       11.46,
       0.9089
      ],
      [
       11.52,
       0.9089
      ],
      [
       11.58,
       0.9089
      ],
      [
       11.64,
       0.9089
      ],
      [
       11.7,
       0.9089
      ],
      [
       11.76,
       0.9089
      ],
      [
       11.82,
       0.9089
      ],
      [
       11.88,
       0.9089
      ],
      [
       11.94,
       0.9089
      ],
      [
       12.0,
       0.9089
      ],
      [
       12.06,
       0.9089
      ],
      [
       12.12,
       0.9089
      ],
      [
       12.18,
       0.9696
      ]
     ],
     "total_reward": 1.937,
     "initial_progress": 0.0,
     "final_progress": 0.9696,
     "physics_sha256": "a2e1735696a4df7d203e7323c39d1e8b3be3ef5576a19d8c91c6e289f5c8292e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.13699950124671226,
       "final_progress": 0.18214285714285713,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.2714285714285714,
       "final_progress": 0.2714285714285714,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 609,
       "return": 1.9369912149253588,
       "final_progress": 0.9696428571428571
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    },
    "aloha": {
     "gym_id": "da8bdef4748a-aloha",
     "video": "media/sim-da8bdef4748a-aloha-s1.mp4",
     "poster": "media/sim-da8bdef4748a-aloha-s1.jpg",
     "trajectory": "trajectories/da8bdef4748a-aloha.json",
     "recipe": "recipes/da8bdef4748a-aloha.json",
     "seed": 1,
     "steps": 940,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0037
      ],
      [
       0.2,
       0.0109
      ],
      [
       0.3,
       0.019
      ],
      [
       0.4,
       0.0282
      ],
      [
       0.5,
       0.0386
      ],
      [
       0.6,
       0.0505
      ],
      [
       0.7,
       0.0643
      ],
      [
       0.8,
       0.0797
      ],
      [
       0.9,
       0.0968
      ],
      [
       1.0,
       0.1167
      ],
      [
       1.1,
       0.1344
      ],
      [
       1.2,
       0.137
      ],
      [
       1.3,
       0.1389
      ],
      [
       1.4,
       0.1407
      ],
      [
       1.5,
       0.1421
      ],
      [
       1.6,
       0.1423
      ],
      [
       1.7,
       0.1401
      ],
      [
       1.8,
       0.1362
      ],
      [
       1.9,
       0.1353
      ],
      [
       2.0,
       0.1374
      ],
      [
       2.1,
       0.1396
      ],
      [
       2.2,
       0.1445
      ],
      [
       2.3,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.5,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.7,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.9,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.1,
       0.15
      ],
      [
       3.2,
       0.15
      ],
      [
       3.3,
       0.15
      ],
      [
       3.4,
       0.149
      ],
      [
       3.5,
       0.1475
      ],
      [
       3.6,
       0.1455
      ],
      [
       3.7,
       0.1423
      ],
      [
       3.8,
       0.1389
      ],
      [
       3.9,
       0.1363
      ],
      [
       4.0,
       0.1345
      ],
      [
       4.1,
       0.1333
      ],
      [
       4.2,
       0.1326
      ],
      [
       4.3,
       0.132
      ],
      [
       4.4,
       0.1315
      ],
      [
       4.5,
       0.1311
      ],
      [
       4.6,
       0.1309
      ],
      [
       4.7,
       0.1308
      ],
      [
       4.8,
       0.1312
      ],
      [
       4.9,
       0.1351
      ],
      [
       5.0,
       0.1416
      ],
      [
       5.1,
       0.1476
      ],
      [
       5.2,
       0.15
      ],
      [
       5.3,
       0.15
      ],
      [
       5.4,
       0.15
      ],
      [
       5.5,
       0.15
      ],
      [
       5.6,
       0.15
      ],
      [
       5.7,
       0.2714
      ],
      [
       5.8,
       0.2714
      ],
      [
       5.9,
       0.2714
      ],
      [
       6.0,
       0.2714
      ],
      [
       6.1,
       0.2714
      ],
      [
       6.2,
       0.2714
      ],
      [
       6.3,
       0.2714
      ],
      [
       6.4,
       0.2714
      ],
      [
       6.5,
       0.3321
      ],
      [
       6.6,
       0.3321
      ],
      [
       6.7,
       0.3321
      ],
      [
       6.8,
       0.3321
      ],
      [
       6.9,
       0.3929
      ],
      [
       7.0,
       0.3929
      ],
      [
       7.1,
       0.3929
      ],
      [
       7.2,
       0.3929
      ],
      [
       7.3,
       0.3929
      ],
      [
       7.4,
       0.3929
      ],
      [
       7.5,
       0.4536
      ],
      [
       7.6,
       0.4536
      ],
      [
       7.7,
       0.4536
      ],
      [
       7.8,
       0.4536
      ],
      [
       7.9,
       0.4536
      ],
      [
       8.0,
       0.4536
      ],
      [
       8.1,
       0.4536
      ],
      [
       8.2,
       0.4536
      ],
      [
       8.3,
       0.4536
      ],
      [
       8.4,
       0.5143
      ],
      [
       8.5,
       0.5143
      ],
      [
       8.6,
       0.5143
      ],
      [
       8.7,
       0.5143
      ],
      [
       8.8,
       0.5143
      ],
      [
       8.9,
       0.575
      ],
      [
       9.0,
       0.575
      ],
      [
       9.1,
       0.575
      ],
      [
       9.2,
       0.575
      ],
      [
       9.3,
       0.575
      ],
      [
       9.4,
       0.575
      ],
      [
       9.5,
       0.575
      ],
      [
       9.6,
       0.575
      ],
      [
       9.7,
       0.575
      ],
      [
       9.8,
       0.6357
      ],
      [
       9.9,
       0.6357
      ],
      [
       10.0,
       0.6357
      ],
      [
       10.1,
       0.6357
      ],
      [
       10.2,
       0.6357
      ],
      [
       10.3,
       0.6357
      ],
      [
       10.4,
       0.6357
      ],
      [
       10.5,
       0.7571
      ],
      [
       10.6,
       0.7571
      ],
      [
       10.7,
       0.7571
      ],
      [
       10.8,
       0.7571
      ],
      [
       10.9,
       0.7571
      ],
      [
       11.0,
       0.7571
      ],
      [
       11.1,
       0.8179
      ],
      [
       11.2,
       0.8179
      ],
      [
       11.3,
       0.8179
      ],
      [
       11.4,
       0.8179
      ],
      [
       11.5,
       0.8179
      ],
      [
       11.6,
       0.8482
      ],
      [
       11.7,
       0.8482
      ],
      [
       11.8,
       0.8786
      ],
      [
       11.9,
       0.8786
      ],
      [
       12.0,
       0.8786
      ],
      [
       12.1,
       0.8786
      ],
      [
       12.2,
       0.8786
      ],
      [
       12.3,
       0.9089
      ],
      [
       12.4,
       0.9089
      ],
      [
       12.5,
       0.9089
      ],
      [
       12.6,
       0.9089
      ],
      [
       12.7,
       0.9089
      ],
      [
       12.8,
       0.9089
      ],
      [
       12.9,
       0.9087
      ],
      [
       13.0,
       0.9066
      ],
      [
       13.1,
       0.905
      ],
      [
       13.2,
       0.9054
      ],
      [
       13.3,
       0.9064
      ],
      [
       13.4,
       0.9072
      ],
      [
       13.5,
       0.9089
      ],
      [
       13.6,
       0.9089
      ],
      [
       13.7,
       0.9089
      ],
      [
       13.8,
       0.9089
      ],
      [
       13.9,
       0.9089
      ],
      [
       14.0,
       0.9089
      ],
      [
       14.1,
       0.9089
      ],
      [
       14.2,
       0.9089
      ],
      [
       14.3,
       0.9089
      ],
      [
       14.4,
       0.9089
      ],
      [
       14.5,
       0.9089
      ],
      [
       14.6,
       0.9089
      ],
      [
       14.7,
       0.9089
      ],
      [
       14.8,
       0.9089
      ],
      [
       14.9,
       0.9089
      ],
      [
       15.0,
       0.9089
      ],
      [
       15.1,
       0.9089
      ],
      [
       15.2,
       0.9089
      ],
      [
       15.3,
       0.9089
      ],
      [
       15.4,
       0.9089
      ],
      [
       15.5,
       0.9089
      ],
      [
       15.6,
       0.9089
      ],
      [
       15.7,
       0.9089
      ],
      [
       15.8,
       0.9089
      ],
      [
       15.9,
       0.9089
      ],
      [
       16.0,
       0.9089
      ],
      [
       16.1,
       0.9089
      ],
      [
       16.2,
       0.9089
      ],
      [
       16.3,
       0.9089
      ],
      [
       16.4,
       0.9089
      ],
      [
       16.5,
       0.9089
      ],
      [
       16.6,
       0.9089
      ],
      [
       16.7,
       0.9089
      ],
      [
       16.8,
       0.9089
      ],
      [
       16.9,
       0.9089
      ],
      [
       17.0,
       0.9089
      ],
      [
       17.1,
       0.9089
      ],
      [
       17.2,
       0.9089
      ],
      [
       17.3,
       0.9089
      ],
      [
       17.4,
       0.9089
      ],
      [
       17.5,
       0.9089
      ],
      [
       17.6,
       0.9089
      ],
      [
       17.7,
       0.9089
      ],
      [
       17.8,
       0.9089
      ],
      [
       17.9,
       0.9089
      ],
      [
       18.0,
       0.9089
      ],
      [
       18.1,
       0.9089
      ],
      [
       18.2,
       0.9089
      ],
      [
       18.3,
       0.9089
      ],
      [
       18.4,
       0.9089
      ],
      [
       18.5,
       0.9089
      ],
      [
       18.6,
       0.9089
      ],
      [
       18.7,
       0.9089
      ],
      [
       18.8,
       0.9696
      ]
     ],
     "total_reward": 1.9631,
     "initial_progress": 0.0,
     "final_progress": 0.9696,
     "physics_sha256": "7c5929e29e6d9cda9511d5bb00dffa0d91de113aa8999c62bacbed5765517f61",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001473189872660835,
       "final_progress": 0.001473189872660835,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 7.15573433840433e-18,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.33214285714285713,
       "final_progress": 0.33214285714285713,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.14786648330726224,
       "final_progress": 0.14786648330726224
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 940,
       "return": 1.9631288841230672,
       "final_progress": 0.9696428571428571
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    }
   }
  },
  {
   "example_id": "05cc0737d172d329a8f37c1e8011b332dbe18b5e6034e671fce66866b1e6f846",
   "recording_id": 5452,
   "task_number": 2,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "light wooden computer desk",
   "human_action": false,
   "description": "Slide the coffee mug across the light wooden computer desk among the patterned pillow and the round desk lamp onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the coffee mug across the light wooden computer desk among the patterned pillow and the round desk lamp onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 5452,
    "contributor_id": 7,
    "video": "media/source-5452-d3139cc9d9f0.mp4",
    "poster": "media/source-5452.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5452,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5452_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 71.85,
      "original_end_s": 91.85,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "bc61a3a8c0b6fbf47ba64cc479403c659c0cc3ef820a9d74b9016a382174095f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 2,
    "recording_observed": 4,
    "recording_added": 2,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "05cc0737d172-panda",
     "video": "media/sim-05cc0737d172-panda-s3.mp4",
     "poster": "media/sim-05cc0737d172-panda-s3.jpg",
     "trajectory": "trajectories/05cc0737d172-panda.json",
     "recipe": "recipes/05cc0737d172-panda.json",
     "seed": 3,
     "steps": 456,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0012
      ],
      [
       0.08,
       0.0043
      ],
      [
       0.12,
       0.0085
      ],
      [
       0.16,
       0.0133
      ],
      [
       0.2,
       0.0185
      ],
      [
       0.24,
       0.0243
      ],
      [
       0.28,
       0.0305
      ],
      [
       0.32,
       0.0371
      ],
      [
       0.36,
       0.0439
      ],
      [
       0.4,
       0.051
      ],
      [
       0.44,
       0.0583
      ],
      [
       0.48,
       0.0657
      ],
      [
       0.52,
       0.0731
      ],
      [
       0.56,
       0.0804
      ],
      [
       0.6,
       0.0875
      ],
      [
       0.64,
       0.0941
      ],
      [
       0.68,
       0.0999
      ],
      [
       0.72,
       0.1046
      ],
      [
       0.76,
       0.1077
      ],
      [
       0.8,
       0.1095
      ],
      [
       0.84,
       0.1108
      ],
      [
       0.88,
       0.112
      ],
      [
       0.92,
       0.1132
      ],
      [
       0.96,
       0.115
      ],
      [
       1.0,
       0.1174
      ],
      [
       1.04,
       0.1203
      ],
      [
       1.08,
       0.1231
      ],
      [
       1.12,
       0.126
      ],
      [
       1.16,
       0.1286
      ],
      [
       1.2,
       0.1307
      ],
      [
       1.24,
       0.1325
      ],
      [
       1.28,
       0.1349
      ],
      [
       1.32,
       0.1373
      ],
      [
       1.36,
       0.1391
      ],
      [
       1.4,
       0.1401
      ],
      [
       1.44,
       0.1402
      ],
      [
       1.48,
       0.1399
      ],
      [
       1.52,
       0.1392
      ],
      [
       1.56,
       0.1389
      ],
      [
       1.6,
       0.1392
      ],
      [
       1.64,
       0.1408
      ],
      [
       1.68,
       0.1424
      ],
      [
       1.72,
       0.1491
      ],
      [
       1.76,
       0.1633
      ],
      [
       1.8,
       0.1703
      ],
      [
       1.84,
       0.1793
      ],
      [
       1.88,
       0.1955
      ],
      [
       1.92,
       0.1992
      ],
      [
       1.96,
       0.2013
      ],
      [
       2.0,
       0.2041
      ],
      [
       2.04,
       0.2062
      ],
      [
       2.08,
       0.2075
      ],
      [
       2.12,
       0.2106
      ],
      [
       2.16,
       0.2146
      ],
      [
       2.2,
       0.2192
      ],
      [
       2.24,
       0.2247
      ],
      [
       2.28,
       0.23
      ],
      [
       2.32,
       0.2348
      ],
      [
       2.36,
       0.2404
      ],
      [
       2.4,
       0.2461
      ],
      [
       2.44,
       0.2518
      ],
      [
       2.48,
       0.2576
      ],
      [
       2.52,
       0.2631
      ],
      [
       2.56,
       0.2688
      ],
      [
       2.6,
       0.2744
      ],
      [
       2.64,
       0.2799
      ],
      [
       2.68,
       0.2856
      ],
      [
       2.72,
       0.2914
      ],
      [
       2.76,
       0.2975
      ],
      [
       2.8,
       0.3038
      ],
      [
       2.84,
       0.3104
      ],
      [
       2.88,
       0.3172
      ],
      [
       2.92,
       0.3243
      ],
      [
       2.96,
       0.3318
      ],
      [
       3.0,
       0.3395
      ],
      [
       3.04,
       0.3476
      ],
      [
       3.08,
       0.356
      ],
      [
       3.12,
       0.3648
      ],
      [
       3.16,
       0.374
      ],
      [
       3.2,
       0.3835
      ],
      [
       3.24,
       0.3935
      ],
      [
       3.28,
       0.4039
      ],
      [
       3.32,
       0.4147
      ],
      [
       3.36,
       0.4261
      ],
      [
       3.4,
       0.4377
      ],
      [
       3.44,
       0.4503
      ],
      [
       3.48,
       0.4636
      ],
      [
       3.52,
       0.4779
      ],
      [
       3.56,
       0.493
      ],
      [
       3.6,
       0.5095
      ],
      [
       3.64,
       0.527
      ],
      [
       3.68,
       0.5459
      ],
      [
       3.72,
       0.5661
      ],
      [
       3.76,
       0.5879
      ],
      [
       3.8,
       0.6116
      ],
      [
       3.84,
       0.6365
      ],
      [
       3.88,
       0.6631
      ],
      [
       3.92,
       0.6916
      ],
      [
       3.96,
       0.7225
      ],
      [
       4.0,
       0.7543
      ],
      [
       4.04,
       0.7879
      ],
      [
       4.08,
       0.8226
      ],
      [
       4.12,
       0.8589
      ],
      [
       4.16,
       0.8927
      ],
      [
       4.2,
       0.9244
      ],
      [
       4.24,
       0.9495
      ],
      [
       4.28,
       0.9473
      ],
      [
       4.32,
       0.9257
      ],
      [
       4.36,
       0.8986
      ],
      [
       4.4,
       0.8662
      ],
      [
       4.44,
       0.8292
      ],
      [
       4.48,
       0.7852
      ],
      [
       4.52,
       0.7432
      ],
      [
       4.56,
       0.6973
      ],
      [
       4.6,
       0.6505
      ],
      [
       4.64,
       0.6172
      ],
      [
       4.68,
       0.5958
      ],
      [
       4.72,
       0.6051
      ],
      [
       4.76,
       0.6013
      ],
      [
       4.8,
       0.6023
      ],
      [
       4.84,
       0.6016
      ],
      [
       4.88,
       0.6016
      ],
      [
       4.92,
       0.6016
      ],
      [
       4.96,
       0.6016
      ],
      [
       5.0,
       0.6016
      ],
      [
       5.04,
       0.6016
      ],
      [
       5.08,
       0.6016
      ],
      [
       5.12,
       0.6016
      ],
      [
       5.16,
       0.6016
      ],
      [
       5.2,
       0.6016
      ],
      [
       5.24,
       0.6016
      ],
      [
       5.28,
       0.6016
      ],
      [
       5.32,
       0.6016
      ],
      [
       5.36,
       0.6016
      ],
      [
       5.4,
       0.6016
      ],
      [
       5.44,
       0.6016
      ],
      [
       5.48,
       0.6016
      ],
      [
       5.52,
       0.6016
      ],
      [
       5.56,
       0.6016
      ],
      [
       5.6,
       0.6016
      ],
      [
       5.64,
       0.6016
      ],
      [
       5.68,
       0.6016
      ],
      [
       5.72,
       0.6016
      ],
      [
       5.76,
       0.6016
      ],
      [
       5.8,
       0.6016
      ],
      [
       5.84,
       0.6016
      ],
      [
       5.88,
       0.6016
      ],
      [
       5.92,
       0.6016
      ],
      [
       5.96,
       0.6016
      ],
      [
       6.0,
       0.6016
      ],
      [
       6.04,
       0.6016
      ],
      [
       6.08,
       0.6016
      ],
      [
       6.12,
       0.6016
      ],
      [
       6.16,
       0.6016
      ],
      [
       6.2,
       0.6016
      ],
      [
       6.24,
       0.6016
      ],
      [
       6.28,
       0.6016
      ],
      [
       6.32,
       0.6016
      ],
      [
       6.36,
       0.6016
      ],
      [
       6.4,
       0.6016
      ],
      [
       6.44,
       0.6016
      ],
      [
       6.48,
       0.6016
      ],
      [
       6.52,
       0.6016
      ],
      [
       6.56,
       0.6016
      ],
      [
       6.6,
       0.6016
      ],
      [
       6.64,
       0.6016
      ],
      [
       6.68,
       0.6016
      ],
      [
       6.72,
       0.6016
      ],
      [
       6.76,
       0.6016
      ],
      [
       6.8,
       0.6016
      ],
      [
       6.84,
       0.6016
      ],
      [
       6.88,
       0.6016
      ],
      [
       6.92,
       0.6016
      ],
      [
       6.96,
       0.6016
      ],
      [
       7.0,
       0.6016
      ],
      [
       7.04,
       0.6016
      ],
      [
       7.08,
       0.6016
      ],
      [
       7.12,
       0.6016
      ],
      [
       7.16,
       0.6016
      ],
      [
       7.2,
       0.6016
      ],
      [
       7.24,
       0.6016
      ],
      [
       7.28,
       0.6016
      ],
      [
       7.32,
       0.6016
      ],
      [
       7.36,
       0.6016
      ],
      [
       7.4,
       0.6016
      ],
      [
       7.44,
       0.6016
      ],
      [
       7.48,
       0.6016
      ],
      [
       7.52,
       0.6016
      ],
      [
       7.56,
       0.6016
      ],
      [
       7.6,
       0.6016
      ],
      [
       7.64,
       0.6016
      ],
      [
       7.68,
       0.6016
      ],
      [
       7.72,
       0.6016
      ],
      [
       7.76,
       0.6016
      ],
      [
       7.8,
       0.6016
      ],
      [
       7.84,
       0.6016
      ],
      [
       7.88,
       0.6016
      ],
      [
       7.92,
       0.6016
      ],
      [
       7.96,
       0.6016
      ],
      [
       8.0,
       0.6016
      ],
      [
       8.04,
       0.6016
      ],
      [
       8.08,
       0.6016
      ],
      [
       8.12,
       0.6016
      ],
      [
       8.16,
       0.6016
      ],
      [
       8.2,
       0.6016
      ],
      [
       8.24,
       0.6016
      ],
      [
       8.28,
       0.6016
      ],
      [
       8.32,
       0.6016
      ],
      [
       8.36,
       0.6016
      ],
      [
       8.4,
       0.6016
      ],
      [
       8.44,
       0.6016
      ],
      [
       8.48,
       0.6016
      ],
      [
       8.52,
       0.6016
      ],
      [
       8.56,
       0.6016
      ],
      [
       8.6,
       0.6016
      ],
      [
       8.64,
       0.6111
      ],
      [
       8.68,
       0.6281
      ],
      [
       8.72,
       0.6498
      ],
      [
       8.76,
       0.674
      ],
      [
       8.8,
       0.7019
      ],
      [
       8.84,
       0.7341
      ],
      [
       8.88,
       0.7694
      ],
      [
       8.92,
       0.8094
      ],
      [
       8.96,
       0.8508
      ],
      [
       9.0,
       0.8911
      ],
      [
       9.04,
       0.9346
      ],
      [
       9.08,
       0.9731
      ],
      [
       9.12,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "cf15d6ea7ec005e08186a16f5c2bb8fc87d416fe78cdfc6b908877c4d7315a30",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.06078291958469057,
       "final_progress": 0.06078291958469057,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.3927435714567835,
       "final_progress": 0.1072564285432165
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.4141504635512031,
       "final_progress": 0.0858495364487969
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.0933064942313658,
       "final_progress": 0.12686025686914879
      },
      {
       "layout_seed": 3,
       "outcome": "success",
       "steps": 456,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "coffee mug"
      },
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    },
    "aloha": {
     "gym_id": "05cc0737d172-aloha",
     "video": "media/sim-05cc0737d172-aloha-s0.mp4",
     "poster": "media/sim-05cc0737d172-aloha-s0.jpg",
     "trajectory": "trajectories/05cc0737d172-aloha.json",
     "recipe": "recipes/05cc0737d172-aloha.json",
     "seed": 0,
     "steps": 451,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0018
      ],
      [
       0.08,
       0.0054
      ],
      [
       0.12,
       0.01
      ],
      [
       0.16,
       0.0152
      ],
      [
       0.2,
       0.0209
      ],
      [
       0.24,
       0.0272
      ],
      [
       0.28,
       0.0339
      ],
      [
       0.32,
       0.0407
      ],
      [
       0.36,
       0.0472
      ],
      [
       0.4,
       0.0531
      ],
      [
       0.44,
       0.0581
      ],
      [
       0.48,
       0.0619
      ],
      [
       0.52,
       0.0647
      ],
      [
       0.56,
       0.0666
      ],
      [
       0.6,
       0.0676
      ],
      [
       0.64,
       0.068
      ],
      [
       0.68,
       0.0681
      ],
      [
       0.72,
       0.0679
      ],
      [
       0.76,
       0.0675
      ],
      [
       0.8,
       0.067
      ],
      [
       0.84,
       0.0665
      ],
      [
       0.88,
       0.0658
      ],
      [
       0.92,
       0.0653
      ],
      [
       0.96,
       0.066
      ],
      [
       1.0,
       0.0676
      ],
      [
       1.04,
       0.0694
      ],
      [
       1.08,
       0.0713
      ],
      [
       1.12,
       0.0732
      ],
      [
       1.16,
       0.0751
      ],
      [
       1.2,
       0.0771
      ],
      [
       1.24,
       0.0792
      ],
      [
       1.28,
       0.0814
      ],
      [
       1.32,
       0.0837
      ],
      [
       1.36,
       0.0862
      ],
      [
       1.4,
       0.0887
      ],
      [
       1.44,
       0.0912
      ],
      [
       1.48,
       0.0936
      ],
      [
       1.52,
       0.096
      ],
      [
       1.56,
       0.0984
      ],
      [
       1.6,
       0.1007
      ],
      [
       1.64,
       0.1031
      ],
      [
       1.68,
       0.1056
      ],
      [
       1.72,
       0.108
      ],
      [
       1.76,
       0.1105
      ],
      [
       1.8,
       0.113
      ],
      [
       1.84,
       0.1153
      ],
      [
       1.88,
       0.1173
      ],
      [
       1.92,
       0.1188
      ],
      [
       1.96,
       0.1202
      ],
      [
       2.0,
       0.1219
      ],
      [
       2.04,
       0.1239
      ],
      [
       2.08,
       0.1258
      ],
      [
       2.12,
       0.1274
      ],
      [
       2.16,
       0.1286
      ],
      [
       2.2,
       0.1447
      ],
      [
       2.24,
       0.1563
      ],
      [
       2.28,
       0.1682
      ],
      [
       2.32,
       0.202
      ],
      [
       2.36,
       0.2154
      ],
      [
       2.4,
       0.2285
      ],
      [
       2.44,
       0.2416
      ],
      [
       2.48,
       0.2539
      ],
      [
       2.52,
       0.2668
      ],
      [
       2.56,
       0.2803
      ],
      [
       2.6,
       0.2965
      ],
      [
       2.64,
       0.3151
      ],
      [
       2.68,
       0.3355
      ],
      [
       2.72,
       0.3567
      ],
      [
       2.76,
       0.3774
      ],
      [
       2.8,
       0.4004
      ],
      [
       2.84,
       0.4186
      ],
      [
       2.88,
       0.4335
      ],
      [
       2.92,
       0.4473
      ],
      [
       2.96,
       0.4604
      ],
      [
       3.0,
       0.4728
      ],
      [
       3.04,
       0.4844
      ],
      [
       3.08,
       0.4962
      ],
      [
       3.12,
       0.5091
      ],
      [
       3.16,
       0.5226
      ],
      [
       3.2,
       0.5376
      ],
      [
       3.24,
       0.5531
      ],
      [
       3.28,
       0.5588
      ],
      [
       3.32,
       0.5521
      ],
      [
       3.36,
       0.5482
      ],
      [
       3.4,
       0.5476
      ],
      [
       3.44,
       0.5489
      ],
      [
       3.48,
       0.5506
      ],
      [
       3.52,
       0.5518
      ],
      [
       3.56,
       0.5523
      ],
      [
       3.6,
       0.5542
      ],
      [
       3.64,
       0.5547
      ],
      [
       3.68,
       0.5548
      ],
      [
       3.72,
       0.5584
      ],
      [
       3.76,
       0.5595
      ],
      [
       3.8,
       0.5603
      ],
      [
       3.84,
       0.5602
      ],
      [
       3.88,
       0.5609
      ],
      [
       3.92,
       0.5616
      ],
      [
       3.96,
       0.5624
      ],
      [
       4.0,
       0.5627
      ],
      [
       4.04,
       0.5631
      ],
      [
       4.08,
       0.5633
      ],
      [
       4.12,
       0.5637
      ],
      [
       4.16,
       0.564
      ],
      [
       4.2,
       0.5643
      ],
      [
       4.24,
       0.5639
      ],
      [
       4.28,
       0.5642
      ],
      [
       4.32,
       0.5645
      ],
      [
       4.36,
       0.5648
      ],
      [
       4.4,
       0.5645
      ],
      [
       4.44,
       0.5648
      ],
      [
       4.48,
       0.565
      ],
      [
       4.52,
       0.5651
      ],
      [
       4.56,
       0.5653
      ],
      [
       4.6,
       0.5653
      ],
      [
       4.64,
       0.5651
      ],
      [
       4.68,
       0.5654
      ],
      [
       4.72,
       0.5655
      ],
      [
       4.76,
       0.5658
      ],
      [
       4.8,
       0.566
      ],
      [
       4.84,
       0.5659
      ],
      [
       4.88,
       0.5658
      ],
      [
       4.92,
       0.5658
      ],
      [
       4.96,
       0.566
      ],
      [
       5.0,
       0.5661
      ],
      [
       5.04,
       0.5665
      ],
      [
       5.08,
       0.5669
      ],
      [
       5.12,
       0.5672
      ],
      [
       5.16,
       0.5673
      ],
      [
       5.2,
       0.568
      ],
      [
       5.24,
       0.5681
      ],
      [
       5.28,
       0.569
      ],
      [
       5.32,
       0.5684
      ],
      [
       5.36,
       0.5606
      ],
      [
       5.4,
       0.5511
      ],
      [
       5.44,
       0.5415
      ],
      [
       5.48,
       0.5289
      ],
      [
       5.52,
       0.5349
      ],
      [
       5.56,
       0.5402
      ],
      [
       5.6,
       0.5447
      ],
      [
       5.64,
       0.549
      ],
      [
       5.68,
       0.5533
      ],
      [
       5.72,
       0.5576
      ],
      [
       5.76,
       0.5618
      ],
      [
       5.8,
       0.5659
      ],
      [
       5.84,
       0.5699
      ],
      [
       5.88,
       0.5739
      ],
      [
       5.92,
       0.5778
      ],
      [
       5.96,
       0.5817
      ],
      [
       6.0,
       0.5854
      ],
      [
       6.04,
       0.5891
      ],
      [
       6.08,
       0.5928
      ],
      [
       6.12,
       0.5964
      ],
      [
       6.16,
       0.5999
      ],
      [
       6.2,
       0.6033
      ],
      [
       6.24,
       0.6068
      ],
      [
       6.28,
       0.6117
      ],
      [
       6.32,
       0.6157
      ],
      [
       6.36,
       0.6198
      ],
      [
       6.4,
       0.6252
      ],
      [
       6.44,
       0.6291
      ],
      [
       6.48,
       0.6335
      ],
      [
       6.52,
       0.6371
      ],
      [
       6.56,
       0.6405
      ],
      [
       6.6,
       0.644
      ],
      [
       6.64,
       0.6475
      ],
      [
       6.68,
       0.6514
      ],
      [
       6.72,
       0.6557
      ],
      [
       6.76,
       0.6593
      ],
      [
       6.8,
       0.6636
      ],
      [
       6.84,
       0.6668
      ],
      [
       6.88,
       0.6695
      ],
      [
       6.92,
       0.6719
      ],
      [
       6.96,
       0.6743
      ],
      [
       7.0,
       0.6769
      ],
      [
       7.04,
       0.6795
      ],
      [
       7.08,
       0.6821
      ],
      [
       7.12,
       0.6847
      ],
      [
       7.16,
       0.6875
      ],
      [
       7.2,
       0.6902
      ],
      [
       7.24,
       0.6926
      ],
      [
       7.28,
       0.695
      ],
      [
       7.32,
       0.6973
      ],
      [
       7.36,
       0.6994
      ],
      [
       7.4,
       0.7018
      ],
      [
       7.44,
       0.7041
      ],
      [
       7.48,
       0.7065
      ],
      [
       7.52,
       0.7088
      ],
      [
       7.56,
       0.7111
      ],
      [
       7.6,
       0.7133
      ],
      [
       7.64,
       0.7155
      ],
      [
       7.68,
       0.7176
      ],
      [
       7.72,
       0.7197
      ],
      [
       7.76,
       0.722
      ],
      [
       7.8,
       0.7239
      ],
      [
       7.84,
       0.7265
      ],
      [
       7.88,
       0.7293
      ],
      [
       7.92,
       0.7347
      ],
      [
       7.96,
       0.7387
      ],
      [
       8.0,
       0.7435
      ],
      [
       8.04,
       0.7491
      ],
      [
       8.08,
       0.7556
      ],
      [
       8.12,
       0.7631
      ],
      [
       8.16,
       0.7716
      ],
      [
       8.2,
       0.781
      ],
      [
       8.24,
       0.7926
      ],
      [
       8.28,
       0.8036
      ],
      [
       8.32,
       0.8169
      ],
      [
       8.36,
       0.8304
      ],
      [
       8.4,
       0.8468
      ],
      [
       8.44,
       0.8648
      ],
      [
       8.48,
       0.8826
      ],
      [
       8.52,
       0.9025
      ],
      [
       8.56,
       0.9237
      ],
      [
       8.6,
       0.9469
      ],
      [
       8.64,
       0.9741
      ],
      [
       8.68,
       1.0
      ],
      [
       8.72,
       1.0
      ],
      [
       8.76,
       1.0
      ],
      [
       8.8,
       1.0
      ],
      [
       8.84,
       1.0
      ],
      [
       8.88,
       1.0
      ],
      [
       8.92,
       1.0
      ],
      [
       8.96,
       1.0
      ],
      [
       9.0,
       1.0
      ],
      [
       9.02,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8a1fb0ea5ff8bc62acce1e3f95bb523bad22cfcfda04a02417f0fba0aee5ad6a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0012921175379360715,
       "final_progress": 0.0012921175379360715,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.049640350962570766,
       "final_progress": 0.049640350962570766,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": -0.4662800233750253,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 451,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "coffee mug"
      },
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    }
   }
  },
  {
   "example_id": "fd2dc007b231a67e24ed5bd5ad3db9453a244554c99fc68f150608b6b3aa3af0",
   "recording_id": 5452,
   "task_number": 3,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "light wooden computer desk",
   "human_action": false,
   "description": "Grasp the puzzle cube from among the black monitor and the round desk lamp, lift it clear and set it down on the marked zone on the light wooden computer desk.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the puzzle cube from among the black monitor and the round desk lamp, lift it clear and set it down on the marked zone on the light wooden computer desk.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 5452,
    "contributor_id": 7,
    "video": "media/source-5452-d3139cc9d9f0.mp4",
    "poster": "media/source-5452.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5452,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5452_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 71.85,
      "original_end_s": 91.85,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "bc61a3a8c0b6fbf47ba64cc479403c659c0cc3ef820a9d74b9016a382174095f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 3,
    "recording_observed": 4,
    "recording_added": 2,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "fd2dc007b231-panda",
     "video": "media/sim-fd2dc007b231-panda-s0.mp4",
     "poster": "media/sim-fd2dc007b231-panda-s0.jpg",
     "trajectory": "trajectories/fd2dc007b231-panda.json",
     "recipe": "recipes/fd2dc007b231-panda.json",
     "seed": 0,
     "steps": 300,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0004
      ],
      [
       0.82,
       0.0036
      ],
      [
       0.84,
       0.0071
      ],
      [
       0.86,
       0.0107
      ],
      [
       0.88,
       0.0144
      ],
      [
       0.9,
       0.0184
      ],
      [
       0.92,
       0.0225
      ],
      [
       0.94,
       0.0267
      ],
      [
       0.96,
       0.0309
      ],
      [
       0.98,
       0.035
      ],
      [
       1.0,
       0.039
      ],
      [
       1.02,
       0.0429
      ],
      [
       1.04,
       0.0466
      ],
      [
       1.06,
       0.0501
      ],
      [
       1.08,
       0.0532
      ],
      [
       1.1,
       0.0562
      ],
      [
       1.12,
       0.059
      ],
      [
       1.14,
       0.0616
      ],
      [
       1.16,
       0.0642
      ],
      [
       1.18,
       0.0666
      ],
      [
       1.2,
       0.069
      ],
      [
       1.22,
       0.0713
      ],
      [
       1.24,
       0.0736
      ],
      [
       1.26,
       0.0758
      ],
      [
       1.28,
       0.0781
      ],
      [
       1.3,
       0.0804
      ],
      [
       1.32,
       0.0826
      ],
      [
       1.34,
       0.0848
      ],
      [
       1.36,
       0.087
      ],
      [
       1.38,
       0.0891
      ],
      [
       1.4,
       0.0913
      ],
      [
       1.42,
       0.0935
      ],
      [
       1.44,
       0.0959
      ],
      [
       1.46,
       0.0983
      ],
      [
       1.48,
       0.1006
      ],
      [
       1.5,
       0.1028
      ],
      [
       1.52,
       0.1048
      ],
      [
       1.54,
       0.1067
      ],
      [
       1.56,
       0.1085
      ],
      [
       1.58,
       0.1105
      ],
      [
       1.6,
       0.1125
      ],
      [
       1.62,
       0.1146
      ],
      [
       1.64,
       0.1168
      ],
      [
       1.66,
       0.119
      ],
      [
       1.68,
       0.1212
      ],
      [
       1.7,
       0.1234
      ],
      [
       1.72,
       0.1257
      ],
      [
       1.74,
       0.1281
      ],
      [
       1.76,
       0.1305
      ],
      [
       1.78,
       0.133
      ],
      [
       1.8,
       0.1357
      ],
      [
       1.82,
       0.1384
      ],
      [
       1.84,
       0.1413
      ],
      [
       1.86,
       0.1445
      ],
      [
       1.88,
       0.148
      ],
      [
       1.9,
       0.1474
      ],
      [
       1.92,
       0.1458
      ],
      [
       1.94,
       0.1451
      ],
      [
       1.96,
       0.1453
      ],
      [
       1.98,
       0.1458
      ],
      [
       2.0,
       0.1463
      ],
      [
       2.02,
       0.1466
      ],
      [
       2.04,
       0.1469
      ],
      [
       2.06,
       0.147
      ],
      [
       2.08,
       0.1471
      ],
      [
       2.1,
       0.1472
      ],
      [
       2.12,
       0.1472
      ],
      [
       2.14,
       0.1472
      ],
      [
       2.16,
       0.1472
      ],
      [
       2.18,
       0.1473
      ],
      [
       2.2,
       0.1473
      ],
      [
       2.22,
       0.1473
      ],
      [
       2.24,
       0.1473
      ],
      [
       2.26,
       0.1473
      ],
      [
       2.28,
       0.1473
      ],
      [
       2.3,
       0.1473
      ],
      [
       2.32,
       0.1473
      ],
      [
       2.34,
       0.1473
      ],
      [
       2.36,
       0.1473
      ],
      [
       2.38,
       0.1474
      ],
      [
       2.4,
       0.1472
      ],
      [
       2.42,
       0.1471
      ],
      [
       2.44,
       0.1469
      ],
      [
       2.46,
       0.1468
      ],
      [
       2.48,
       0.1468
      ],
      [
       2.5,
       0.1468
      ],
      [
       2.52,
       0.1468
      ],
      [
       2.54,
       0.1469
      ],
      [
       2.56,
       0.1469
      ],
      [
       2.58,
       0.1469
      ],
      [
       2.6,
       0.147
      ],
      [
       2.62,
       0.147
      ],
      [
       2.64,
       0.147
      ],
      [
       2.66,
       0.147
      ],
      [
       2.68,
       0.147
      ],
      [
       2.7,
       0.147
      ],
      [
       2.72,
       0.1471
      ],
      [
       2.74,
       0.1471
      ],
      [
       2.76,
       0.1471
      ],
      [
       2.78,
       0.1471
      ],
      [
       2.8,
       0.1471
      ],
      [
       2.82,
       0.1471
      ],
      [
       2.84,
       0.1472
      ],
      [
       2.86,
       0.1472
      ],
      [
       2.88,
       0.1472
      ],
      [
       2.9,
       0.1472
      ],
      [
       2.92,
       0.1472
      ],
      [
       2.94,
       0.1472
      ],
      [
       2.96,
       0.4
      ],
      [
       2.98,
       0.4
      ],
      [
       3.0,
       0.4
      ],
      [
       3.02,
       0.4
      ],
      [
       3.04,
       0.4
      ],
      [
       3.06,
       0.4
      ],
      [
       3.08,
       0.4
      ],
      [
       3.1,
       0.4
      ],
      [
       3.12,
       0.4
      ],
      [
       3.14,
       0.4
      ],
      [
       3.16,
       0.4
      ],
      [
       3.18,
       0.4
      ],
      [
       3.2,
       0.4
      ],
      [
       3.22,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.26,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.3,
       0.4
      ],
      [
       3.32,
       0.4
      ],
      [
       3.34,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.38,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.42,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.46,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.5,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.54,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.58,
       0.4009
      ],
      [
       3.6,
       0.4067
      ],
      [
       3.62,
       0.4183
      ],
      [
       3.64,
       0.434
      ],
      [
       3.66,
       0.4525
      ],
      [
       3.68,
       0.4733
      ],
      [
       3.7,
       0.4958
      ],
      [
       3.72,
       0.5196
      ],
      [
       3.74,
       0.5448
      ],
      [
       3.76,
       0.5712
      ],
      [
       3.78,
       0.5987
      ],
      [
       3.8,
       0.6271
      ],
      [
       3.82,
       0.6562
      ],
      [
       3.84,
       0.6861
      ],
      [
       3.86,
       0.7166
      ],
      [
       3.88,
       0.7476
      ],
      [
       3.9,
       0.7791
      ],
      [
       3.92,
       0.811
      ],
      [
       3.94,
       0.8432
      ],
      [
       3.96,
       0.8756
      ],
      [
       3.98,
       0.9
      ],
      [
       4.0,
       0.9
      ],
      [
       4.02,
       0.9
      ],
      [
       4.04,
       0.9
      ],
      [
       4.06,
       0.9
      ],
      [
       4.08,
       0.9
      ],
      [
       4.1,
       0.9
      ],
      [
       4.12,
       0.9
      ],
      [
       4.14,
       0.9
      ],
      [
       4.16,
       0.9
      ],
      [
       4.18,
       0.9
      ],
      [
       4.2,
       0.9
      ],
      [
       4.22,
       0.9
      ],
      [
       4.24,
       0.9
      ],
      [
       4.26,
       0.9
      ],
      [
       4.28,
       0.9
      ],
      [
       4.3,
       0.9
      ],
      [
       4.32,
       0.9
      ],
      [
       4.34,
       0.9
      ],
      [
       4.36,
       0.9
      ],
      [
       4.38,
       0.9
      ],
      [
       4.4,
       0.9
      ],
      [
       4.42,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.46,
       0.9
      ],
      [
       4.48,
       0.9
      ],
      [
       4.5,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.54,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.58,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.62,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.66,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.7,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.74,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.78,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.82,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.86,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.9,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.94,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       4.98,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.02,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.06,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.1,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.14,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.18,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.22,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.26,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.3,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.34,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.38,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.42,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.46,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.5,
       0.9
      ],
      [
       5.52,
       1.0
      ],
      [
       5.54,
       1.0
      ],
      [
       5.56,
       1.0
      ],
      [
       5.58,
       1.0
      ],
      [
       5.6,
       1.0
      ],
      [
       5.62,
       1.0
      ],
      [
       5.64,
       1.0
      ],
      [
       5.66,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.7,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.74,
       1.0
      ],
      [
       5.76,
       1.0
      ],
      [
       5.78,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.82,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.86,
       1.0
      ],
      [
       5.88,
       1.0
      ],
      [
       5.9,
       1.0
      ],
      [
       5.92,
       1.0
      ],
      [
       5.94,
       1.0
      ],
      [
       5.96,
       1.0
      ],
      [
       5.98,
       1.0
      ],
      [
       6.0,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "979c2b36ec936033bfdb87846bdc5adde4758fe4ebdd1296fe5ed15d018dce97",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 2.752857078576476e-21,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.0353239995247536,
       "final_progress": 0.0353239995247536,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 300,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx20",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    },
    "aloha": {
     "gym_id": "fd2dc007b231-aloha",
     "video": "media/sim-fd2dc007b231-aloha-s1.mp4",
     "poster": "media/sim-fd2dc007b231-aloha-s1.jpg",
     "trajectory": "trajectories/fd2dc007b231-aloha.json",
     "recipe": "recipes/fd2dc007b231-aloha.json",
     "seed": 1,
     "steps": 942,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0031
      ],
      [
       0.2,
       0.0077
      ],
      [
       0.3,
       0.0128
      ],
      [
       0.4,
       0.0186
      ],
      [
       0.5,
       0.0253
      ],
      [
       0.6,
       0.0328
      ],
      [
       0.7,
       0.0414
      ],
      [
       0.8,
       0.0513
      ],
      [
       0.9,
       0.0625
      ],
      [
       1.0,
       0.0751
      ],
      [
       1.1,
       0.0849
      ],
      [
       1.2,
       0.0906
      ],
      [
       1.3,
       0.1003
      ],
      [
       1.4,
       0.1104
      ],
      [
       1.5,
       0.1162
      ],
      [
       1.6,
       0.1209
      ],
      [
       1.7,
       0.1233
      ],
      [
       1.8,
       0.1231
      ],
      [
       1.9,
       0.1231
      ],
      [
       2.0,
       0.1236
      ],
      [
       2.1,
       0.1243
      ],
      [
       2.2,
       0.125
      ],
      [
       2.3,
       0.1258
      ],
      [
       2.4,
       0.1268
      ],
      [
       2.5,
       0.1277
      ],
      [
       2.6,
       0.1287
      ],
      [
       2.7,
       0.1296
      ],
      [
       2.8,
       0.1302
      ],
      [
       2.9,
       0.1307
      ],
      [
       3.0,
       0.1311
      ],
      [
       3.1,
       0.1316
      ],
      [
       3.2,
       0.132
      ],
      [
       3.3,
       0.1326
      ],
      [
       3.4,
       0.133
      ],
      [
       3.5,
       0.1335
      ],
      [
       3.6,
       0.1341
      ],
      [
       3.7,
       0.1345
      ],
      [
       3.8,
       0.1349
      ],
      [
       3.9,
       0.1355
      ],
      [
       4.0,
       0.1366
      ],
      [
       4.1,
       0.1394
      ],
      [
       4.2,
       0.1401
      ],
      [
       4.3,
       0.1408
      ],
      [
       4.4,
       0.1415
      ],
      [
       4.5,
       0.1426
      ],
      [
       4.6,
       0.1441
      ],
      [
       4.7,
       0.144
      ],
      [
       4.8,
       0.1438
      ],
      [
       4.9,
       0.1437
      ],
      [
       5.0,
       0.1437
      ],
      [
       5.1,
       0.1439
      ],
      [
       5.2,
       0.1439
      ],
      [
       5.3,
       0.144
      ],
      [
       5.4,
       0.1446
      ],
      [
       5.5,
       0.1451
      ],
      [
       5.6,
       0.1457
      ],
      [
       5.7,
       0.1461
      ],
      [
       5.8,
       0.1462
      ],
      [
       5.9,
       0.1459
      ],
      [
       6.0,
       0.1449
      ],
      [
       6.1,
       0.1431
      ],
      [
       6.2,
       0.1414
      ],
      [
       6.3,
       0.1413
      ],
      [
       6.4,
       0.1413
      ],
      [
       6.5,
       0.1413
      ],
      [
       6.6,
       0.1413
      ],
      [
       6.7,
       0.1414
      ],
      [
       6.8,
       0.1414
      ],
      [
       6.9,
       0.1414
      ],
      [
       7.0,
       0.1414
      ],
      [
       7.1,
       0.1414
      ],
      [
       7.2,
       0.1415
      ],
      [
       7.3,
       0.1417
      ],
      [
       7.4,
       0.1419
      ],
      [
       7.5,
       0.1422
      ],
      [
       7.6,
       0.1419
      ],
      [
       7.7,
       0.1414
      ],
      [
       7.8,
       0.1413
      ],
      [
       7.9,
       0.1412
      ],
      [
       8.0,
       0.141
      ],
      [
       8.1,
       0.1377
      ],
      [
       8.2,
       0.1376
      ],
      [
       8.3,
       0.4
      ],
      [
       8.4,
       0.4
      ],
      [
       8.5,
       0.4
      ],
      [
       8.6,
       0.4
      ],
      [
       8.7,
       0.4
      ],
      [
       8.8,
       0.4
      ],
      [
       8.9,
       0.4
      ],
      [
       9.0,
       0.4
      ],
      [
       9.1,
       0.4
      ],
      [
       9.2,
       0.4
      ],
      [
       9.3,
       0.4
      ],
      [
       9.4,
       0.4
      ],
      [
       9.5,
       0.4
      ],
      [
       9.6,
       0.4
      ],
      [
       9.7,
       0.4
      ],
      [
       9.8,
       0.4
      ],
      [
       9.9,
       0.4
      ],
      [
       10.0,
       0.4
      ],
      [
       10.1,
       0.4
      ],
      [
       10.2,
       0.4
      ],
      [
       10.3,
       0.4
      ],
      [
       10.4,
       0.4
      ],
      [
       10.5,
       0.4
      ],
      [
       10.6,
       0.4
      ],
      [
       10.7,
       0.4
      ],
      [
       10.8,
       0.4
      ],
      [
       10.9,
       0.4
      ],
      [
       11.0,
       0.4
      ],
      [
       11.1,
       0.4
      ],
      [
       11.2,
       0.4
      ],
      [
       11.3,
       0.4
      ],
      [
       11.4,
       0.4
      ],
      [
       11.5,
       0.4
      ],
      [
       11.6,
       0.4
      ],
      [
       11.7,
       0.4
      ],
      [
       11.8,
       0.4
      ],
      [
       11.9,
       0.4289
      ],
      [
       12.0,
       0.4997
      ],
      [
       12.1,
       0.577
      ],
      [
       12.2,
       0.659
      ],
      [
       12.3,
       0.7446
      ],
      [
       12.4,
       0.8337
      ],
      [
       12.5,
       0.9
      ],
      [
       12.6,
       0.9
      ],
      [
       12.7,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.9,
       0.9
      ],
      [
       13.0,
       0.9
      ],
      [
       13.1,
       0.9
      ],
      [
       13.2,
       0.8676
      ],
      [
       13.3,
       0.8191
      ],
      [
       13.4,
       0.7785
      ],
      [
       13.5,
       0.7457
      ],
      [
       13.6,
       0.7202
      ],
      [
       13.7,
       0.7016
      ],
      [
       13.8,
       0.6897
      ],
      [
       13.9,
       0.6838
      ],
      [
       14.0,
       0.6839
      ],
      [
       14.1,
       0.6901
      ],
      [
       14.2,
       0.702
      ],
      [
       14.3,
       0.719
      ],
      [
       14.4,
       0.7407
      ],
      [
       14.5,
       0.7664
      ],
      [
       14.6,
       0.7957
      ],
      [
       14.7,
       0.8282
      ],
      [
       14.8,
       0.8635
      ],
      [
       14.9,
       0.9
      ],
      [
       15.0,
       0.9
      ],
      [
       15.1,
       0.9
      ],
      [
       15.2,
       0.9
      ],
      [
       15.3,
       0.9
      ],
      [
       15.4,
       0.9
      ],
      [
       15.5,
       0.9
      ],
      [
       15.6,
       0.9
      ],
      [
       15.7,
       0.9
      ],
      [
       15.8,
       0.9
      ],
      [
       15.9,
       0.9
      ],
      [
       16.0,
       0.9
      ],
      [
       16.1,
       0.9
      ],
      [
       16.2,
       0.9
      ],
      [
       16.3,
       0.9
      ],
      [
       16.4,
       0.9
      ],
      [
       16.5,
       0.9
      ],
      [
       16.6,
       0.9
      ],
      [
       16.7,
       0.9
      ],
      [
       16.8,
       0.9
      ],
      [
       16.9,
       0.9
      ],
      [
       17.0,
       0.9
      ],
      [
       17.1,
       0.9
      ],
      [
       17.2,
       0.9
      ],
      [
       17.3,
       0.9
      ],
      [
       17.4,
       0.9
      ],
      [
       17.5,
       0.9
      ],
      [
       17.6,
       0.9
      ],
      [
       17.7,
       0.9
      ],
      [
       17.8,
       0.9
      ],
      [
       17.9,
       1.0
      ],
      [
       18.0,
       1.0
      ],
      [
       18.1,
       0.9
      ],
      [
       18.2,
       0.9
      ],
      [
       18.3,
       1.0
      ],
      [
       18.4,
       1.0
      ],
      [
       18.5,
       1.0
      ],
      [
       18.6,
       1.0
      ],
      [
       18.7,
       1.0
      ],
      [
       18.8,
       1.0
      ],
      [
       18.84,
       1.0
      ]
     ],
     "total_reward": 1.9613,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "9cc46c55dae50bda94a1d51fa9400773cd14025e8106050649f08b9fb81ce541",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0008181065436690171,
       "final_progress": 0.0008181065436690171,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.8349379423338251,
       "final_progress": 0.873649415187445,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7160473101421528,
       "final_progress": 0.8050233665732941
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 942,
       "return": 1.96128852714638,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "puzzle_cube_ctx20",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    }
   }
  },
  {
   "example_id": "becaeb78d898100e824969e932bd6bd427f68d39098346a2ecdc26ab34712f37",
   "recording_id": 5452,
   "task_number": 4,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "light wooden computer desk",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the light wooden computer desk among the patterned pillow and the black power bank with cable and pull the drawer 6 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the light wooden computer desk among the patterned pillow and the black power bank with cable and pull the drawer 6 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22656 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 5452,
    "contributor_id": 7,
    "video": "media/source-5452-d3139cc9d9f0.mp4",
    "poster": "media/source-5452.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5452,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5452_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 71.85,
      "original_end_s": 91.85,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "bc61a3a8c0b6fbf47ba64cc479403c659c0cc3ef820a9d74b9016a382174095f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d3139cc9d9f000fc929252190bd130eb82a58d80f61706215be6d3d49d8421e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 3,
    "recording_observed": 4,
    "recording_added": 2,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "becaeb78d898-panda",
     "video": "media/sim-becaeb78d898-panda-s0.mp4",
     "poster": "media/sim-becaeb78d898-panda-s0.jpg",
     "trajectory": "trajectories/becaeb78d898-panda.json",
     "recipe": "recipes/becaeb78d898-panda.json",
     "seed": 0,
     "steps": 227,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0032
      ],
      [
       1.32,
       0.0067
      ],
      [
       1.34,
       0.0102
      ],
      [
       1.36,
       0.0139
      ],
      [
       1.38,
       0.0175
      ],
      [
       1.4,
       0.0211
      ],
      [
       1.42,
       0.0247
      ],
      [
       1.44,
       0.028
      ],
      [
       1.46,
       0.0312
      ],
      [
       1.48,
       0.0343
      ],
      [
       1.5,
       0.0371
      ],
      [
       1.52,
       0.0396
      ],
      [
       1.54,
       0.0418
      ],
      [
       1.56,
       0.0439
      ],
      [
       1.58,
       0.0458
      ],
      [
       1.6,
       0.0475
      ],
      [
       1.62,
       0.049
      ],
      [
       1.64,
       0.0504
      ],
      [
       1.66,
       0.0516
      ],
      [
       1.68,
       0.0529
      ],
      [
       1.7,
       0.0541
      ],
      [
       1.72,
       0.0553
      ],
      [
       1.74,
       0.0565
      ],
      [
       1.76,
       0.0577
      ],
      [
       1.78,
       0.0588
      ],
      [
       1.8,
       0.0599
      ],
      [
       1.82,
       0.061
      ],
      [
       1.84,
       0.0621
      ],
      [
       1.86,
       0.0632
      ],
      [
       1.88,
       0.0642
      ],
      [
       1.9,
       0.0653
      ],
      [
       1.92,
       0.0663
      ],
      [
       1.94,
       0.0674
      ],
      [
       1.96,
       0.0685
      ],
      [
       1.98,
       0.0696
      ],
      [
       2.0,
       0.0707
      ],
      [
       2.02,
       0.0718
      ],
      [
       2.04,
       0.0729
      ],
      [
       2.06,
       0.0741
      ],
      [
       2.08,
       0.0753
      ],
      [
       2.1,
       0.0766
      ],
      [
       2.12,
       0.0779
      ],
      [
       2.14,
       0.0792
      ],
      [
       2.16,
       0.0806
      ],
      [
       2.18,
       0.082
      ],
      [
       2.2,
       0.0835
      ],
      [
       2.22,
       0.085
      ],
      [
       2.24,
       0.0867
      ],
      [
       2.26,
       0.0884
      ],
      [
       2.28,
       0.0901
      ],
      [
       2.3,
       0.092
      ],
      [
       2.32,
       0.094
      ],
      [
       2.34,
       0.096
      ],
      [
       2.36,
       0.0982
      ],
      [
       2.38,
       0.1006
      ],
      [
       2.4,
       0.1031
      ],
      [
       2.42,
       0.1058
      ],
      [
       2.44,
       0.1086
      ],
      [
       2.46,
       0.1112
      ],
      [
       2.48,
       0.1135
      ],
      [
       2.5,
       0.1156
      ],
      [
       2.52,
       0.1176
      ],
      [
       2.54,
       0.1194
      ],
      [
       2.56,
       0.1211
      ],
      [
       2.58,
       0.1227
      ],
      [
       2.6,
       0.1241
      ],
      [
       2.62,
       0.1254
      ],
      [
       2.64,
       0.1268
      ],
      [
       2.66,
       0.1283
      ],
      [
       2.68,
       0.1302
      ],
      [
       2.7,
       0.1322
      ],
      [
       2.72,
       0.1344
      ],
      [
       2.74,
       0.1366
      ],
      [
       2.76,
       0.1389
      ],
      [
       2.78,
       0.1413
      ],
      [
       2.8,
       0.1438
      ],
      [
       2.82,
       0.1463
      ],
      [
       2.84,
       0.1469
      ],
      [
       2.86,
       0.1531
      ],
      [
       2.88,
       0.146
      ],
      [
       2.9,
       0.1463
      ],
      [
       2.92,
       0.1465
      ],
      [
       2.94,
       0.1466
      ],
      [
       2.96,
       0.1466
      ],
      [
       2.98,
       0.1466
      ],
      [
       3.0,
       0.1466
      ],
      [
       3.02,
       0.1466
      ],
      [
       3.04,
       0.1466
      ],
      [
       3.06,
       0.1466
      ],
      [
       3.08,
       0.1467
      ],
      [
       3.1,
       0.1467
      ],
      [
       3.12,
       0.1467
      ],
      [
       3.14,
       0.1468
      ],
      [
       3.16,
       0.1468
      ],
      [
       3.18,
       0.1475
      ],
      [
       3.2,
       0.1518
      ],
      [
       3.22,
       0.1571
      ],
      [
       3.24,
       0.1632
      ],
      [
       3.26,
       0.1701
      ],
      [
       3.28,
       0.1779
      ],
      [
       3.3,
       0.1865
      ],
      [
       3.32,
       0.1958
      ],
      [
       3.34,
       0.2058
      ],
      [
       3.36,
       0.2098
      ],
      [
       3.38,
       0.21
      ],
      [
       3.4,
       0.2097
      ],
      [
       3.42,
       0.2095
      ],
      [
       3.44,
       0.2096
      ],
      [
       3.46,
       0.2103
      ],
      [
       3.48,
       0.2119
      ],
      [
       3.5,
       0.2161
      ],
      [
       3.52,
       0.2244
      ],
      [
       3.54,
       0.2361
      ],
      [
       3.56,
       0.25
      ],
      [
       3.58,
       0.265
      ],
      [
       3.6,
       0.2803
      ],
      [
       3.62,
       0.2989
      ],
      [
       3.64,
       0.3146
      ],
      [
       3.66,
       0.3306
      ],
      [
       3.68,
       0.3471
      ],
      [
       3.7,
       0.3641
      ],
      [
       3.72,
       0.3816
      ],
      [
       3.74,
       0.3997
      ],
      [
       3.76,
       0.4182
      ],
      [
       3.78,
       0.4373
      ],
      [
       3.8,
       0.4567
      ],
      [
       3.82,
       0.4767
      ],
      [
       3.84,
       0.497
      ],
      [
       3.86,
       0.5179
      ],
      [
       3.88,
       0.5391
      ],
      [
       3.9,
       0.5609
      ],
      [
       3.92,
       0.583
      ],
      [
       3.94,
       0.6055
      ],
      [
       3.96,
       0.6284
      ],
      [
       3.98,
       0.6517
      ],
      [
       4.0,
       0.6753
      ],
      [
       4.02,
       0.6993
      ],
      [
       4.04,
       0.7237
      ],
      [
       4.06,
       0.7484
      ],
      [
       4.08,
       0.7735
      ],
      [
       4.1,
       0.7988
      ],
      [
       4.12,
       0.8245
      ],
      [
       4.14,
       0.8505
      ],
      [
       4.16,
       0.8767
      ],
      [
       4.18,
       0.9032
      ],
      [
       4.2,
       0.9299
      ],
      [
       4.22,
       0.9578
      ],
      [
       4.24,
       0.9879
      ],
      [
       4.26,
       1.0
      ],
      [
       4.28,
       1.0
      ],
      [
       4.3,
       1.0
      ],
      [
       4.32,
       1.0
      ],
      [
       4.34,
       1.0
      ],
      [
       4.36,
       1.0
      ],
      [
       4.38,
       1.0
      ],
      [
       4.4,
       1.0
      ],
      [
       4.42,
       1.0
      ],
      [
       4.44,
       1.0
      ],
      [
       4.46,
       1.0
      ],
      [
       4.48,
       1.0
      ],
      [
       4.5,
       1.0
      ],
      [
       4.52,
       1.0
      ],
      [
       4.54,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "f2c362bb0833f20867a5aede1c7f575d48220e19bd29f4b836047209d2965913",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 6.577219223449875e-05,
       "final_progress": 7.124470808083425e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0007450899306724366,
       "final_progress": 0.0007505624465187804,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.06829328616775736,
       "final_progress": 0.06829875868360369,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 227,
       "return": 1.9999945274841537,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx20",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    },
    "aloha": {
     "gym_id": "becaeb78d898-aloha",
     "video": "media/sim-becaeb78d898-aloha-s5.mp4",
     "poster": "media/sim-becaeb78d898-aloha-s5.jpg",
     "trajectory": "trajectories/becaeb78d898-aloha.json",
     "recipe": "recipes/becaeb78d898-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0088
      ],
      [
       0.28,
       0.0213
      ],
      [
       0.42,
       0.0351
      ],
      [
       0.56,
       0.0499
      ],
      [
       0.7,
       0.0651
      ],
      [
       0.84,
       0.0794
      ],
      [
       0.98,
       0.0859
      ],
      [
       1.12,
       0.0815
      ],
      [
       1.26,
       0.0756
      ],
      [
       1.4,
       0.0712
      ],
      [
       1.54,
       0.0723
      ],
      [
       1.68,
       0.075
      ],
      [
       1.82,
       0.0765
      ],
      [
       1.96,
       0.0758
      ],
      [
       2.1,
       0.0727
      ],
      [
       2.24,
       0.0707
      ],
      [
       2.38,
       0.0699
      ],
      [
       2.52,
       0.0697
      ],
      [
       2.66,
       0.0697
      ],
      [
       2.8,
       0.0696
      ],
      [
       2.94,
       0.0695
      ],
      [
       3.08,
       0.0724
      ],
      [
       3.22,
       0.0798
      ],
      [
       3.36,
       0.0846
      ],
      [
       3.5,
       0.0841
      ],
      [
       3.64,
       0.0807
      ],
      [
       3.78,
       0.0818
      ],
      [
       3.92,
       0.0886
      ],
      [
       4.06,
       0.0991
      ],
      [
       4.2,
       0.1125
      ],
      [
       4.34,
       0.1137
      ],
      [
       4.48,
       0.1097
      ],
      [
       4.62,
       0.1056
      ],
      [
       4.76,
       0.1015
      ],
      [
       4.9,
       0.0977
      ],
      [
       5.04,
       0.0943
      ],
      [
       5.18,
       0.0917
      ],
      [
       5.32,
       0.0901
      ],
      [
       5.46,
       0.0904
      ],
      [
       5.6,
       0.0943
      ],
      [
       5.74,
       0.0983
      ],
      [
       5.88,
       0.0997
      ],
      [
       6.02,
       0.1425
      ],
      [
       6.16,
       0.1375
      ],
      [
       6.3,
       0.1357
      ],
      [
       6.44,
       0.1344
      ],
      [
       6.58,
       0.1335
      ],
      [
       6.72,
       0.1329
      ],
      [
       6.86,
       0.1327
      ],
      [
       7.0,
       0.1329
      ],
      [
       7.14,
       0.1337
      ],
      [
       7.28,
       0.1348
      ],
      [
       7.42,
       0.1351
      ],
      [
       7.56,
       0.1354
      ],
      [
       7.7,
       0.1355
      ],
      [
       7.84,
       0.1356
      ],
      [
       7.98,
       0.136
      ],
      [
       8.12,
       0.1366
      ],
      [
       8.26,
       0.1371
      ],
      [
       8.4,
       0.1376
      ],
      [
       8.54,
       0.1381
      ],
      [
       8.68,
       0.1387
      ],
      [
       8.82,
       0.1394
      ],
      [
       8.96,
       0.1403
      ],
      [
       9.1,
       0.1411
      ],
      [
       9.24,
       0.1414
      ],
      [
       9.38,
       0.1408
      ],
      [
       9.52,
       0.14
      ],
      [
       9.66,
       0.1393
      ],
      [
       9.8,
       0.1386
      ],
      [
       9.94,
       0.138
      ],
      [
       10.08,
       0.1376
      ],
      [
       10.22,
       0.1374
      ],
      [
       10.36,
       0.1375
      ],
      [
       10.5,
       0.138
      ],
      [
       10.64,
       0.1389
      ],
      [
       10.78,
       0.1401
      ],
      [
       10.92,
       0.1411
      ],
      [
       11.06,
       0.1416
      ],
      [
       11.2,
       0.1418
      ],
      [
       11.34,
       0.1416
      ],
      [
       11.48,
       0.1412
      ],
      [
       11.62,
       0.1408
      ],
      [
       11.76,
       0.1403
      ],
      [
       11.9,
       0.1391
      ],
      [
       12.04,
       0.158
      ],
      [
       12.18,
       0.226
      ],
      [
       12.32,
       0.351
      ],
      [
       12.46,
       0.4877
      ],
      [
       12.6,
       0.6258
      ],
      [
       12.74,
       0.5685
      ],
      [
       12.88,
       0.5426
      ],
      [
       13.02,
       0.5367
      ],
      [
       13.16,
       0.5451
      ],
      [
       13.3,
       0.5638
      ],
      [
       13.44,
       0.5756
      ],
      [
       13.58,
       0.5989
      ],
      [
       13.72,
       0.6269
      ],
      [
       13.86,
       0.6556
      ],
      [
       14.0,
       0.6898
      ],
      [
       14.14,
       0.7339
      ],
      [
       14.28,
       0.7768
      ],
      [
       14.42,
       0.8276
      ],
      [
       14.56,
       0.8942
      ],
      [
       14.7,
       0.9411
      ],
      [
       14.84,
       0.9471
      ],
      [
       14.98,
       0.9588
      ],
      [
       15.12,
       0.9843
      ],
      [
       15.26,
       1.0
      ],
      [
       15.4,
       1.0
      ],
      [
       15.54,
       1.0
      ],
      [
       15.68,
       1.0
      ],
      [
       15.82,
       1.0
      ],
      [
       15.96,
       1.0
      ],
      [
       16.1,
       1.0
      ],
      [
       16.24,
       1.0
      ],
      [
       16.38,
       1.0
      ],
      [
       16.52,
       1.0
      ],
      [
       16.66,
       1.0
      ],
      [
       16.8,
       1.0
      ],
      [
       16.94,
       1.0
      ],
      [
       17.08,
       1.0
      ],
      [
       17.22,
       1.0
      ],
      [
       17.36,
       1.0
      ],
      [
       17.5,
       1.0
      ],
      [
       17.64,
       1.0
      ],
      [
       17.78,
       1.0
      ],
      [
       17.92,
       1.0
      ],
      [
       18.06,
       1.0
      ],
      [
       18.2,
       1.0
      ],
      [
       18.34,
       1.0
      ],
      [
       18.48,
       1.0
      ],
      [
       18.62,
       1.0
      ],
      [
       18.76,
       1.0
      ],
      [
       18.9,
       1.0
      ],
      [
       19.04,
       1.0
      ],
      [
       19.18,
       1.0
      ],
      [
       19.32,
       0.9927
      ],
      [
       19.46,
       0.9479
      ],
      [
       19.6,
       0.9165
      ],
      [
       19.74,
       0.8782
      ],
      [
       19.88,
       0.8335
      ],
      [
       20.02,
       0.7743
      ],
      [
       20.16,
       0.7022
      ],
      [
       20.3,
       0.6238
      ],
      [
       20.44,
       0.5371
      ],
      [
       20.58,
       0.4273
      ],
      [
       20.72,
       0.3014
      ],
      [
       20.86,
       0.0376
      ],
      [
       21.0,
       0.014
      ],
      [
       21.14,
       0.0125
      ],
      [
       21.28,
       0.0111
      ],
      [
       21.42,
       0.0098
      ],
      [
       21.56,
       0.0088
      ],
      [
       21.7,
       0.008
      ],
      [
       21.84,
       0.0074
      ],
      [
       21.98,
       0.0071
      ],
      [
       22.12,
       0.0062
      ],
      [
       22.26,
       0.0067
      ],
      [
       22.4,
       0.0071
      ],
      [
       22.54,
       0.0078
      ],
      [
       22.68,
       0.009
      ],
      [
       22.82,
       0.0111
      ],
      [
       22.96,
       0.0156
      ],
      [
       23.1,
       0.0199
      ],
      [
       23.24,
       0.0237
      ],
      [
       23.38,
       0.0263
      ],
      [
       23.52,
       0.0291
      ],
      [
       23.66,
       0.0308
      ],
      [
       23.8,
       0.0326
      ],
      [
       23.94,
       0.0349
      ],
      [
       24.0,
       0.0361
      ]
     ],
     "total_reward": -0.4692,
     "initial_progress": 0.0,
     "final_progress": 0.0361,
     "physics_sha256": "caacbb1c9d268b4b2191b016aabfc827d27c66a0f90ddbd77280d615e269430c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0012330756242121931,
       "final_progress": 0.0012341375431407869,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.03175047472781842,
       "final_progress": 0.031751536646747014,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 1.3159380115701494e-05,
       "final_progress": 1.4221299044284161e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.07803363040866097,
       "final_progress": 0.07803469232758943
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6423898247335781,
       "final_progress": 0.8070551348632806
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.36054879832949704,
       "final_progress": 0.3605498602484255
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0813236366082698,
       "final_progress": 0.08132469852719729
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0033068139506250965,
       "final_progress": 0.004186502169460584
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.4692078764790863,
       "final_progress": 0.03606002800029957
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx20",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "black_monitor_0",
       "source": "primitive:monitor",
       "grounding": "observed",
       "role": "clutter",
       "label": "black monitor"
      },
      {
       "name": "patterned_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "patterned pillow"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "black_power_bank_with_cable_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "black power bank with cable"
      },
      {
       "name": "coffee_mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "coffee mug"
      },
      {
       "name": "mouse_0",
       "source": "primitive:mouse",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mouse"
      }
     ]
    }
   }
  },
  {
   "example_id": "7d80615eab28b997649e26b7eb5715941dfdd9d4f18a2c87c975207974766ce1",
   "recording_id": 5749,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "light wooden computer desk",
   "human_action": true,
   "description": "In the footage: Wipe the visible light wooden computer desk with the bright yellow wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 12\u00d78 cm patch (turned 20\u00b0) on the light wooden computer desk among the white device and the black cables and charger and sweep it row by row at 4\u201314 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 4\u201314 N, no object moved >2 cm, peak force \u226442 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 5749,
    "contributor_id": 7,
    "video": "media/source-5749-12366020456a.mp4",
    "poster": "media/source-5749.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.0
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5749,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5749_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 96.345,
      "original_end_s": 116.345,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "3513e99d14de339e395c55a98cce07acd54a864dcaf0e67a293c719045a870cb",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.00 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
      "duration_s": 6.0,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 0,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "7d80615eab28-panda",
     "video": "media/sim-7d80615eab28-panda-s0.mp4",
     "poster": "media/sim-7d80615eab28-panda-s0.jpg",
     "trajectory": "trajectories/7d80615eab28-panda.json",
     "recipe": "recipes/7d80615eab28-panda.json",
     "seed": 0,
     "steps": 478,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0004
      ],
      [
       0.12,
       0.0023
      ],
      [
       0.16,
       0.0044
      ],
      [
       0.2,
       0.0062
      ],
      [
       0.24,
       0.008
      ],
      [
       0.28,
       0.0101
      ],
      [
       0.32,
       0.0125
      ],
      [
       0.36,
       0.0149
      ],
      [
       0.4,
       0.0175
      ],
      [
       0.44,
       0.0203
      ],
      [
       0.48,
       0.0233
      ],
      [
       0.52,
       0.0264
      ],
      [
       0.56,
       0.0297
      ],
      [
       0.6,
       0.0332
      ],
      [
       0.64,
       0.037
      ],
      [
       0.68,
       0.0409
      ],
      [
       0.72,
       0.0449
      ],
      [
       0.76,
       0.0492
      ],
      [
       0.8,
       0.0537
      ],
      [
       0.84,
       0.0583
      ],
      [
       0.88,
       0.063
      ],
      [
       0.92,
       0.0679
      ],
      [
       0.96,
       0.0729
      ],
      [
       1.0,
       0.0779
      ],
      [
       1.04,
       0.0831
      ],
      [
       1.08,
       0.0886
      ],
      [
       1.12,
       0.0943
      ],
      [
       1.16,
       0.1002
      ],
      [
       1.2,
       0.1064
      ],
      [
       1.24,
       0.1127
      ],
      [
       1.28,
       0.1191
      ],
      [
       1.32,
       0.1256
      ],
      [
       1.36,
       0.1318
      ],
      [
       1.4,
       0.1377
      ],
      [
       1.44,
       0.1428
      ],
      [
       1.48,
       0.1408
      ],
      [
       1.52,
       0.1394
      ],
      [
       1.56,
       0.1419
      ],
      [
       1.6,
       0.1433
      ],
      [
       1.64,
       0.1435
      ],
      [
       1.68,
       0.1437
      ],
      [
       1.72,
       0.1437
      ],
      [
       1.76,
       0.1427
      ],
      [
       1.8,
       0.1414
      ],
      [
       1.84,
       0.1404
      ],
      [
       1.88,
       0.1401
      ],
      [
       1.92,
       0.1404
      ],
      [
       1.96,
       0.1409
      ],
      [
       2.0,
       0.1412
      ],
      [
       2.04,
       0.1415
      ],
      [
       2.08,
       0.1419
      ],
      [
       2.12,
       0.1426
      ],
      [
       2.16,
       0.1437
      ],
      [
       2.2,
       0.1447
      ],
      [
       2.24,
       0.1458
      ],
      [
       2.28,
       0.1467
      ],
      [
       2.32,
       0.1473
      ],
      [
       2.36,
       0.1477
      ],
      [
       2.4,
       0.1481
      ],
      [
       2.44,
       0.1484
      ],
      [
       2.48,
       0.1489
      ],
      [
       2.52,
       0.1494
      ],
      [
       2.56,
       0.1499
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.04,
       0.15
      ],
      [
       3.08,
       0.15
      ],
      [
       3.12,
       0.15
      ],
      [
       3.16,
       0.15
      ],
      [
       3.2,
       0.2917
      ],
      [
       3.24,
       0.2917
      ],
      [
       3.28,
       0.2917
      ],
      [
       3.32,
       0.2917
      ],
      [
       3.36,
       0.2917
      ],
      [
       3.4,
       0.2917
      ],
      [
       3.44,
       0.2917
      ],
      [
       3.48,
       0.2917
      ],
      [
       3.52,
       0.2917
      ],
      [
       3.56,
       0.2917
      ],
      [
       3.6,
       0.2917
      ],
      [
       3.64,
       0.2917
      ],
      [
       3.68,
       0.2917
      ],
      [
       3.72,
       0.2917
      ],
      [
       3.76,
       0.2917
      ],
      [
       3.8,
       0.2917
      ],
      [
       3.84,
       0.2917
      ],
      [
       3.88,
       0.2917
      ],
      [
       3.92,
       0.2917
      ],
      [
       3.96,
       0.2917
      ],
      [
       4.0,
       0.2917
      ],
      [
       4.04,
       0.2917
      ],
      [
       4.08,
       0.2917
      ],
      [
       4.12,
       0.2917
      ],
      [
       4.16,
       0.2917
      ],
      [
       4.2,
       0.2917
      ],
      [
       4.24,
       0.2917
      ],
      [
       4.28,
       0.2917
      ],
      [
       4.32,
       0.2917
      ],
      [
       4.36,
       0.2917
      ],
      [
       4.4,
       0.2917
      ],
      [
       4.44,
       0.2917
      ],
      [
       4.48,
       0.2917
      ],
      [
       4.52,
       0.2917
      ],
      [
       4.56,
       0.2917
      ],
      [
       4.6,
       0.2917
      ],
      [
       4.64,
       0.2917
      ],
      [
       4.68,
       0.2917
      ],
      [
       4.72,
       0.2917
      ],
      [
       4.76,
       0.2917
      ],
      [
       4.8,
       0.2917
      ],
      [
       4.84,
       0.2917
      ],
      [
       4.88,
       0.4333
      ],
      [
       4.92,
       0.4333
      ],
      [
       4.96,
       0.4333
      ],
      [
       5.0,
       0.4333
      ],
      [
       5.04,
       0.5042
      ],
      [
       5.08,
       0.5042
      ],
      [
       5.12,
       0.5042
      ],
      [
       5.16,
       0.5042
      ],
      [
       5.2,
       0.5042
      ],
      [
       5.24,
       0.5042
      ],
      [
       5.28,
       0.5042
      ],
      [
       5.32,
       0.5042
      ],
      [
       5.36,
       0.575
      ],
      [
       5.4,
       0.575
      ],
      [
       5.44,
       0.575
      ],
      [
       5.48,
       0.575
      ],
      [
       5.52,
       0.575
      ],
      [
       5.56,
       0.6104
      ],
      [
       5.6,
       0.6104
      ],
      [
       5.64,
       0.6104
      ],
      [
       5.68,
       0.6458
      ],
      [
       5.72,
       0.6458
      ],
      [
       5.76,
       0.6458
      ],
      [
       5.8,
       0.6458
      ],
      [
       5.84,
       0.6813
      ],
      [
       5.88,
       0.6813
      ],
      [
       5.92,
       0.6813
      ],
      [
       5.96,
       0.7167
      ],
      [
       6.0,
       0.7521
      ],
      [
       6.04,
       0.7521
      ],
      [
       6.08,
       0.7521
      ],
      [
       6.12,
       0.7521
      ],
      [
       6.16,
       0.7521
      ],
      [
       6.2,
       0.7521
      ],
      [
       6.24,
       0.7875
      ],
      [
       6.28,
       0.7875
      ],
      [
       6.32,
       0.7875
      ],
      [
       6.36,
       0.7875
      ],
      [
       6.4,
       0.7875
      ],
      [
       6.44,
       0.8229
      ],
      [
       6.48,
       0.8229
      ],
      [
       6.52,
       0.8229
      ],
      [
       6.56,
       0.8229
      ],
      [
       6.6,
       0.8229
      ],
      [
       6.64,
       0.8583
      ],
      [
       6.68,
       0.8583
      ],
      [
       6.72,
       0.8583
      ],
      [
       6.76,
       0.8583
      ],
      [
       6.8,
       0.8583
      ],
      [
       6.84,
       0.8583
      ],
      [
       6.88,
       0.8938
      ],
      [
       6.92,
       0.8938
      ],
      [
       6.96,
       0.8938
      ],
      [
       7.0,
       0.8938
      ],
      [
       7.04,
       0.8938
      ],
      [
       7.08,
       0.8938
      ],
      [
       7.12,
       0.8938
      ],
      [
       7.16,
       0.8938
      ],
      [
       7.2,
       0.8938
      ],
      [
       7.24,
       0.8938
      ],
      [
       7.28,
       0.8938
      ],
      [
       7.32,
       0.8938
      ],
      [
       7.36,
       0.8938
      ],
      [
       7.4,
       0.8938
      ],
      [
       7.44,
       0.8938
      ],
      [
       7.48,
       0.8938
      ],
      [
       7.52,
       0.8938
      ],
      [
       7.56,
       0.8938
      ],
      [
       7.6,
       0.8938
      ],
      [
       7.64,
       0.8938
      ],
      [
       7.68,
       0.8938
      ],
      [
       7.72,
       0.8938
      ],
      [
       7.76,
       0.8938
      ],
      [
       7.8,
       0.8938
      ],
      [
       7.84,
       0.8938
      ],
      [
       7.88,
       0.8938
      ],
      [
       7.92,
       0.8938
      ],
      [
       7.96,
       0.8938
      ],
      [
       8.0,
       0.8938
      ],
      [
       8.04,
       0.8938
      ],
      [
       8.08,
       0.8938
      ],
      [
       8.12,
       0.8938
      ],
      [
       8.16,
       0.8938
      ],
      [
       8.2,
       0.8938
      ],
      [
       8.24,
       0.8938
      ],
      [
       8.28,
       0.8938
      ],
      [
       8.32,
       0.8938
      ],
      [
       8.36,
       0.8938
      ],
      [
       8.4,
       0.8938
      ],
      [
       8.44,
       0.8938
      ],
      [
       8.48,
       0.8938
      ],
      [
       8.52,
       0.8938
      ],
      [
       8.56,
       0.8938
      ],
      [
       8.6,
       0.8938
      ],
      [
       8.64,
       0.8938
      ],
      [
       8.68,
       0.8938
      ],
      [
       8.72,
       0.8938
      ],
      [
       8.76,
       0.8938
      ],
      [
       8.8,
       0.8938
      ],
      [
       8.84,
       0.8938
      ],
      [
       8.88,
       0.8938
      ],
      [
       8.92,
       0.8938
      ],
      [
       8.96,
       0.8938
      ],
      [
       9.0,
       0.8938
      ],
      [
       9.04,
       0.8938
      ],
      [
       9.08,
       0.8938
      ],
      [
       9.12,
       0.8938
      ],
      [
       9.16,
       0.8938
      ],
      [
       9.2,
       0.8938
      ],
      [
       9.24,
       0.8938
      ],
      [
       9.28,
       0.8938
      ],
      [
       9.32,
       0.8938
      ],
      [
       9.36,
       0.8938
      ],
      [
       9.4,
       0.8938
      ],
      [
       9.44,
       0.8938
      ],
      [
       9.48,
       0.8938
      ],
      [
       9.52,
       0.8938
      ],
      [
       9.56,
       0.9292
      ]
     ],
     "total_reward": 1.899,
     "initial_progress": 0.0,
     "final_progress": 0.9292,
     "physics_sha256": "201f4cfe1ef681774dd4dd90f3eb83a6117d7b85a13945933b55cb8a8d51dba9",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.037500000000000006,
       "final_progress": 0.2125,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.29166666666666663,
       "final_progress": 0.29166666666666663,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 478,
       "return": 1.8990240524506317,
       "final_progress": 0.9291666666666666
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "white device"
      }
     ]
    },
    "aloha": {
     "gym_id": "7d80615eab28-aloha",
     "video": "media/sim-7d80615eab28-aloha-s5.mp4",
     "poster": "media/sim-7d80615eab28-aloha-s5.jpg",
     "trajectory": "trajectories/7d80615eab28-aloha.json",
     "recipe": "recipes/7d80615eab28-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.019
      ],
      [
       0.28,
       0.0463
      ],
      [
       0.42,
       0.0721
      ],
      [
       0.56,
       0.0948
      ],
      [
       0.7,
       0.1157
      ],
      [
       0.84,
       0.1316
      ],
      [
       0.98,
       0.1297
      ],
      [
       1.12,
       0.1323
      ],
      [
       1.26,
       0.1326
      ],
      [
       1.4,
       0.1298
      ],
      [
       1.54,
       0.1284
      ],
      [
       1.68,
       0.1289
      ],
      [
       1.82,
       0.1295
      ],
      [
       1.96,
       0.13
      ],
      [
       2.1,
       0.1309
      ],
      [
       2.24,
       0.1365
      ],
      [
       2.38,
       0.1417
      ],
      [
       2.52,
       0.1429
      ],
      [
       2.66,
       0.143
      ],
      [
       2.8,
       0.1433
      ],
      [
       2.94,
       0.143
      ],
      [
       3.08,
       0.142
      ],
      [
       3.22,
       0.1401
      ],
      [
       3.36,
       0.1382
      ],
      [
       3.5,
       0.1366
      ],
      [
       3.64,
       0.1353
      ],
      [
       3.78,
       0.1342
      ],
      [
       3.92,
       0.1329
      ],
      [
       4.06,
       0.1315
      ],
      [
       4.2,
       0.1305
      ],
      [
       4.34,
       0.1309
      ],
      [
       4.48,
       0.1315
      ],
      [
       4.62,
       0.1356
      ],
      [
       4.76,
       0.1451
      ],
      [
       4.9,
       0.15
      ],
      [
       5.04,
       0.15
      ],
      [
       5.18,
       0.15
      ],
      [
       5.32,
       0.2917
      ],
      [
       5.46,
       0.2917
      ],
      [
       5.6,
       0.3271
      ],
      [
       5.74,
       0.3271
      ],
      [
       5.88,
       0.3271
      ],
      [
       6.02,
       0.3979
      ],
      [
       6.16,
       0.3979
      ],
      [
       6.3,
       0.3979
      ],
      [
       6.44,
       0.4333
      ],
      [
       6.58,
       0.4333
      ],
      [
       6.72,
       0.4333
      ],
      [
       6.86,
       0.5042
      ],
      [
       7.0,
       0.5042
      ],
      [
       7.14,
       0.5042
      ],
      [
       7.28,
       0.5042
      ],
      [
       7.42,
       0.5396
      ],
      [
       7.56,
       0.5396
      ],
      [
       7.7,
       0.5396
      ],
      [
       7.84,
       0.575
      ],
      [
       7.98,
       0.575
      ],
      [
       8.12,
       0.575
      ],
      [
       8.26,
       0.575
      ],
      [
       8.4,
       0.6458
      ],
      [
       8.54,
       0.6458
      ],
      [
       8.68,
       0.6458
      ],
      [
       8.82,
       0.6458
      ],
      [
       8.96,
       0.6458
      ],
      [
       9.1,
       0.6458
      ],
      [
       9.24,
       0.6458
      ],
      [
       9.38,
       0.6458
      ],
      [
       9.52,
       0.6813
      ],
      [
       9.66,
       0.6813
      ],
      [
       9.8,
       0.6813
      ],
      [
       9.94,
       0.6813
      ],
      [
       10.08,
       0.7167
      ],
      [
       10.22,
       0.7167
      ],
      [
       10.36,
       0.7167
      ],
      [
       10.5,
       0.7167
      ],
      [
       10.64,
       0.7167
      ],
      [
       10.78,
       0.7167
      ],
      [
       10.92,
       0.7167
      ],
      [
       11.06,
       0.7167
      ],
      [
       11.2,
       0.7167
      ],
      [
       11.34,
       0.7167
      ],
      [
       11.48,
       0.7167
      ],
      [
       11.62,
       0.7167
      ],
      [
       11.76,
       0.7167
      ],
      [
       11.9,
       0.7167
      ],
      [
       12.04,
       0.7167
      ],
      [
       12.18,
       0.7167
      ],
      [
       12.32,
       0.7167
      ],
      [
       12.46,
       0.7167
      ],
      [
       12.6,
       0.7167
      ],
      [
       12.74,
       0.7167
      ],
      [
       12.88,
       0.7167
      ],
      [
       13.02,
       0.7521
      ],
      [
       13.16,
       0.7521
      ],
      [
       13.3,
       0.7521
      ],
      [
       13.44,
       0.7521
      ],
      [
       13.58,
       0.7521
      ],
      [
       13.72,
       0.7521
      ],
      [
       13.86,
       0.7521
      ],
      [
       14.0,
       0.7521
      ],
      [
       14.14,
       0.7521
      ],
      [
       14.28,
       0.7521
      ],
      [
       14.42,
       0.7521
      ],
      [
       14.56,
       0.7521
      ],
      [
       14.7,
       0.7521
      ],
      [
       14.84,
       0.7521
      ],
      [
       14.98,
       0.7521
      ],
      [
       15.12,
       0.7521
      ],
      [
       15.26,
       0.7521
      ],
      [
       15.4,
       0.7521
      ],
      [
       15.54,
       0.7521
      ],
      [
       15.68,
       0.7521
      ],
      [
       15.82,
       0.7521
      ],
      [
       15.96,
       0.7521
      ],
      [
       16.1,
       0.7521
      ],
      [
       16.24,
       0.7521
      ],
      [
       16.38,
       0.7521
      ],
      [
       16.52,
       0.7521
      ],
      [
       16.66,
       0.7521
      ],
      [
       16.8,
       0.7521
      ],
      [
       16.94,
       0.7521
      ],
      [
       17.08,
       0.7521
      ],
      [
       17.22,
       0.7521
      ],
      [
       17.36,
       0.7521
      ],
      [
       17.5,
       0.7521
      ],
      [
       17.64,
       0.7521
      ],
      [
       17.78,
       0.7521
      ],
      [
       17.92,
       0.7521
      ],
      [
       18.06,
       0.7521
      ],
      [
       18.2,
       0.7521
      ],
      [
       18.34,
       0.7521
      ],
      [
       18.48,
       0.7521
      ],
      [
       18.62,
       0.7521
      ],
      [
       18.76,
       0.7521
      ],
      [
       18.9,
       0.7875
      ],
      [
       19.04,
       0.7875
      ],
      [
       19.18,
       0.7875
      ],
      [
       19.32,
       0.7875
      ],
      [
       19.46,
       0.7875
      ],
      [
       19.6,
       0.7875
      ],
      [
       19.74,
       0.7875
      ],
      [
       19.88,
       0.7875
      ],
      [
       20.02,
       0.7875
      ],
      [
       20.16,
       0.7875
      ],
      [
       20.3,
       0.7875
      ],
      [
       20.44,
       0.7875
      ],
      [
       20.58,
       0.7875
      ],
      [
       20.72,
       0.7875
      ],
      [
       20.86,
       0.7875
      ],
      [
       21.0,
       0.7875
      ],
      [
       21.14,
       0.7875
      ],
      [
       21.28,
       0.7875
      ],
      [
       21.42,
       0.7875
      ],
      [
       21.56,
       0.7875
      ],
      [
       21.7,
       0.7875
      ],
      [
       21.84,
       0.7875
      ],
      [
       21.98,
       0.7875
      ],
      [
       22.12,
       0.7875
      ],
      [
       22.26,
       0.7875
      ],
      [
       22.4,
       0.7875
      ],
      [
       22.54,
       0.7875
      ],
      [
       22.68,
       0.7875
      ],
      [
       22.82,
       0.7875
      ],
      [
       22.96,
       0.7875
      ],
      [
       23.1,
       0.7875
      ],
      [
       23.24,
       0.7875
      ],
      [
       23.38,
       0.7875
      ],
      [
       23.52,
       0.7875
      ],
      [
       23.66,
       0.7875
      ],
      [
       23.8,
       0.7875
      ],
      [
       23.94,
       0.7875
      ],
      [
       24.0,
       0.7875
      ]
     ],
     "total_reward": 0.7369,
     "initial_progress": 0.0,
     "final_progress": 0.7875,
     "physics_sha256": "54d389edb191471b0666377f3e624f30d6c0cab9c0543faa7e363a4442d64299",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0016060977330967618,
       "final_progress": 0.0016060977330967618,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.08794803544232573,
       "final_progress": 0.08794803544232573,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.2426255000054256,
       "final_progress": 0.29166666666666663,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7787155398612312,
       "final_progress": 0.8229166666666666
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7976232879966617,
       "final_progress": 0.8229166666666666
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8430852167884321,
       "final_progress": 0.8583333333333334
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.62397089495392,
       "final_progress": 0.68125
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7635666124762129,
       "final_progress": 0.7875
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7368786360530812,
       "final_progress": 0.7875
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "white device"
      }
     ]
    }
   }
  },
  {
   "example_id": "483a7f2c65ced2f82432e753d2c737ea9ea33931ac2415a2dae98911f05fd354",
   "recording_id": 5749,
   "task_number": 2,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "light wooden computer desk",
   "human_action": false,
   "description": "Lift the white device off the red spot on the light wooden computer desk, set it aside among the black cables and charger and the round desk lamp, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the white device off the red spot on the light wooden computer desk, set it aside among the black cables and charger and the round desk lamp, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 5749,
    "contributor_id": 7,
    "video": "media/source-5749-12366020456a.mp4",
    "poster": "media/source-5749.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.0
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5749,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5749_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 96.345,
      "original_end_s": 116.345,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "3513e99d14de339e395c55a98cce07acd54a864dcaf0e67a293c719045a870cb",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.00 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
      "duration_s": 6.0,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 0,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "483a7f2c65ce-panda",
     "video": "media/sim-483a7f2c65ce-panda-s0.mp4",
     "poster": "media/sim-483a7f2c65ce-panda-s0.jpg",
     "trajectory": "trajectories/483a7f2c65ce-panda.json",
     "recipe": "recipes/483a7f2c65ce-panda.json",
     "seed": 0,
     "steps": 554,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.48,
       0.0044
      ],
      [
       0.54,
       0.0111
      ],
      [
       0.6,
       0.0187
      ],
      [
       0.66,
       0.0245
      ],
      [
       0.72,
       0.0293
      ],
      [
       0.78,
       0.0348
      ],
      [
       0.84,
       0.0408
      ],
      [
       0.9,
       0.0468
      ],
      [
       0.96,
       0.0527
      ],
      [
       1.02,
       0.0585
      ],
      [
       1.08,
       0.0635
      ],
      [
       1.14,
       0.068
      ],
      [
       1.2,
       0.072
      ],
      [
       1.26,
       0.0759
      ],
      [
       1.32,
       0.08
      ],
      [
       1.38,
       0.0841
      ],
      [
       1.44,
       0.0883
      ],
      [
       1.5,
       0.0928
      ],
      [
       1.56,
       0.098
      ],
      [
       1.62,
       0.0964
      ],
      [
       1.68,
       0.097
      ],
      [
       1.74,
       0.0971
      ],
      [
       1.8,
       0.0971
      ],
      [
       1.86,
       0.0971
      ],
      [
       1.92,
       0.0972
      ],
      [
       1.98,
       0.0972
      ],
      [
       2.04,
       0.0972
      ],
      [
       2.1,
       0.0972
      ],
      [
       2.16,
       0.0973
      ],
      [
       2.22,
       0.0973
      ],
      [
       2.28,
       0.0973
      ],
      [
       2.34,
       0.0974
      ],
      [
       2.4,
       0.0974
      ],
      [
       2.46,
       0.0974
      ],
      [
       2.52,
       0.0974
      ],
      [
       2.58,
       0.0974
      ],
      [
       2.64,
       0.0974
      ],
      [
       2.7,
       0.5032
      ],
      [
       2.76,
       0.4972
      ],
      [
       2.82,
       0.4842
      ],
      [
       2.88,
       0.4689
      ],
      [
       2.94,
       0.4538
      ],
      [
       3.0,
       0.4385
      ],
      [
       3.06,
       0.422
      ],
      [
       3.12,
       0.4057
      ],
      [
       3.18,
       0.3888
      ],
      [
       3.24,
       0.371
      ],
      [
       3.3,
       0.3506
      ],
      [
       3.36,
       0.3217
      ],
      [
       3.42,
       0.3072
      ],
      [
       3.48,
       0.3068
      ],
      [
       3.54,
       0.3416
      ],
      [
       3.6,
       0.37
      ],
      [
       3.66,
       0.4022
      ],
      [
       3.72,
       0.4402
      ],
      [
       3.78,
       0.4804
      ],
      [
       3.84,
       0.5235
      ],
      [
       3.9,
       0.5692
      ],
      [
       3.96,
       0.6
      ],
      [
       4.02,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.14,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.26,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.38,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.5,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.62,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.74,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.86,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.98,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.1,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.22,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.34,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.46,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.42,
       0.6
      ],
      [
       9.48,
       0.6
      ],
      [
       9.54,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.66,
       0.6
      ],
      [
       9.72,
       0.6
      ],
      [
       9.78,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       9.96,
       0.6
      ],
      [
       10.02,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.14,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.26,
       0.6
      ],
      [
       10.32,
       0.6
      ],
      [
       10.38,
       0.6
      ],
      [
       10.44,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.56,
       0.6
      ],
      [
       10.62,
       0.6
      ],
      [
       10.68,
       0.6
      ],
      [
       10.74,
       0.6
      ],
      [
       10.8,
       0.6267
      ],
      [
       10.86,
       0.7067
      ],
      [
       10.92,
       0.7867
      ],
      [
       10.98,
       0.8667
      ],
      [
       11.04,
       0.9467
      ],
      [
       11.08,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "78ef7116a8315b6dfb2e7697cc93f64ce1ebc8741f54d4e9a499a9fe0b570cb5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 1.0842021724855044e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.08799780607132208,
       "final_progress": 0.08799780607132208,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 554,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "white device"
      },
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      }
     ]
    },
    "aloha": {
     "gym_id": "483a7f2c65ce-aloha",
     "video": "media/sim-483a7f2c65ce-aloha-s5.mp4",
     "poster": "media/sim-483a7f2c65ce-aloha-s5.jpg",
     "trajectory": "trajectories/483a7f2c65ce-aloha.json",
     "recipe": "recipes/483a7f2c65ce-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0018
      ],
      [
       0.28,
       0.0045
      ],
      [
       0.42,
       0.008
      ],
      [
       0.56,
       0.0123
      ],
      [
       0.7,
       0.0174
      ],
      [
       0.84,
       0.0238
      ],
      [
       0.98,
       0.0325
      ],
      [
       1.12,
       0.0438
      ],
      [
       1.26,
       0.0577
      ],
      [
       1.4,
       0.0641
      ],
      [
       1.54,
       0.0671
      ],
      [
       1.68,
       0.0688
      ],
      [
       1.82,
       0.0695
      ],
      [
       1.96,
       0.07
      ],
      [
       2.1,
       0.0699
      ],
      [
       2.24,
       0.0684
      ],
      [
       2.38,
       0.0653
      ],
      [
       2.52,
       0.0611
      ],
      [
       2.66,
       0.0589
      ],
      [
       2.8,
       0.0591
      ],
      [
       2.94,
       0.059
      ],
      [
       3.08,
       0.0609
      ],
      [
       3.22,
       0.066
      ],
      [
       3.36,
       0.0739
      ],
      [
       3.5,
       0.0817
      ],
      [
       3.64,
       0.0865
      ],
      [
       3.78,
       0.0877
      ],
      [
       3.92,
       0.0885
      ],
      [
       4.06,
       0.0892
      ],
      [
       4.2,
       0.0898
      ],
      [
       4.34,
       0.0902
      ],
      [
       4.48,
       0.0905
      ],
      [
       4.62,
       0.0907
      ],
      [
       4.76,
       0.0909
      ],
      [
       4.9,
       0.0911
      ],
      [
       5.04,
       0.0912
      ],
      [
       5.18,
       0.0914
      ],
      [
       5.32,
       0.0915
      ],
      [
       5.46,
       0.0916
      ],
      [
       5.6,
       0.0918
      ],
      [
       5.74,
       0.0919
      ],
      [
       5.88,
       0.093
      ],
      [
       6.02,
       0.0925
      ],
      [
       6.16,
       0.0911
      ],
      [
       6.3,
       0.0893
      ],
      [
       6.44,
       0.0874
      ],
      [
       6.58,
       0.0856
      ],
      [
       6.72,
       0.0838
      ],
      [
       6.86,
       0.0818
      ],
      [
       7.0,
       0.08
      ],
      [
       7.14,
       0.0781
      ],
      [
       7.28,
       0.0763
      ],
      [
       7.42,
       0.0772
      ],
      [
       7.56,
       0.0826
      ],
      [
       7.7,
       0.0829
      ],
      [
       7.84,
       0.0826
      ],
      [
       7.98,
       0.0822
      ],
      [
       8.12,
       0.0816
      ],
      [
       8.26,
       0.0809
      ],
      [
       8.4,
       0.0801
      ],
      [
       8.54,
       0.0796
      ],
      [
       8.68,
       0.0792
      ],
      [
       8.82,
       0.0788
      ],
      [
       8.96,
       0.0783
      ],
      [
       9.1,
       0.0777
      ],
      [
       9.24,
       0.077
      ],
      [
       9.38,
       0.0761
      ],
      [
       9.52,
       0.0749
      ],
      [
       9.66,
       0.0733
      ],
      [
       9.8,
       0.0712
      ],
      [
       9.94,
       0.0693
      ],
      [
       10.08,
       0.0668
      ],
      [
       10.22,
       0.0651
      ],
      [
       10.36,
       0.0706
      ],
      [
       10.5,
       0.0672
      ],
      [
       10.64,
       0.0645
      ],
      [
       10.78,
       0.0634
      ],
      [
       10.92,
       0.0624
      ],
      [
       11.06,
       0.0602
      ],
      [
       11.2,
       0.0579
      ],
      [
       11.34,
       0.0553
      ],
      [
       11.48,
       0.0535
      ],
      [
       11.62,
       0.052
      ],
      [
       11.76,
       0.051
      ],
      [
       11.9,
       0.0483
      ],
      [
       12.04,
       0.0416
      ],
      [
       12.18,
       0.0333
      ],
      [
       12.32,
       0.0232
      ],
      [
       12.46,
       0.0105
      ],
      [
       12.6,
       0.0045
      ],
      [
       12.74,
       0.0013
      ],
      [
       12.88,
       0.0
      ],
      [
       13.02,
       0.0
      ],
      [
       13.16,
       0.0
      ],
      [
       13.3,
       0.0
      ],
      [
       13.44,
       0.0
      ],
      [
       13.58,
       0.0
      ],
      [
       13.72,
       0.0
      ],
      [
       13.86,
       0.0
      ],
      [
       14.0,
       0.0
      ],
      [
       14.14,
       0.0
      ],
      [
       14.28,
       0.0
      ],
      [
       14.42,
       0.0
      ],
      [
       14.56,
       0.0
      ],
      [
       14.7,
       0.0
      ],
      [
       14.84,
       0.0
      ],
      [
       14.98,
       0.0
      ],
      [
       15.12,
       0.0
      ],
      [
       15.26,
       0.0
      ],
      [
       15.4,
       0.0
      ],
      [
       15.54,
       0.0
      ],
      [
       15.68,
       0.0
      ],
      [
       15.82,
       0.0
      ],
      [
       15.96,
       0.0
      ],
      [
       16.1,
       0.0
      ],
      [
       16.24,
       0.0
      ],
      [
       16.38,
       0.0
      ],
      [
       16.52,
       0.0
      ],
      [
       16.66,
       0.0
      ],
      [
       16.8,
       0.001
      ],
      [
       16.94,
       0.0101
      ],
      [
       17.08,
       0.0131
      ],
      [
       17.22,
       0.0144
      ],
      [
       17.36,
       0.0158
      ],
      [
       17.5,
       0.0237
      ],
      [
       17.64,
       0.0318
      ],
      [
       17.78,
       0.0391
      ],
      [
       17.92,
       0.0457
      ],
      [
       18.06,
       0.0525
      ],
      [
       18.2,
       0.0604
      ],
      [
       18.34,
       0.0634
      ],
      [
       18.48,
       0.0668
      ],
      [
       18.62,
       0.0604
      ],
      [
       18.76,
       0.0558
      ],
      [
       18.9,
       0.0541
      ],
      [
       19.04,
       0.0511
      ],
      [
       19.18,
       0.0481
      ],
      [
       19.32,
       0.0451
      ],
      [
       19.46,
       0.0421
      ],
      [
       19.6,
       0.0409
      ],
      [
       19.74,
       0.0427
      ],
      [
       19.88,
       0.045
      ],
      [
       20.02,
       0.0466
      ],
      [
       20.16,
       0.0484
      ],
      [
       20.3,
       0.0496
      ],
      [
       20.44,
       0.0508
      ],
      [
       20.58,
       0.052
      ],
      [
       20.72,
       0.0527
      ],
      [
       20.86,
       0.0529
      ],
      [
       21.0,
       0.0548
      ],
      [
       21.14,
       0.0554
      ],
      [
       21.28,
       0.0536
      ],
      [
       21.42,
       0.0532
      ],
      [
       21.56,
       0.0531
      ],
      [
       21.7,
       0.0545
      ],
      [
       21.84,
       0.0538
      ],
      [
       21.98,
       0.0533
      ],
      [
       22.12,
       0.0535
      ],
      [
       22.26,
       0.0539
      ],
      [
       22.4,
       0.0537
      ],
      [
       22.54,
       0.0537
      ],
      [
       22.68,
       0.0532
      ],
      [
       22.82,
       0.053
      ],
      [
       22.96,
       0.0541
      ],
      [
       23.1,
       0.0544
      ],
      [
       23.24,
       0.0565
      ],
      [
       23.38,
       0.0574
      ],
      [
       23.52,
       0.0573
      ],
      [
       23.66,
       0.0573
      ],
      [
       23.8,
       0.0573
      ],
      [
       23.94,
       0.0576
      ],
      [
       24.0,
       0.0577
      ]
     ],
     "total_reward": 0.0577,
     "initial_progress": 0.0,
     "final_progress": 0.0577,
     "physics_sha256": "3252a8c6cc62c091fcc7f37959b55f77c20e608dbd38ae348fe892f2d5277227",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.00045872996313871543,
       "final_progress": 0.00045872996313871543,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -1.3552527156068805e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07508569931997233,
       "final_progress": 0.07508569931997233,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7128984723888087,
       "final_progress": 0.92
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5539884208814799,
       "final_progress": 0.5539884208814799
      },
      {
       "layout_seed": 2,
       "outcome": "layout_rejected",
       "reason": "Task points cannot be separated inside the work area"
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.04228612076596501,
       "final_progress": 0.04228612076596501
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.05234836976206493,
       "final_progress": 0.05234836976206493
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0577114550280629,
       "final_progress": 0.0577114550280629
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "white device"
      },
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      }
     ]
    }
   }
  },
  {
   "example_id": "dbaf6705e0cdbbab281a3919fde25de0c570a4d074ea730fdf8302d2c7531fdb",
   "recording_id": 5749,
   "task_number": 3,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "light wooden computer desk",
   "human_action": false,
   "description": "Pick up the puzzle cube and balance it on top of the gelatin box on the light wooden computer desk among the white device and the keyboard.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the puzzle cube and balance it on top of the gelatin box on the light wooden computer desk among the white device and the keyboard.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 5749,
    "contributor_id": 7,
    "video": "media/source-5749-12366020456a.mp4",
    "poster": "media/source-5749.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.0
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5749,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5749_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 96.345,
      "original_end_s": 116.345,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "3513e99d14de339e395c55a98cce07acd54a864dcaf0e67a293c719045a870cb",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.00 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
      "duration_s": 6.0,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 8,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 2,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "dbaf6705e0cd-panda",
     "video": "media/sim-dbaf6705e0cd-panda-s0.mp4",
     "poster": "media/sim-dbaf6705e0cd-panda-s0.jpg",
     "trajectory": "trajectories/dbaf6705e0cd-panda.json",
     "recipe": "recipes/dbaf6705e0cd-panda.json",
     "seed": 0,
     "steps": 327,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0046
      ],
      [
       0.96,
       0.0104
      ],
      [
       1.0,
       0.0167
      ],
      [
       1.04,
       0.0234
      ],
      [
       1.08,
       0.0305
      ],
      [
       1.12,
       0.038
      ],
      [
       1.16,
       0.0454
      ],
      [
       1.2,
       0.0525
      ],
      [
       1.24,
       0.0592
      ],
      [
       1.28,
       0.0653
      ],
      [
       1.32,
       0.0708
      ],
      [
       1.36,
       0.0758
      ],
      [
       1.4,
       0.0803
      ],
      [
       1.44,
       0.0845
      ],
      [
       1.48,
       0.0884
      ],
      [
       1.52,
       0.0922
      ],
      [
       1.56,
       0.096
      ],
      [
       1.6,
       0.1003
      ],
      [
       1.64,
       0.104
      ],
      [
       1.68,
       0.1077
      ],
      [
       1.72,
       0.1116
      ],
      [
       1.76,
       0.116
      ],
      [
       1.8,
       0.121
      ],
      [
       1.84,
       0.1263
      ],
      [
       1.88,
       0.1313
      ],
      [
       1.92,
       0.1344
      ],
      [
       1.96,
       0.1375
      ],
      [
       2.0,
       0.1419
      ],
      [
       2.04,
       0.1459
      ],
      [
       2.08,
       0.1464
      ],
      [
       2.12,
       0.1453
      ],
      [
       2.16,
       0.1429
      ],
      [
       2.2,
       0.1417
      ],
      [
       2.24,
       0.1418
      ],
      [
       2.28,
       0.1424
      ],
      [
       2.32,
       0.1426
      ],
      [
       2.36,
       0.1427
      ],
      [
       2.4,
       0.1426
      ],
      [
       2.44,
       0.1425
      ],
      [
       2.48,
       0.1424
      ],
      [
       2.52,
       0.1423
      ],
      [
       2.56,
       0.1422
      ],
      [
       2.6,
       0.1422
      ],
      [
       2.64,
       0.1421
      ],
      [
       2.68,
       0.1421
      ],
      [
       2.72,
       0.1431
      ],
      [
       2.76,
       0.1437
      ],
      [
       2.8,
       0.1436
      ],
      [
       2.84,
       0.1436
      ],
      [
       2.88,
       0.1436
      ],
      [
       2.92,
       0.1436
      ],
      [
       2.96,
       0.1436
      ],
      [
       3.0,
       0.1436
      ],
      [
       3.04,
       0.1436
      ],
      [
       3.08,
       0.1437
      ],
      [
       3.12,
       0.1437
      ],
      [
       3.16,
       0.1437
      ],
      [
       3.2,
       0.1438
      ],
      [
       3.24,
       0.1436
      ],
      [
       3.28,
       0.1436
      ],
      [
       3.32,
       0.1436
      ],
      [
       3.36,
       0.1436
      ],
      [
       3.4,
       0.1437
      ],
      [
       3.44,
       0.1437
      ],
      [
       3.48,
       0.1437
      ],
      [
       3.52,
       0.1437
      ],
      [
       3.56,
       0.1437
      ],
      [
       3.6,
       0.4656
      ],
      [
       3.64,
       0.4675
      ],
      [
       3.68,
       0.4679
      ],
      [
       3.72,
       0.4668
      ],
      [
       3.76,
       0.4643
      ],
      [
       3.8,
       0.46
      ],
      [
       3.84,
       0.4542
      ],
      [
       3.88,
       0.4477
      ],
      [
       3.92,
       0.4411
      ],
      [
       3.96,
       0.4344
      ],
      [
       4.0,
       0.428
      ],
      [
       4.04,
       0.4214
      ],
      [
       4.08,
       0.4151
      ],
      [
       4.12,
       0.4091
      ],
      [
       4.16,
       0.4072
      ],
      [
       4.2,
       0.4221
      ],
      [
       4.24,
       0.4496
      ],
      [
       4.28,
       0.4855
      ],
      [
       4.32,
       0.5262
      ],
      [
       4.36,
       0.5693
      ],
      [
       4.4,
       0.614
      ],
      [
       4.44,
       0.6601
      ],
      [
       4.48,
       0.7078
      ],
      [
       4.52,
       0.7562
      ],
      [
       4.56,
       0.8054
      ],
      [
       4.6,
       0.8542
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       1.0
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       1.0
      ],
      [
       6.12,
       1.0
      ],
      [
       6.16,
       1.0
      ],
      [
       6.2,
       1.0
      ],
      [
       6.24,
       1.0
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.54,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "607dddfa2dc7ab066c6e013fd4d43ffb6a9b35911350d2f1318c5cf0ae3454f6",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 8.470329472543003e-22,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 3.903127820947816e-18,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.770108842048425,
       "final_progress": 0.770108842048425,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 327,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx26",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "gelatin_box_ctx26",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "white device"
      }
     ]
    },
    "aloha": {
     "gym_id": "dbaf6705e0cd-aloha",
     "video": "media/sim-dbaf6705e0cd-aloha-s0.mp4",
     "poster": "media/sim-dbaf6705e0cd-aloha-s0.jpg",
     "trajectory": "trajectories/dbaf6705e0cd-aloha.json",
     "recipe": "recipes/dbaf6705e0cd-aloha.json",
     "seed": 0,
     "steps": 693,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0004
      ],
      [
       0.16,
       0.0015
      ],
      [
       0.24,
       0.0031
      ],
      [
       0.32,
       0.0053
      ],
      [
       0.4,
       0.0083
      ],
      [
       0.48,
       0.012
      ],
      [
       0.56,
       0.0165
      ],
      [
       0.64,
       0.0219
      ],
      [
       0.72,
       0.0281
      ],
      [
       0.8,
       0.0352
      ],
      [
       0.88,
       0.0432
      ],
      [
       0.96,
       0.0522
      ],
      [
       1.04,
       0.0621
      ],
      [
       1.12,
       0.0731
      ],
      [
       1.2,
       0.0831
      ],
      [
       1.28,
       0.093
      ],
      [
       1.36,
       0.1036
      ],
      [
       1.44,
       0.1141
      ],
      [
       1.52,
       0.123
      ],
      [
       1.6,
       0.1335
      ],
      [
       1.68,
       0.1366
      ],
      [
       1.76,
       0.1371
      ],
      [
       1.84,
       0.1389
      ],
      [
       1.92,
       0.1404
      ],
      [
       2.0,
       0.1398
      ],
      [
       2.08,
       0.1395
      ],
      [
       2.16,
       0.1395
      ],
      [
       2.24,
       0.1395
      ],
      [
       2.32,
       0.1393
      ],
      [
       2.4,
       0.139
      ],
      [
       2.48,
       0.139
      ],
      [
       2.56,
       0.1388
      ],
      [
       2.64,
       0.1387
      ],
      [
       2.72,
       0.1384
      ],
      [
       2.8,
       0.1379
      ],
      [
       2.88,
       0.1378
      ],
      [
       2.96,
       0.1379
      ],
      [
       3.04,
       0.1379
      ],
      [
       3.12,
       0.1381
      ],
      [
       3.2,
       0.1383
      ],
      [
       3.28,
       0.1383
      ],
      [
       3.36,
       0.1383
      ],
      [
       3.44,
       0.1384
      ],
      [
       3.52,
       0.1384
      ],
      [
       3.6,
       0.1385
      ],
      [
       3.68,
       0.1385
      ],
      [
       3.76,
       0.1385
      ],
      [
       3.84,
       0.1384
      ],
      [
       3.92,
       0.1382
      ],
      [
       4.0,
       0.1381
      ],
      [
       4.08,
       0.1379
      ],
      [
       4.16,
       0.1378
      ],
      [
       4.24,
       0.1378
      ],
      [
       4.32,
       0.1378
      ],
      [
       4.4,
       0.1378
      ],
      [
       4.48,
       0.1378
      ],
      [
       4.56,
       0.1379
      ],
      [
       4.64,
       0.1379
      ],
      [
       4.72,
       0.1381
      ],
      [
       4.8,
       0.1381
      ],
      [
       4.88,
       0.1381
      ],
      [
       4.96,
       0.1381
      ],
      [
       5.04,
       0.1381
      ],
      [
       5.12,
       0.138
      ],
      [
       5.2,
       0.1379
      ],
      [
       5.28,
       0.138
      ],
      [
       5.36,
       0.1379
      ],
      [
       5.44,
       0.1377
      ],
      [
       5.52,
       0.1378
      ],
      [
       5.6,
       0.1378
      ],
      [
       5.68,
       0.1378
      ],
      [
       5.76,
       0.138
      ],
      [
       5.84,
       0.138
      ],
      [
       5.92,
       0.138
      ],
      [
       6.0,
       0.138
      ],
      [
       6.08,
       0.138
      ],
      [
       6.16,
       0.138
      ],
      [
       6.24,
       0.1379
      ],
      [
       6.32,
       0.4
      ],
      [
       6.4,
       0.4
      ],
      [
       6.48,
       0.4
      ],
      [
       6.56,
       0.4
      ],
      [
       6.64,
       0.4
      ],
      [
       6.72,
       0.4
      ],
      [
       6.8,
       0.4
      ],
      [
       6.88,
       0.4
      ],
      [
       6.96,
       0.4
      ],
      [
       7.04,
       0.4
      ],
      [
       7.12,
       0.4
      ],
      [
       7.2,
       0.4
      ],
      [
       7.28,
       0.4
      ],
      [
       7.36,
       0.4
      ],
      [
       7.44,
       0.4
      ],
      [
       7.52,
       0.4
      ],
      [
       7.6,
       0.4
      ],
      [
       7.68,
       0.4
      ],
      [
       7.76,
       0.4
      ],
      [
       7.84,
       0.4308
      ],
      [
       7.92,
       0.4651
      ],
      [
       8.0,
       0.5026
      ],
      [
       8.08,
       0.5437
      ],
      [
       8.16,
       0.589
      ],
      [
       8.24,
       0.6389
      ],
      [
       8.32,
       0.6941
      ],
      [
       8.4,
       0.755
      ],
      [
       8.48,
       0.8213
      ],
      [
       8.56,
       0.8895
      ],
      [
       8.64,
       0.9
      ],
      [
       8.72,
       0.9
      ],
      [
       8.8,
       0.9
      ],
      [
       8.88,
       0.8712
      ],
      [
       8.96,
       0.8357
      ],
      [
       9.04,
       0.8007
      ],
      [
       9.12,
       0.7691
      ],
      [
       9.2,
       0.7445
      ],
      [
       9.28,
       0.7259
      ],
      [
       9.36,
       0.7124
      ],
      [
       9.44,
       0.7034
      ],
      [
       9.52,
       0.6989
      ],
      [
       9.6,
       0.6988
      ],
      [
       9.68,
       0.7028
      ],
      [
       9.76,
       0.7106
      ],
      [
       9.84,
       0.7213
      ],
      [
       9.92,
       0.7333
      ],
      [
       10.0,
       0.7465
      ],
      [
       10.08,
       0.761
      ],
      [
       10.16,
       0.7766
      ],
      [
       10.24,
       0.7934
      ],
      [
       10.32,
       0.8113
      ],
      [
       10.4,
       0.8305
      ],
      [
       10.48,
       0.8512
      ],
      [
       10.56,
       0.8735
      ],
      [
       10.64,
       0.8974
      ],
      [
       10.72,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.88,
       0.9
      ],
      [
       10.96,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.12,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.36,
       0.9
      ],
      [
       11.44,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.6,
       0.9
      ],
      [
       11.68,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.84,
       0.9
      ],
      [
       11.92,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.08,
       0.9
      ],
      [
       12.16,
       0.9
      ],
      [
       12.24,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.4,
       1.0
      ],
      [
       12.48,
       1.0
      ],
      [
       12.56,
       1.0
      ],
      [
       12.64,
       0.9
      ],
      [
       12.72,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       12.96,
       0.9
      ],
      [
       13.04,
       0.9
      ],
      [
       13.12,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.28,
       0.9
      ],
      [
       13.36,
       0.9
      ],
      [
       13.44,
       1.0
      ],
      [
       13.52,
       1.0
      ],
      [
       13.6,
       1.0
      ],
      [
       13.68,
       1.0
      ],
      [
       13.76,
       1.0
      ],
      [
       13.84,
       1.0
      ],
      [
       13.86,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "96cdab555e919415edf78ef210749151dd798dec0185726230c130fe0321b1a7",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0008711211253338735,
       "final_progress": 0.0008711211253338735,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.007174810962465882,
       "final_progress": 0.007174810962465882,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7252424048045952,
       "final_progress": 0.7252424048045952,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 693,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "puzzle_cube_ctx26",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "gelatin_box_ctx26",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "white device"
      }
     ]
    }
   }
  },
  {
   "example_id": "fab3dd1ef6a55b1d7c66669dd2bb65f71a0dc9ae9e85c9e86edc5f671d53d412",
   "recording_id": 5749,
   "task_number": 4,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "light wooden computer desk",
   "human_action": false,
   "description": "Slide the sponge across the light wooden computer desk among the white device and the closed black laptop onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the sponge across the light wooden computer desk among the white device and the closed black laptop onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 5749,
    "contributor_id": 7,
    "video": "media/source-5749-12366020456a.mp4",
    "poster": "media/source-5749.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.0
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 5749,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/005/5749_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 96.345,
      "original_end_s": 116.345,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "3513e99d14de339e395c55a98cce07acd54a864dcaf0e67a293c719045a870cb",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.00 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
      "duration_s": 6.0,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12366020456a67ca286af52f3fb3d4da2341e61c4251a9609d90000fc214eb4b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 1,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "light wooden computer desk",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "fab3dd1ef6a5-panda",
     "video": "media/sim-fab3dd1ef6a5-panda-s1.mp4",
     "poster": "media/sim-fab3dd1ef6a5-panda-s1.jpg",
     "trajectory": "trajectories/fab3dd1ef6a5-panda.json",
     "recipe": "recipes/fab3dd1ef6a5-panda.json",
     "seed": 1,
     "steps": 225,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0008
      ],
      [
       0.18,
       0.0027
      ],
      [
       0.2,
       0.0051
      ],
      [
       0.22,
       0.0076
      ],
      [
       0.24,
       0.0098
      ],
      [
       0.26,
       0.0114
      ],
      [
       0.28,
       0.0127
      ],
      [
       0.3,
       0.0136
      ],
      [
       0.32,
       0.0147
      ],
      [
       0.34,
       0.0159
      ],
      [
       0.36,
       0.0173
      ],
      [
       0.38,
       0.0189
      ],
      [
       0.4,
       0.0205
      ],
      [
       0.42,
       0.022
      ],
      [
       0.44,
       0.0236
      ],
      [
       0.46,
       0.0251
      ],
      [
       0.48,
       0.0266
      ],
      [
       0.5,
       0.0281
      ],
      [
       0.52,
       0.0297
      ],
      [
       0.54,
       0.0313
      ],
      [
       0.56,
       0.033
      ],
      [
       0.58,
       0.0346
      ],
      [
       0.6,
       0.0363
      ],
      [
       0.62,
       0.038
      ],
      [
       0.64,
       0.0397
      ],
      [
       0.66,
       0.0414
      ],
      [
       0.68,
       0.0431
      ],
      [
       0.7,
       0.0449
      ],
      [
       0.72,
       0.0466
      ],
      [
       0.74,
       0.0484
      ],
      [
       0.76,
       0.0502
      ],
      [
       0.78,
       0.052
      ],
      [
       0.8,
       0.0539
      ],
      [
       0.82,
       0.0557
      ],
      [
       0.84,
       0.0575
      ],
      [
       0.86,
       0.0594
      ],
      [
       0.88,
       0.0613
      ],
      [
       0.9,
       0.0632
      ],
      [
       0.92,
       0.0651
      ],
      [
       0.94,
       0.067
      ],
      [
       0.96,
       0.069
      ],
      [
       0.98,
       0.0709
      ],
      [
       1.0,
       0.0729
      ],
      [
       1.02,
       0.0749
      ],
      [
       1.04,
       0.0769
      ],
      [
       1.06,
       0.079
      ],
      [
       1.08,
       0.081
      ],
      [
       1.1,
       0.0831
      ],
      [
       1.12,
       0.0852
      ],
      [
       1.14,
       0.0874
      ],
      [
       1.16,
       0.0895
      ],
      [
       1.18,
       0.0917
      ],
      [
       1.2,
       0.0939
      ],
      [
       1.22,
       0.0961
      ],
      [
       1.24,
       0.0984
      ],
      [
       1.26,
       0.1006
      ],
      [
       1.28,
       0.1029
      ],
      [
       1.3,
       0.1053
      ],
      [
       1.32,
       0.1074
      ],
      [
       1.34,
       0.1094
      ],
      [
       1.36,
       0.1112
      ],
      [
       1.38,
       0.1129
      ],
      [
       1.4,
       0.1143
      ],
      [
       1.42,
       0.1156
      ],
      [
       1.44,
       0.1167
      ],
      [
       1.46,
       0.1176
      ],
      [
       1.48,
       0.1186
      ],
      [
       1.5,
       0.1196
      ],
      [
       1.52,
       0.1207
      ],
      [
       1.54,
       0.122
      ],
      [
       1.56,
       0.1233
      ],
      [
       1.58,
       0.1246
      ],
      [
       1.6,
       0.1258
      ],
      [
       1.62,
       0.1271
      ],
      [
       1.64,
       0.1283
      ],
      [
       1.66,
       0.1294
      ],
      [
       1.68,
       0.1305
      ],
      [
       1.7,
       0.1316
      ],
      [
       1.72,
       0.1327
      ],
      [
       1.74,
       0.1336
      ],
      [
       1.76,
       0.1346
      ],
      [
       1.78,
       0.1354
      ],
      [
       1.8,
       0.1363
      ],
      [
       1.82,
       0.1372
      ],
      [
       1.84,
       0.138
      ],
      [
       1.86,
       0.1387
      ],
      [
       1.88,
       0.1389
      ],
      [
       1.9,
       0.1385
      ],
      [
       1.92,
       0.138
      ],
      [
       1.94,
       0.1378
      ],
      [
       1.96,
       0.138
      ],
      [
       1.98,
       0.1383
      ],
      [
       2.0,
       0.139
      ],
      [
       2.02,
       0.1401
      ],
      [
       2.04,
       0.1414
      ],
      [
       2.06,
       0.1551
      ],
      [
       2.08,
       0.174
      ],
      [
       2.1,
       0.2044
      ],
      [
       2.12,
       0.2263
      ],
      [
       2.14,
       0.2484
      ],
      [
       2.16,
       0.2726
      ],
      [
       2.18,
       0.2961
      ],
      [
       2.2,
       0.3196
      ],
      [
       2.22,
       0.3431
      ],
      [
       2.24,
       0.3665
      ],
      [
       2.26,
       0.3886
      ],
      [
       2.28,
       0.4068
      ],
      [
       2.3,
       0.421
      ],
      [
       2.32,
       0.4382
      ],
      [
       2.34,
       0.4525
      ],
      [
       2.36,
       0.4656
      ],
      [
       2.38,
       0.4712
      ],
      [
       2.4,
       0.4756
      ],
      [
       2.42,
       0.4799
      ],
      [
       2.44,
       0.4847
      ],
      [
       2.46,
       0.4945
      ],
      [
       2.48,
       0.4989
      ],
      [
       2.5,
       0.5065
      ],
      [
       2.52,
       0.5078
      ],
      [
       2.54,
       0.5093
      ],
      [
       2.56,
       0.5102
      ],
      [
       2.58,
       0.5101
      ],
      [
       2.6,
       0.5099
      ],
      [
       2.62,
       0.5098
      ],
      [
       2.64,
       0.5099
      ],
      [
       2.66,
       0.5099
      ],
      [
       2.68,
       0.5099
      ],
      [
       2.7,
       0.5099
      ],
      [
       2.72,
       0.5099
      ],
      [
       2.74,
       0.5099
      ],
      [
       2.76,
       0.5099
      ],
      [
       2.78,
       0.5099
      ],
      [
       2.8,
       0.5099
      ],
      [
       2.82,
       0.5099
      ],
      [
       2.84,
       0.5099
      ],
      [
       2.86,
       0.5099
      ],
      [
       2.88,
       0.5099
      ],
      [
       2.9,
       0.5099
      ],
      [
       2.92,
       0.5099
      ],
      [
       2.94,
       0.5099
      ],
      [
       2.96,
       0.5099
      ],
      [
       2.98,
       0.5099
      ],
      [
       3.0,
       0.5099
      ],
      [
       3.02,
       0.5099
      ],
      [
       3.04,
       0.5099
      ],
      [
       3.06,
       0.5099
      ],
      [
       3.08,
       0.5099
      ],
      [
       3.1,
       0.5099
      ],
      [
       3.12,
       0.5099
      ],
      [
       3.14,
       0.5099
      ],
      [
       3.16,
       0.5099
      ],
      [
       3.18,
       0.5099
      ],
      [
       3.2,
       0.5099
      ],
      [
       3.22,
       0.5099
      ],
      [
       3.24,
       0.5099
      ],
      [
       3.26,
       0.5099
      ],
      [
       3.28,
       0.5099
      ],
      [
       3.3,
       0.5099
      ],
      [
       3.32,
       0.5099
      ],
      [
       3.34,
       0.5099
      ],
      [
       3.36,
       0.5099
      ],
      [
       3.38,
       0.5099
      ],
      [
       3.4,
       0.5099
      ],
      [
       3.42,
       0.5099
      ],
      [
       3.44,
       0.5099
      ],
      [
       3.46,
       0.5099
      ],
      [
       3.48,
       0.5099
      ],
      [
       3.5,
       0.5099
      ],
      [
       3.52,
       0.5099
      ],
      [
       3.54,
       0.5099
      ],
      [
       3.56,
       0.5099
      ],
      [
       3.58,
       0.5099
      ],
      [
       3.6,
       0.5099
      ],
      [
       3.62,
       0.5099
      ],
      [
       3.64,
       0.5099
      ],
      [
       3.66,
       0.5099
      ],
      [
       3.68,
       0.5099
      ],
      [
       3.7,
       0.5099
      ],
      [
       3.72,
       0.5099
      ],
      [
       3.74,
       0.5099
      ],
      [
       3.76,
       0.5099
      ],
      [
       3.78,
       0.5099
      ],
      [
       3.8,
       0.5099
      ],
      [
       3.82,
       0.5099
      ],
      [
       3.84,
       0.5099
      ],
      [
       3.86,
       0.5099
      ],
      [
       3.88,
       0.5099
      ],
      [
       3.9,
       0.5099
      ],
      [
       3.92,
       0.5099
      ],
      [
       3.94,
       0.5099
      ],
      [
       3.96,
       0.5099
      ],
      [
       3.98,
       0.5099
      ],
      [
       4.0,
       0.5099
      ],
      [
       4.02,
       0.5099
      ],
      [
       4.04,
       0.5099
      ],
      [
       4.06,
       0.5283
      ],
      [
       4.08,
       0.5546
      ],
      [
       4.1,
       0.5746
      ],
      [
       4.12,
       0.6037
      ],
      [
       4.14,
       0.6285
      ],
      [
       4.16,
       0.6517
      ],
      [
       4.18,
       0.6788
      ],
      [
       4.2,
       0.7021
      ],
      [
       4.22,
       0.7261
      ],
      [
       4.24,
       0.7482
      ],
      [
       4.26,
       0.7736
      ],
      [
       4.28,
       0.798
      ],
      [
       4.3,
       0.8222
      ],
      [
       4.32,
       0.8475
      ],
      [
       4.34,
       0.8747
      ],
      [
       4.36,
       0.8954
      ],
      [
       4.38,
       0.9192
      ],
      [
       4.4,
       0.9449
      ],
      [
       4.42,
       0.9638
      ],
      [
       4.44,
       0.9828
      ],
      [
       4.46,
       0.9885
      ],
      [
       4.48,
       0.9933
      ],
      [
       4.5,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "a1b6021346237139c4293021762c02868ebffc68b62bd476e6d10f00c9b1bb6f",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -1.6263032587282567e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.033709529436419444,
       "final_progress": 0.033709529436419444,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.23100481672402606,
       "final_progress": 0.23100481672402606
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 225,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "sponge_ctx26",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "white device"
      }
     ]
    },
    "aloha": {
     "gym_id": "fab3dd1ef6a5-aloha",
     "video": "media/sim-fab3dd1ef6a5-aloha-s2.mp4",
     "poster": "media/sim-fab3dd1ef6a5-aloha-s2.jpg",
     "trajectory": "trajectories/fab3dd1ef6a5-aloha.json",
     "recipe": "recipes/fab3dd1ef6a5-aloha.json",
     "seed": 2,
     "steps": 323,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0013
      ],
      [
       0.08,
       0.004
      ],
      [
       0.12,
       0.0073
      ],
      [
       0.16,
       0.0108
      ],
      [
       0.2,
       0.0144
      ],
      [
       0.24,
       0.0182
      ],
      [
       0.28,
       0.0219
      ],
      [
       0.32,
       0.0257
      ],
      [
       0.36,
       0.0295
      ],
      [
       0.4,
       0.0331
      ],
      [
       0.44,
       0.0366
      ],
      [
       0.48,
       0.04
      ],
      [
       0.52,
       0.0431
      ],
      [
       0.56,
       0.0462
      ],
      [
       0.6,
       0.0494
      ],
      [
       0.64,
       0.0524
      ],
      [
       0.68,
       0.0552
      ],
      [
       0.72,
       0.0575
      ],
      [
       0.76,
       0.0596
      ],
      [
       0.8,
       0.0615
      ],
      [
       0.84,
       0.0631
      ],
      [
       0.88,
       0.0646
      ],
      [
       0.92,
       0.0657
      ],
      [
       0.96,
       0.0666
      ],
      [
       1.0,
       0.0673
      ],
      [
       1.04,
       0.068
      ],
      [
       1.08,
       0.0687
      ],
      [
       1.12,
       0.0692
      ],
      [
       1.16,
       0.0696
      ],
      [
       1.2,
       0.0697
      ],
      [
       1.24,
       0.0696
      ],
      [
       1.28,
       0.0694
      ],
      [
       1.32,
       0.0703
      ],
      [
       1.36,
       0.0723
      ],
      [
       1.4,
       0.0746
      ],
      [
       1.44,
       0.0768
      ],
      [
       1.48,
       0.079
      ],
      [
       1.52,
       0.0812
      ],
      [
       1.56,
       0.0834
      ],
      [
       1.6,
       0.0856
      ],
      [
       1.64,
       0.0878
      ],
      [
       1.68,
       0.09
      ],
      [
       1.72,
       0.0921
      ],
      [
       1.76,
       0.0943
      ],
      [
       1.8,
       0.0964
      ],
      [
       1.84,
       0.0985
      ],
      [
       1.88,
       0.1007
      ],
      [
       1.92,
       0.1029
      ],
      [
       1.96,
       0.105
      ],
      [
       2.0,
       0.107
      ],
      [
       2.04,
       0.1089
      ],
      [
       2.08,
       0.1105
      ],
      [
       2.12,
       0.1117
      ],
      [
       2.16,
       0.1122
      ],
      [
       2.2,
       0.1126
      ],
      [
       2.24,
       0.1128
      ],
      [
       2.28,
       0.113
      ],
      [
       2.32,
       0.1132
      ],
      [
       2.36,
       0.1135
      ],
      [
       2.4,
       0.1138
      ],
      [
       2.44,
       0.114
      ],
      [
       2.48,
       0.1142
      ],
      [
       2.52,
       0.1144
      ],
      [
       2.56,
       0.1146
      ],
      [
       2.6,
       0.1147
      ],
      [
       2.64,
       0.1149
      ],
      [
       2.68,
       0.115
      ],
      [
       2.72,
       0.1152
      ],
      [
       2.76,
       0.1153
      ],
      [
       2.8,
       0.1161
      ],
      [
       2.84,
       0.1169
      ],
      [
       2.88,
       0.1173
      ],
      [
       2.92,
       0.1174
      ],
      [
       2.96,
       0.1177
      ],
      [
       3.0,
       0.118
      ],
      [
       3.04,
       0.1181
      ],
      [
       3.08,
       0.1186
      ],
      [
       3.12,
       0.1187
      ],
      [
       3.16,
       0.1194
      ],
      [
       3.2,
       0.1197
      ],
      [
       3.24,
       0.12
      ],
      [
       3.28,
       0.1203
      ],
      [
       3.32,
       0.1206
      ],
      [
       3.36,
       0.1208
      ],
      [
       3.4,
       0.1212
      ],
      [
       3.44,
       0.1219
      ],
      [
       3.48,
       0.122
      ],
      [
       3.52,
       0.1221
      ],
      [
       3.56,
       0.1225
      ],
      [
       3.6,
       0.1227
      ],
      [
       3.64,
       0.1229
      ],
      [
       3.68,
       0.1234
      ],
      [
       3.72,
       0.1237
      ],
      [
       3.76,
       0.1241
      ],
      [
       3.8,
       0.1244
      ],
      [
       3.84,
       0.1246
      ],
      [
       3.88,
       0.1248
      ],
      [
       3.92,
       0.1251
      ],
      [
       3.96,
       0.1253
      ],
      [
       4.0,
       0.1256
      ],
      [
       4.04,
       0.1259
      ],
      [
       4.08,
       0.1261
      ],
      [
       4.12,
       0.1264
      ],
      [
       4.16,
       0.1267
      ],
      [
       4.2,
       0.127
      ],
      [
       4.24,
       0.1274
      ],
      [
       4.28,
       0.1277
      ],
      [
       4.32,
       0.1281
      ],
      [
       4.36,
       0.1284
      ],
      [
       4.4,
       0.1288
      ],
      [
       4.44,
       0.1292
      ],
      [
       4.48,
       0.1296
      ],
      [
       4.52,
       0.1299
      ],
      [
       4.56,
       0.1303
      ],
      [
       4.6,
       0.1319
      ],
      [
       4.64,
       0.1348
      ],
      [
       4.68,
       0.137
      ],
      [
       4.72,
       0.1393
      ],
      [
       4.76,
       0.1416
      ],
      [
       4.8,
       0.1431
      ],
      [
       4.84,
       0.144
      ],
      [
       4.88,
       0.1453
      ],
      [
       4.92,
       0.1462
      ],
      [
       4.96,
       0.1471
      ],
      [
       5.0,
       0.1483
      ],
      [
       5.04,
       0.1483
      ],
      [
       5.08,
       0.1497
      ],
      [
       5.12,
       0.15
      ],
      [
       5.16,
       0.1519
      ],
      [
       5.2,
       0.1525
      ],
      [
       5.24,
       0.1533
      ],
      [
       5.28,
       0.1556
      ],
      [
       5.32,
       0.1577
      ],
      [
       5.36,
       0.1604
      ],
      [
       5.4,
       0.1626
      ],
      [
       5.44,
       0.1645
      ],
      [
       5.48,
       0.1669
      ],
      [
       5.52,
       0.1708
      ],
      [
       5.56,
       0.1976
      ],
      [
       5.6,
       0.235
      ],
      [
       5.64,
       0.235
      ],
      [
       5.68,
       0.2655
      ],
      [
       5.72,
       0.2708
      ],
      [
       5.76,
       0.307
      ],
      [
       5.8,
       0.3145
      ],
      [
       5.84,
       0.3406
      ],
      [
       5.88,
       0.3916
      ],
      [
       5.92,
       0.4273
      ],
      [
       5.96,
       0.4693
      ],
      [
       6.0,
       0.501
      ],
      [
       6.04,
       0.5432
      ],
      [
       6.08,
       0.6001
      ],
      [
       6.12,
       0.6412
      ],
      [
       6.16,
       0.6947
      ],
      [
       6.2,
       0.7299
      ],
      [
       6.24,
       0.7654
      ],
      [
       6.28,
       0.816
      ],
      [
       6.32,
       0.8689
      ],
      [
       6.36,
       0.9117
      ],
      [
       6.4,
       0.9587
      ],
      [
       6.44,
       0.9937
      ],
      [
       6.46,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6242a379c69b93ae8e1e115f1effb6ccf96e22540202269089ca92be03fa887e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011820286175121097,
       "final_progress": 0.0011820286175121097,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -1.0842021724855044e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.3507234292016432,
       "final_progress": 0.3507234292016432,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.026802724132631607,
       "final_progress": 0.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.06811516394424569,
       "final_progress": 0.06811516394424569
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 323,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "sponge_ctx26",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "closed_black_laptop_0",
       "source": "primitive:laptop",
       "grounding": "observed",
       "role": "clutter",
       "label": "closed black laptop"
      },
      {
       "name": "keyboard_0",
       "source": "primitive:keyboard",
       "grounding": "observed",
       "role": "clutter",
       "label": "keyboard"
      },
      {
       "name": "cartoon_pillow_0",
       "source": "primitive:folded_cloth",
       "grounding": "observed",
       "role": "clutter",
       "label": "cartoon pillow"
      },
      {
       "name": "black_cables_and_charger_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "black cables and charger"
      },
      {
       "name": "round_desk_lamp_0",
       "source": "primitive:desk_lamp",
       "grounding": "observed",
       "role": "clutter",
       "label": "round desk lamp"
      },
      {
       "name": "white_device_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "white device"
      }
     ]
    }
   }
  },
  {
   "example_id": "253f1fee321863534d73a10cccf180688b6eb63b4c53ecbfa392105d359ed053",
   "recording_id": 6106,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "black floral dining tabletop",
   "human_action": true,
   "description": "In the footage: Wipe the visible black floral dining tabletop with the orange wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 12\u00d78 cm patch (square to the table edge) on the black floral dining tabletop among the white paper tray and the white plate with cake and sweep it row by row at 4\u201314 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 4\u201314 N, no object moved >2 cm, peak force \u226442 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 6106,
    "contributor_id": 7,
    "video": "media/source-6106-07012c34e938.mp4",
    "poster": "media/source-6106.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6106,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6106_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e061c3fcbea4597937fbe4440a2e0c2dee1d8ec90783d229cbf88f4fab3f8dd1",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 5,
    "flat_decor": 1,
    "observed": 3,
    "added_context": 3,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "black floral dining tabletop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "253f1fee3218-panda",
     "video": "media/sim-253f1fee3218-panda-s0.mp4",
     "poster": "media/sim-253f1fee3218-panda-s0.jpg",
     "trajectory": "trajectories/253f1fee3218-panda.json",
     "recipe": "recipes/253f1fee3218-panda.json",
     "seed": 0,
     "steps": 478,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0006
      ],
      [
       0.08,
       0.0027
      ],
      [
       0.12,
       0.0068
      ],
      [
       0.16,
       0.0114
      ],
      [
       0.2,
       0.0158
      ],
      [
       0.24,
       0.0203
      ],
      [
       0.28,
       0.0253
      ],
      [
       0.32,
       0.0305
      ],
      [
       0.36,
       0.0359
      ],
      [
       0.4,
       0.0414
      ],
      [
       0.44,
       0.0471
      ],
      [
       0.48,
       0.0529
      ],
      [
       0.52,
       0.0589
      ],
      [
       0.56,
       0.0649
      ],
      [
       0.6,
       0.0709
      ],
      [
       0.64,
       0.0769
      ],
      [
       0.68,
       0.083
      ],
      [
       0.72,
       0.0891
      ],
      [
       0.76,
       0.0952
      ],
      [
       0.8,
       0.1013
      ],
      [
       0.84,
       0.1074
      ],
      [
       0.88,
       0.1134
      ],
      [
       0.92,
       0.1193
      ],
      [
       0.96,
       0.125
      ],
      [
       1.0,
       0.1306
      ],
      [
       1.04,
       0.1359
      ],
      [
       1.08,
       0.1411
      ],
      [
       1.12,
       0.1431
      ],
      [
       1.16,
       0.1402
      ],
      [
       1.2,
       0.1416
      ],
      [
       1.24,
       0.1437
      ],
      [
       1.28,
       0.1437
      ],
      [
       1.32,
       0.1432
      ],
      [
       1.36,
       0.142
      ],
      [
       1.4,
       0.1405
      ],
      [
       1.44,
       0.1394
      ],
      [
       1.48,
       0.139
      ],
      [
       1.52,
       0.1392
      ],
      [
       1.56,
       0.1397
      ],
      [
       1.6,
       0.1402
      ],
      [
       1.64,
       0.1406
      ],
      [
       1.68,
       0.1411
      ],
      [
       1.72,
       0.142
      ],
      [
       1.76,
       0.1431
      ],
      [
       1.8,
       0.1443
      ],
      [
       1.84,
       0.1455
      ],
      [
       1.88,
       0.1465
      ],
      [
       1.92,
       0.1473
      ],
      [
       1.96,
       0.1478
      ],
      [
       2.0,
       0.1482
      ],
      [
       2.04,
       0.1486
      ],
      [
       2.08,
       0.149
      ],
      [
       2.12,
       0.1496
      ],
      [
       2.16,
       0.15
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.2917
      ],
      [
       2.8,
       0.2917
      ],
      [
       2.84,
       0.2917
      ],
      [
       2.88,
       0.2917
      ],
      [
       2.92,
       0.2917
      ],
      [
       2.96,
       0.2917
      ],
      [
       3.0,
       0.2917
      ],
      [
       3.04,
       0.2917
      ],
      [
       3.08,
       0.2917
      ],
      [
       3.12,
       0.2917
      ],
      [
       3.16,
       0.2917
      ],
      [
       3.2,
       0.2917
      ],
      [
       3.24,
       0.2917
      ],
      [
       3.28,
       0.2917
      ],
      [
       3.32,
       0.2917
      ],
      [
       3.36,
       0.2917
      ],
      [
       3.4,
       0.2917
      ],
      [
       3.44,
       0.2917
      ],
      [
       3.48,
       0.2917
      ],
      [
       3.52,
       0.2917
      ],
      [
       3.56,
       0.2917
      ],
      [
       3.6,
       0.2917
      ],
      [
       3.64,
       0.2917
      ],
      [
       3.68,
       0.2917
      ],
      [
       3.72,
       0.2917
      ],
      [
       3.76,
       0.2917
      ],
      [
       3.8,
       0.2917
      ],
      [
       3.84,
       0.2917
      ],
      [
       3.88,
       0.2917
      ],
      [
       3.92,
       0.2917
      ],
      [
       3.96,
       0.2917
      ],
      [
       4.0,
       0.2917
      ],
      [
       4.04,
       0.2917
      ],
      [
       4.08,
       0.2917
      ],
      [
       4.12,
       0.2917
      ],
      [
       4.16,
       0.2917
      ],
      [
       4.2,
       0.2917
      ],
      [
       4.24,
       0.2917
      ],
      [
       4.28,
       0.2917
      ],
      [
       4.32,
       0.2917
      ],
      [
       4.36,
       0.2917
      ],
      [
       4.4,
       0.2917
      ],
      [
       4.44,
       0.2917
      ],
      [
       4.48,
       0.2917
      ],
      [
       4.52,
       0.2917
      ],
      [
       4.56,
       0.4333
      ],
      [
       4.6,
       0.4333
      ],
      [
       4.64,
       0.4333
      ],
      [
       4.68,
       0.4333
      ],
      [
       4.72,
       0.5042
      ],
      [
       4.76,
       0.5042
      ],
      [
       4.8,
       0.5042
      ],
      [
       4.84,
       0.5042
      ],
      [
       4.88,
       0.5042
      ],
      [
       4.92,
       0.5042
      ],
      [
       4.96,
       0.5042
      ],
      [
       5.0,
       0.5042
      ],
      [
       5.04,
       0.5042
      ],
      [
       5.08,
       0.5042
      ],
      [
       5.12,
       0.5042
      ],
      [
       5.16,
       0.5042
      ],
      [
       5.2,
       0.5042
      ],
      [
       5.24,
       0.5396
      ],
      [
       5.28,
       0.575
      ],
      [
       5.32,
       0.575
      ],
      [
       5.36,
       0.575
      ],
      [
       5.4,
       0.575
      ],
      [
       5.44,
       0.575
      ],
      [
       5.48,
       0.575
      ],
      [
       5.52,
       0.575
      ],
      [
       5.56,
       0.575
      ],
      [
       5.6,
       0.575
      ],
      [
       5.64,
       0.575
      ],
      [
       5.68,
       0.6458
      ],
      [
       5.72,
       0.6458
      ],
      [
       5.76,
       0.6458
      ],
      [
       5.8,
       0.6458
      ],
      [
       5.84,
       0.6458
      ],
      [
       5.88,
       0.6458
      ],
      [
       5.92,
       0.6458
      ],
      [
       5.96,
       0.6458
      ],
      [
       6.0,
       0.6458
      ],
      [
       6.04,
       0.6458
      ],
      [
       6.08,
       0.6813
      ],
      [
       6.12,
       0.6813
      ],
      [
       6.16,
       0.6813
      ],
      [
       6.2,
       0.6813
      ],
      [
       6.24,
       0.6813
      ],
      [
       6.28,
       0.6813
      ],
      [
       6.32,
       0.6813
      ],
      [
       6.36,
       0.6813
      ],
      [
       6.4,
       0.6813
      ],
      [
       6.44,
       0.6813
      ],
      [
       6.48,
       0.6813
      ],
      [
       6.52,
       0.7167
      ],
      [
       6.56,
       0.7167
      ],
      [
       6.6,
       0.7167
      ],
      [
       6.64,
       0.7167
      ],
      [
       6.68,
       0.7167
      ],
      [
       6.72,
       0.7167
      ],
      [
       6.76,
       0.7167
      ],
      [
       6.8,
       0.7167
      ],
      [
       6.84,
       0.7167
      ],
      [
       6.88,
       0.7167
      ],
      [
       6.92,
       0.7167
      ],
      [
       6.96,
       0.7167
      ],
      [
       7.0,
       0.7167
      ],
      [
       7.04,
       0.7167
      ],
      [
       7.08,
       0.7167
      ],
      [
       7.12,
       0.7167
      ],
      [
       7.16,
       0.7167
      ],
      [
       7.2,
       0.7167
      ],
      [
       7.24,
       0.7167
      ],
      [
       7.28,
       0.7167
      ],
      [
       7.32,
       0.7167
      ],
      [
       7.36,
       0.7167
      ],
      [
       7.4,
       0.7875
      ],
      [
       7.44,
       0.7875
      ],
      [
       7.48,
       0.7875
      ],
      [
       7.52,
       0.7875
      ],
      [
       7.56,
       0.7875
      ],
      [
       7.6,
       0.7875
      ],
      [
       7.64,
       0.7875
      ],
      [
       7.68,
       0.7875
      ],
      [
       7.72,
       0.7875
      ],
      [
       7.76,
       0.7875
      ],
      [
       7.8,
       0.7875
      ],
      [
       7.84,
       0.7875
      ],
      [
       7.88,
       0.7875
      ],
      [
       7.92,
       0.7875
      ],
      [
       7.96,
       0.7875
      ],
      [
       8.0,
       0.7875
      ],
      [
       8.04,
       0.7875
      ],
      [
       8.08,
       0.7875
      ],
      [
       8.12,
       0.7875
      ],
      [
       8.16,
       0.7875
      ],
      [
       8.2,
       0.7875
      ],
      [
       8.24,
       0.7875
      ],
      [
       8.28,
       0.7875
      ],
      [
       8.32,
       0.7875
      ],
      [
       8.36,
       0.7875
      ],
      [
       8.4,
       0.7875
      ],
      [
       8.44,
       0.7875
      ],
      [
       8.48,
       0.7875
      ],
      [
       8.52,
       0.7875
      ],
      [
       8.56,
       0.7875
      ],
      [
       8.6,
       0.7875
      ],
      [
       8.64,
       0.7875
      ],
      [
       8.68,
       0.7875
      ],
      [
       8.72,
       0.7875
      ],
      [
       8.76,
       0.7875
      ],
      [
       8.8,
       0.7875
      ],
      [
       8.84,
       0.8583
      ],
      [
       8.88,
       0.8583
      ],
      [
       8.92,
       0.8583
      ],
      [
       8.96,
       0.8583
      ],
      [
       9.0,
       0.8583
      ],
      [
       9.04,
       0.8583
      ],
      [
       9.08,
       0.8583
      ],
      [
       9.12,
       0.8583
      ],
      [
       9.16,
       0.8938
      ],
      [
       9.2,
       0.8938
      ],
      [
       9.24,
       0.8938
      ],
      [
       9.28,
       0.8938
      ],
      [
       9.32,
       0.8938
      ],
      [
       9.36,
       0.8938
      ],
      [
       9.4,
       0.8938
      ],
      [
       9.44,
       0.8938
      ],
      [
       9.48,
       0.8938
      ],
      [
       9.52,
       0.8938
      ],
      [
       9.56,
       0.9292
      ]
     ],
     "total_reward": 1.9102,
     "initial_progress": 0.0,
     "final_progress": 0.9292,
     "physics_sha256": "e1a1e7d4ad73308355df1ba7d9fdbaa869b30af79cacfa99eea46d3ce7aa6b61",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.14375,
       "final_progress": 0.10625,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.32708333333333334,
       "final_progress": 0.32708333333333334,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 478,
       "return": 1.9101970710082998,
       "final_progress": 0.9291666666666666
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "white paper tray"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "253f1fee3218-aloha",
     "video": "media/sim-253f1fee3218-aloha-s5.mp4",
     "poster": "media/sim-253f1fee3218-aloha-s5.jpg",
     "trajectory": "trajectories/253f1fee3218-aloha.json",
     "recipe": "recipes/253f1fee3218-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0024
      ],
      [
       0.28,
       0.0054
      ],
      [
       0.42,
       0.0104
      ],
      [
       0.56,
       0.0186
      ],
      [
       0.7,
       0.0304
      ],
      [
       0.84,
       0.045
      ],
      [
       0.98,
       0.0646
      ],
      [
       1.12,
       0.0917
      ],
      [
       1.26,
       0.1278
      ],
      [
       1.4,
       0.1433
      ],
      [
       1.54,
       0.1456
      ],
      [
       1.68,
       0.1482
      ],
      [
       1.82,
       0.15
      ],
      [
       1.96,
       0.15
      ],
      [
       2.1,
       0.1418
      ],
      [
       2.24,
       0.136
      ],
      [
       2.38,
       0.1353
      ],
      [
       2.52,
       0.1354
      ],
      [
       2.66,
       0.1356
      ],
      [
       2.8,
       0.1355
      ],
      [
       2.94,
       0.1353
      ],
      [
       3.08,
       0.1342
      ],
      [
       3.22,
       0.1328
      ],
      [
       3.36,
       0.1347
      ],
      [
       3.5,
       0.1445
      ],
      [
       3.64,
       0.15
      ],
      [
       3.78,
       0.15
      ],
      [
       3.92,
       0.15
      ],
      [
       4.06,
       0.15
      ],
      [
       4.2,
       0.2917
      ],
      [
       4.34,
       0.2917
      ],
      [
       4.48,
       0.2917
      ],
      [
       4.62,
       0.2917
      ],
      [
       4.76,
       0.2917
      ],
      [
       4.9,
       0.2917
      ],
      [
       5.04,
       0.3625
      ],
      [
       5.18,
       0.3625
      ],
      [
       5.32,
       0.4333
      ],
      [
       5.46,
       0.4333
      ],
      [
       5.6,
       0.4333
      ],
      [
       5.74,
       0.6104
      ],
      [
       5.88,
       0.6104
      ],
      [
       6.02,
       0.7167
      ],
      [
       6.16,
       0.7167
      ],
      [
       6.3,
       0.7167
      ],
      [
       6.44,
       0.7167
      ],
      [
       6.58,
       0.7167
      ],
      [
       6.72,
       0.7167
      ],
      [
       6.86,
       0.7167
      ],
      [
       7.0,
       0.7167
      ],
      [
       7.14,
       0.7167
      ],
      [
       7.28,
       0.7167
      ],
      [
       7.42,
       0.7167
      ],
      [
       7.56,
       0.7167
      ],
      [
       7.7,
       0.7167
      ],
      [
       7.84,
       0.7167
      ],
      [
       7.98,
       0.7167
      ],
      [
       8.12,
       0.7167
      ],
      [
       8.26,
       0.7167
      ],
      [
       8.4,
       0.7167
      ],
      [
       8.54,
       0.7167
      ],
      [
       8.68,
       0.7167
      ],
      [
       8.82,
       0.7167
      ],
      [
       8.96,
       0.7167
      ],
      [
       9.1,
       0.7167
      ],
      [
       9.24,
       0.7167
      ],
      [
       9.38,
       0.7167
      ],
      [
       9.52,
       0.7167
      ],
      [
       9.66,
       0.7167
      ],
      [
       9.8,
       0.7167
      ],
      [
       9.94,
       0.7167
      ],
      [
       10.08,
       0.7167
      ],
      [
       10.22,
       0.7167
      ],
      [
       10.36,
       0.7167
      ],
      [
       10.5,
       0.7167
      ],
      [
       10.64,
       0.7167
      ],
      [
       10.78,
       0.7167
      ],
      [
       10.92,
       0.7167
      ],
      [
       11.06,
       0.7167
      ],
      [
       11.2,
       0.7167
      ],
      [
       11.34,
       0.7167
      ],
      [
       11.48,
       0.7167
      ],
      [
       11.62,
       0.7167
      ],
      [
       11.76,
       0.7167
      ],
      [
       11.9,
       0.7167
      ],
      [
       12.04,
       0.7167
      ],
      [
       12.18,
       0.7167
      ],
      [
       12.32,
       0.7167
      ],
      [
       12.46,
       0.7167
      ],
      [
       12.6,
       0.7167
      ],
      [
       12.74,
       0.7167
      ],
      [
       12.88,
       0.7167
      ],
      [
       13.02,
       0.7167
      ],
      [
       13.16,
       0.7167
      ],
      [
       13.3,
       0.7167
      ],
      [
       13.44,
       0.7167
      ],
      [
       13.58,
       0.7167
      ],
      [
       13.72,
       0.7167
      ],
      [
       13.86,
       0.7167
      ],
      [
       14.0,
       0.7167
      ],
      [
       14.14,
       0.7167
      ],
      [
       14.28,
       0.7167
      ],
      [
       14.42,
       0.7167
      ],
      [
       14.56,
       0.7167
      ],
      [
       14.7,
       0.7167
      ],
      [
       14.84,
       0.7167
      ],
      [
       14.98,
       0.7167
      ],
      [
       15.12,
       0.7167
      ],
      [
       15.26,
       0.7167
      ],
      [
       15.4,
       0.7167
      ],
      [
       15.54,
       0.7167
      ],
      [
       15.68,
       0.7167
      ],
      [
       15.82,
       0.7167
      ],
      [
       15.96,
       0.7167
      ],
      [
       16.1,
       0.7167
      ],
      [
       16.24,
       0.7167
      ],
      [
       16.38,
       0.7167
      ],
      [
       16.52,
       0.7167
      ],
      [
       16.66,
       0.7167
      ],
      [
       16.8,
       0.7167
      ],
      [
       16.94,
       0.7167
      ],
      [
       17.08,
       0.7167
      ],
      [
       17.22,
       0.7167
      ],
      [
       17.36,
       0.7167
      ],
      [
       17.5,
       0.7167
      ],
      [
       17.64,
       0.7167
      ],
      [
       17.78,
       0.7167
      ],
      [
       17.92,
       0.7167
      ],
      [
       18.06,
       0.7167
      ],
      [
       18.2,
       0.7167
      ],
      [
       18.34,
       0.7167
      ],
      [
       18.48,
       0.7167
      ],
      [
       18.62,
       0.7167
      ],
      [
       18.76,
       0.7167
      ],
      [
       18.9,
       0.7167
      ],
      [
       19.04,
       0.7167
      ],
      [
       19.18,
       0.7167
      ],
      [
       19.32,
       0.7167
      ],
      [
       19.46,
       0.7167
      ],
      [
       19.6,
       0.7167
      ],
      [
       19.74,
       0.7167
      ],
      [
       19.88,
       0.7167
      ],
      [
       20.02,
       0.7167
      ],
      [
       20.16,
       0.7167
      ],
      [
       20.3,
       0.7167
      ],
      [
       20.44,
       0.7167
      ],
      [
       20.58,
       0.7167
      ],
      [
       20.72,
       0.7167
      ],
      [
       20.86,
       0.7167
      ],
      [
       21.0,
       0.7167
      ],
      [
       21.14,
       0.7167
      ],
      [
       21.28,
       0.7167
      ],
      [
       21.42,
       0.7167
      ],
      [
       21.56,
       0.7167
      ],
      [
       21.7,
       0.7167
      ],
      [
       21.84,
       0.7167
      ],
      [
       21.98,
       0.7167
      ],
      [
       22.12,
       0.7167
      ],
      [
       22.26,
       0.7167
      ],
      [
       22.4,
       0.7167
      ],
      [
       22.54,
       0.7167
      ],
      [
       22.68,
       0.7167
      ],
      [
       22.82,
       0.7167
      ],
      [
       22.96,
       0.7167
      ],
      [
       23.1,
       0.7167
      ],
      [
       23.24,
       0.7167
      ],
      [
       23.38,
       0.7167
      ],
      [
       23.52,
       0.7167
      ],
      [
       23.66,
       0.7167
      ],
      [
       23.8,
       0.7167
      ],
      [
       23.94,
       0.7167
      ],
      [
       24.0,
       0.7167
      ]
     ],
     "total_reward": 0.6934,
     "initial_progress": 0.0,
     "final_progress": 0.7167,
     "physics_sha256": "ceeae919ee8404e06d32918d3f9f42e3b28c409e379238a6b3924621ad6e102a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0014799438386480011,
       "final_progress": 0.0014799438386480011,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0015763551830767766,
       "final_progress": 0.0015763551830767829,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3625,
       "final_progress": 0.3625,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7035440930438894,
       "final_progress": 0.7166666666666667
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7346086106359884,
       "final_progress": 0.7520833333333333
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7212445611230641,
       "final_progress": 0.7520833333333333
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8458143771234211,
       "final_progress": 0.89375
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7184725586093658,
       "final_progress": 0.7875
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.693423167496626,
       "final_progress": 0.7166666666666667
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "white paper tray"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "d217725eefaf7701f94770fe48b87c1a025c0c46821117d8e95329c394cb572c",
   "recording_id": 6106,
   "task_number": 2,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "black floral dining tabletop",
   "human_action": false,
   "description": "Grasp the puzzle cube from among the white paper tray and the white plate with cake, lift it clear and set it down on the white paper tray on the black floral dining tabletop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the puzzle cube from among the white paper tray and the white plate with cake, lift it clear and set it down on the white paper tray on the black floral dining tabletop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 6106,
    "contributor_id": 7,
    "video": "media/source-6106-07012c34e938.mp4",
    "poster": "media/source-6106.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6106,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6106_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e061c3fcbea4597937fbe4440a2e0c2dee1d8ec90783d229cbf88f4fab3f8dd1",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 3,
    "added_context": 4,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "black floral dining tabletop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "d217725eefaf-panda",
     "video": "media/sim-d217725eefaf-panda-s0.mp4",
     "poster": "media/sim-d217725eefaf-panda-s0.jpg",
     "trajectory": "trajectories/d217725eefaf-panda.json",
     "recipe": "recipes/d217725eefaf-panda.json",
     "seed": 0,
     "steps": 326,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0014
      ],
      [
       0.44,
       0.0056
      ],
      [
       0.48,
       0.0104
      ],
      [
       0.52,
       0.0155
      ],
      [
       0.56,
       0.019
      ],
      [
       0.6,
       0.0206
      ],
      [
       0.64,
       0.0224
      ],
      [
       0.68,
       0.025
      ],
      [
       0.72,
       0.0278
      ],
      [
       0.76,
       0.0305
      ],
      [
       0.8,
       0.0332
      ],
      [
       0.84,
       0.0361
      ],
      [
       0.88,
       0.0392
      ],
      [
       0.92,
       0.0424
      ],
      [
       0.96,
       0.0458
      ],
      [
       1.0,
       0.0493
      ],
      [
       1.04,
       0.053
      ],
      [
       1.08,
       0.0568
      ],
      [
       1.12,
       0.0608
      ],
      [
       1.16,
       0.065
      ],
      [
       1.2,
       0.0694
      ],
      [
       1.24,
       0.0739
      ],
      [
       1.28,
       0.0785
      ],
      [
       1.32,
       0.0833
      ],
      [
       1.36,
       0.0882
      ],
      [
       1.4,
       0.0932
      ],
      [
       1.44,
       0.0983
      ],
      [
       1.48,
       0.1033
      ],
      [
       1.52,
       0.1081
      ],
      [
       1.56,
       0.1121
      ],
      [
       1.6,
       0.1151
      ],
      [
       1.64,
       0.1174
      ],
      [
       1.68,
       0.1198
      ],
      [
       1.72,
       0.1223
      ],
      [
       1.76,
       0.1249
      ],
      [
       1.8,
       0.1274
      ],
      [
       1.84,
       0.1301
      ],
      [
       1.88,
       0.1328
      ],
      [
       1.92,
       0.1358
      ],
      [
       1.96,
       0.139
      ],
      [
       2.0,
       0.1426
      ],
      [
       2.04,
       0.1473
      ],
      [
       2.08,
       0.1471
      ],
      [
       2.12,
       0.1466
      ],
      [
       2.16,
       0.1473
      ],
      [
       2.2,
       0.1476
      ],
      [
       2.24,
       0.1477
      ],
      [
       2.28,
       0.1478
      ],
      [
       2.32,
       0.1478
      ],
      [
       2.36,
       0.1479
      ],
      [
       2.4,
       0.1479
      ],
      [
       2.44,
       0.148
      ],
      [
       2.48,
       0.148
      ],
      [
       2.52,
       0.148
      ],
      [
       2.56,
       0.148
      ],
      [
       2.6,
       0.148
      ],
      [
       2.64,
       0.148
      ],
      [
       2.68,
       0.148
      ],
      [
       2.72,
       0.1481
      ],
      [
       2.76,
       0.1481
      ],
      [
       2.8,
       0.1482
      ],
      [
       2.84,
       0.1482
      ],
      [
       2.88,
       0.1483
      ],
      [
       2.92,
       0.1483
      ],
      [
       2.96,
       0.1484
      ],
      [
       3.0,
       0.1484
      ],
      [
       3.04,
       0.1485
      ],
      [
       3.08,
       0.1485
      ],
      [
       3.12,
       0.1486
      ],
      [
       3.16,
       0.4
      ],
      [
       3.2,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.32,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4039
      ],
      [
       3.88,
       0.4287
      ],
      [
       3.92,
       0.4609
      ],
      [
       3.96,
       0.4971
      ],
      [
       4.0,
       0.5365
      ],
      [
       4.04,
       0.5782
      ],
      [
       4.08,
       0.6212
      ],
      [
       4.12,
       0.6647
      ],
      [
       4.16,
       0.7082
      ],
      [
       4.2,
       0.7508
      ],
      [
       4.24,
       0.7908
      ],
      [
       4.28,
       0.8256
      ],
      [
       4.32,
       0.8518
      ],
      [
       4.36,
       0.8677
      ],
      [
       4.4,
       0.8759
      ],
      [
       4.44,
       0.8823
      ],
      [
       4.48,
       0.8891
      ],
      [
       4.52,
       0.8949
      ],
      [
       4.56,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       1.0
      ],
      [
       6.0,
       1.0
      ],
      [
       6.04,
       1.0
      ],
      [
       6.08,
       1.0
      ],
      [
       6.12,
       1.0
      ],
      [
       6.16,
       1.0
      ],
      [
       6.2,
       1.0
      ],
      [
       6.24,
       1.0
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "4f7839bff48294aaa2eef063c8ea6c52bd05a9ec7342e0f5bb05e33fa9a70a59",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.2938037479294821,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 326,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx92",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "goal_support",
       "label": "white paper tray"
      },
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "d217725eefaf-aloha",
     "video": "media/sim-d217725eefaf-aloha-s2.mp4",
     "poster": "media/sim-d217725eefaf-aloha-s2.jpg",
     "trajectory": "trajectories/d217725eefaf-aloha.json",
     "recipe": "recipes/d217725eefaf-aloha.json",
     "seed": 2,
     "steps": 516,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0035
      ],
      [
       0.12,
       0.0101
      ],
      [
       0.18,
       0.0176
      ],
      [
       0.24,
       0.0257
      ],
      [
       0.3,
       0.034
      ],
      [
       0.36,
       0.0423
      ],
      [
       0.42,
       0.0498
      ],
      [
       0.48,
       0.0563
      ],
      [
       0.54,
       0.0619
      ],
      [
       0.6,
       0.0672
      ],
      [
       0.66,
       0.0706
      ],
      [
       0.72,
       0.0716
      ],
      [
       0.78,
       0.072
      ],
      [
       0.84,
       0.0742
      ],
      [
       0.9,
       0.0775
      ],
      [
       0.96,
       0.0811
      ],
      [
       1.02,
       0.0847
      ],
      [
       1.08,
       0.0885
      ],
      [
       1.14,
       0.0924
      ],
      [
       1.2,
       0.0967
      ],
      [
       1.26,
       0.1017
      ],
      [
       1.32,
       0.1076
      ],
      [
       1.38,
       0.1113
      ],
      [
       1.44,
       0.1145
      ],
      [
       1.5,
       0.1177
      ],
      [
       1.56,
       0.12
      ],
      [
       1.62,
       0.1195
      ],
      [
       1.68,
       0.1193
      ],
      [
       1.74,
       0.1195
      ],
      [
       1.8,
       0.1203
      ],
      [
       1.86,
       0.1214
      ],
      [
       1.92,
       0.1228
      ],
      [
       1.98,
       0.1251
      ],
      [
       2.04,
       0.1294
      ],
      [
       2.1,
       0.1338
      ],
      [
       2.16,
       0.1389
      ],
      [
       2.22,
       0.1448
      ],
      [
       2.28,
       0.1425
      ],
      [
       2.34,
       0.1424
      ],
      [
       2.4,
       0.1418
      ],
      [
       2.46,
       0.1413
      ],
      [
       2.52,
       0.1411
      ],
      [
       2.58,
       0.1406
      ],
      [
       2.64,
       0.1402
      ],
      [
       2.7,
       0.1396
      ],
      [
       2.76,
       0.1398
      ],
      [
       2.82,
       0.1398
      ],
      [
       2.88,
       0.1398
      ],
      [
       2.94,
       0.1398
      ],
      [
       3.0,
       0.1398
      ],
      [
       3.06,
       0.1398
      ],
      [
       3.12,
       0.1398
      ],
      [
       3.18,
       0.1397
      ],
      [
       3.24,
       0.1397
      ],
      [
       3.3,
       0.1396
      ],
      [
       3.36,
       0.1396
      ],
      [
       3.42,
       0.1395
      ],
      [
       3.48,
       0.1395
      ],
      [
       3.54,
       0.1394
      ],
      [
       3.6,
       0.1394
      ],
      [
       3.66,
       0.1393
      ],
      [
       3.72,
       0.1392
      ],
      [
       3.78,
       0.1392
      ],
      [
       3.84,
       0.1392
      ],
      [
       3.9,
       0.1392
      ],
      [
       3.96,
       0.1392
      ],
      [
       4.02,
       0.1392
      ],
      [
       4.08,
       0.1391
      ],
      [
       4.14,
       0.1391
      ],
      [
       4.2,
       0.1391
      ],
      [
       4.26,
       0.4521
      ],
      [
       4.32,
       0.4532
      ],
      [
       4.38,
       0.4528
      ],
      [
       4.44,
       0.451
      ],
      [
       4.5,
       0.4485
      ],
      [
       4.56,
       0.445
      ],
      [
       4.62,
       0.4407
      ],
      [
       4.68,
       0.4359
      ],
      [
       4.74,
       0.4325
      ],
      [
       4.8,
       0.441
      ],
      [
       4.86,
       0.4541
      ],
      [
       4.92,
       0.4681
      ],
      [
       4.98,
       0.483
      ],
      [
       5.04,
       0.4986
      ],
      [
       5.1,
       0.5149
      ],
      [
       5.16,
       0.532
      ],
      [
       5.22,
       0.5498
      ],
      [
       5.28,
       0.5685
      ],
      [
       5.34,
       0.5887
      ],
      [
       5.4,
       0.6098
      ],
      [
       5.46,
       0.6319
      ],
      [
       5.52,
       0.6556
      ],
      [
       5.58,
       0.6819
      ],
      [
       5.64,
       0.711
      ],
      [
       5.7,
       0.7424
      ],
      [
       5.76,
       0.7763
      ],
      [
       5.82,
       0.8125
      ],
      [
       5.88,
       0.8505
      ],
      [
       5.94,
       0.8897
      ],
      [
       6.0,
       0.9
      ],
      [
       6.06,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.18,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.3,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.42,
       0.9
      ],
      [
       6.48,
       0.8988
      ],
      [
       6.54,
       0.8894
      ],
      [
       6.6,
       0.8805
      ],
      [
       6.66,
       0.8723
      ],
      [
       6.72,
       0.8659
      ],
      [
       6.78,
       0.8601
      ],
      [
       6.84,
       0.855
      ],
      [
       6.9,
       0.8512
      ],
      [
       6.96,
       0.8487
      ],
      [
       7.02,
       0.8478
      ],
      [
       7.08,
       0.8481
      ],
      [
       7.14,
       0.8499
      ],
      [
       7.2,
       0.8531
      ],
      [
       7.26,
       0.8577
      ],
      [
       7.32,
       0.8636
      ],
      [
       7.38,
       0.8708
      ],
      [
       7.44,
       0.8792
      ],
      [
       7.5,
       0.8884
      ],
      [
       7.56,
       0.8981
      ],
      [
       7.62,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.74,
       0.9
      ],
      [
       7.8,
       0.9
      ],
      [
       7.86,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.9
      ],
      [
       8.34,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.46,
       0.9
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       0.9
      ],
      [
       8.76,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.94,
       0.9
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       0.9
      ],
      [
       9.36,
       0.9
      ],
      [
       9.42,
       0.9
      ],
      [
       9.48,
       0.9
      ],
      [
       9.54,
       0.9
      ],
      [
       9.6,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.72,
       1.0
      ],
      [
       9.78,
       0.9
      ],
      [
       9.84,
       1.0
      ],
      [
       9.9,
       1.0
      ],
      [
       9.96,
       1.0
      ],
      [
       10.02,
       1.0
      ],
      [
       10.08,
       1.0
      ],
      [
       10.14,
       1.0
      ],
      [
       10.2,
       1.0
      ],
      [
       10.26,
       1.0
      ],
      [
       10.32,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ae010a129d1a128df07a377f64232519cb30875bfd9cde9949a6eda9b6189dd5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011522312696564951,
       "final_progress": 0.0011522312696564951,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 5.421010862427522e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": true,
       "return": 2.0,
       "final_progress": 1.0,
       "steps": 365,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5815632578613775,
       "final_progress": 0.5815632578613775
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8860480221865851,
       "final_progress": 0.8860480221865851
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 516,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx92",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "goal_support",
       "label": "white paper tray"
      },
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "61016e01d876dbe05123180f785539cbe5410a358812d178a6b9f35c7627d25f",
   "recording_id": 6106,
   "task_number": 3,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "black floral dining tabletop",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the black floral dining tabletop among the cake slice and the white paper tray and pull the drawer 6 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the black floral dining tabletop among the cake slice and the white paper tray and pull the drawer 6 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22656 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 6106,
    "contributor_id": 7,
    "video": "media/source-6106-07012c34e938.mp4",
    "poster": "media/source-6106.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6106,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6106_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e061c3fcbea4597937fbe4440a2e0c2dee1d8ec90783d229cbf88f4fab3f8dd1",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 3,
    "added_context": 4,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "black floral dining tabletop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "61016e01d876-panda",
     "video": "media/sim-61016e01d876-panda-s0.mp4",
     "poster": "media/sim-61016e01d876-panda-s0.jpg",
     "trajectory": "trajectories/61016e01d876-panda.json",
     "recipe": "recipes/61016e01d876-panda.json",
     "seed": 0,
     "steps": 236,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0
      ],
      [
       1.32,
       0.0
      ],
      [
       1.34,
       0.0
      ],
      [
       1.36,
       0.0015
      ],
      [
       1.38,
       0.0042
      ],
      [
       1.4,
       0.0069
      ],
      [
       1.42,
       0.0099
      ],
      [
       1.44,
       0.0129
      ],
      [
       1.46,
       0.0161
      ],
      [
       1.48,
       0.0194
      ],
      [
       1.5,
       0.0227
      ],
      [
       1.52,
       0.0261
      ],
      [
       1.54,
       0.0295
      ],
      [
       1.56,
       0.0328
      ],
      [
       1.58,
       0.036
      ],
      [
       1.6,
       0.039
      ],
      [
       1.62,
       0.042
      ],
      [
       1.64,
       0.0448
      ],
      [
       1.66,
       0.0474
      ],
      [
       1.68,
       0.0499
      ],
      [
       1.7,
       0.0522
      ],
      [
       1.72,
       0.0542
      ],
      [
       1.74,
       0.056
      ],
      [
       1.76,
       0.0577
      ],
      [
       1.78,
       0.0591
      ],
      [
       1.8,
       0.0604
      ],
      [
       1.82,
       0.0615
      ],
      [
       1.84,
       0.0623
      ],
      [
       1.86,
       0.063
      ],
      [
       1.88,
       0.0635
      ],
      [
       1.9,
       0.064
      ],
      [
       1.92,
       0.0645
      ],
      [
       1.94,
       0.0651
      ],
      [
       1.96,
       0.0656
      ],
      [
       1.98,
       0.0662
      ],
      [
       2.0,
       0.0668
      ],
      [
       2.02,
       0.0673
      ],
      [
       2.04,
       0.0679
      ],
      [
       2.06,
       0.0684
      ],
      [
       2.08,
       0.069
      ],
      [
       2.1,
       0.0696
      ],
      [
       2.12,
       0.0702
      ],
      [
       2.14,
       0.0708
      ],
      [
       2.16,
       0.0716
      ],
      [
       2.18,
       0.0723
      ],
      [
       2.2,
       0.0731
      ],
      [
       2.22,
       0.074
      ],
      [
       2.24,
       0.0749
      ],
      [
       2.26,
       0.0758
      ],
      [
       2.28,
       0.0769
      ],
      [
       2.3,
       0.0779
      ],
      [
       2.32,
       0.0791
      ],
      [
       2.34,
       0.0803
      ],
      [
       2.36,
       0.0816
      ],
      [
       2.38,
       0.0829
      ],
      [
       2.4,
       0.0844
      ],
      [
       2.42,
       0.0859
      ],
      [
       2.44,
       0.0875
      ],
      [
       2.46,
       0.0892
      ],
      [
       2.48,
       0.091
      ],
      [
       2.5,
       0.0929
      ],
      [
       2.52,
       0.0949
      ],
      [
       2.54,
       0.097
      ],
      [
       2.56,
       0.0992
      ],
      [
       2.58,
       0.1016
      ],
      [
       2.6,
       0.1042
      ],
      [
       2.62,
       0.107
      ],
      [
       2.64,
       0.1098
      ],
      [
       2.66,
       0.1123
      ],
      [
       2.68,
       0.1146
      ],
      [
       2.7,
       0.1166
      ],
      [
       2.72,
       0.1185
      ],
      [
       2.74,
       0.1202
      ],
      [
       2.76,
       0.1218
      ],
      [
       2.78,
       0.1233
      ],
      [
       2.8,
       0.1246
      ],
      [
       2.82,
       0.1259
      ],
      [
       2.84,
       0.1272
      ],
      [
       2.86,
       0.1288
      ],
      [
       2.88,
       0.1305
      ],
      [
       2.9,
       0.1325
      ],
      [
       2.92,
       0.1347
      ],
      [
       2.94,
       0.1369
      ],
      [
       2.96,
       0.1393
      ],
      [
       2.98,
       0.1416
      ],
      [
       3.0,
       0.1441
      ],
      [
       3.02,
       0.1467
      ],
      [
       3.04,
       0.1473
      ],
      [
       3.06,
       0.1509
      ],
      [
       3.08,
       0.1463
      ],
      [
       3.1,
       0.1466
      ],
      [
       3.12,
       0.1468
      ],
      [
       3.14,
       0.1469
      ],
      [
       3.16,
       0.1469
      ],
      [
       3.18,
       0.1469
      ],
      [
       3.2,
       0.1468
      ],
      [
       3.22,
       0.1467
      ],
      [
       3.24,
       0.1467
      ],
      [
       3.26,
       0.1467
      ],
      [
       3.28,
       0.1466
      ],
      [
       3.3,
       0.1466
      ],
      [
       3.32,
       0.1466
      ],
      [
       3.34,
       0.1466
      ],
      [
       3.36,
       0.1473
      ],
      [
       3.38,
       0.1523
      ],
      [
       3.4,
       0.1586
      ],
      [
       3.42,
       0.1661
      ],
      [
       3.44,
       0.1746
      ],
      [
       3.46,
       0.1841
      ],
      [
       3.48,
       0.1945
      ],
      [
       3.5,
       0.2059
      ],
      [
       3.52,
       0.2181
      ],
      [
       3.54,
       0.2313
      ],
      [
       3.56,
       0.2363
      ],
      [
       3.58,
       0.2362
      ],
      [
       3.6,
       0.2352
      ],
      [
       3.62,
       0.2346
      ],
      [
       3.64,
       0.2345
      ],
      [
       3.66,
       0.235
      ],
      [
       3.68,
       0.2371
      ],
      [
       3.7,
       0.243
      ],
      [
       3.72,
       0.2528
      ],
      [
       3.74,
       0.2655
      ],
      [
       3.76,
       0.2797
      ],
      [
       3.78,
       0.2979
      ],
      [
       3.8,
       0.3126
      ],
      [
       3.82,
       0.3272
      ],
      [
       3.84,
       0.342
      ],
      [
       3.86,
       0.3573
      ],
      [
       3.88,
       0.3733
      ],
      [
       3.9,
       0.39
      ],
      [
       3.92,
       0.4073
      ],
      [
       3.94,
       0.4251
      ],
      [
       3.96,
       0.4435
      ],
      [
       3.98,
       0.4624
      ],
      [
       4.0,
       0.4818
      ],
      [
       4.02,
       0.5017
      ],
      [
       4.04,
       0.5221
      ],
      [
       4.06,
       0.543
      ],
      [
       4.08,
       0.5644
      ],
      [
       4.1,
       0.5863
      ],
      [
       4.12,
       0.6086
      ],
      [
       4.14,
       0.6315
      ],
      [
       4.16,
       0.6548
      ],
      [
       4.18,
       0.6786
      ],
      [
       4.2,
       0.7028
      ],
      [
       4.22,
       0.7275
      ],
      [
       4.24,
       0.7526
      ],
      [
       4.26,
       0.7782
      ],
      [
       4.28,
       0.8041
      ],
      [
       4.3,
       0.8305
      ],
      [
       4.32,
       0.8573
      ],
      [
       4.34,
       0.8844
      ],
      [
       4.36,
       0.9118
      ],
      [
       4.38,
       0.9393
      ],
      [
       4.4,
       0.9677
      ],
      [
       4.42,
       0.9979
      ],
      [
       4.44,
       1.0
      ],
      [
       4.46,
       1.0
      ],
      [
       4.48,
       1.0
      ],
      [
       4.5,
       1.0
      ],
      [
       4.52,
       1.0
      ],
      [
       4.54,
       1.0
      ],
      [
       4.56,
       1.0
      ],
      [
       4.58,
       1.0
      ],
      [
       4.6,
       1.0
      ],
      [
       4.62,
       1.0
      ],
      [
       4.64,
       1.0
      ],
      [
       4.66,
       1.0
      ],
      [
       4.68,
       1.0
      ],
      [
       4.7,
       1.0
      ],
      [
       4.72,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "a354801e57582270d50196a3ec07d8dd98169bc7f15a4fd12230f6d7aa8ec9a0",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 6.577219223449687e-05,
       "final_progress": 7.124470808083696e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 5.7937242464797905e-05,
       "final_progress": 6.340975831114217e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.07636103988483914,
       "final_progress": 0.07636651240068547,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 236,
       "return": 1.9999945274841537,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx92",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "white paper tray"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "61016e01d876-aloha",
     "video": "media/sim-61016e01d876-aloha-s0.mp4",
     "poster": "media/sim-61016e01d876-aloha-s0.jpg",
     "trajectory": "trajectories/61016e01d876-aloha.json",
     "recipe": "recipes/61016e01d876-aloha.json",
     "seed": 0,
     "steps": 320,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0013
      ],
      [
       0.08,
       0.0037
      ],
      [
       0.12,
       0.0064
      ],
      [
       0.16,
       0.0092
      ],
      [
       0.2,
       0.0121
      ],
      [
       0.24,
       0.015
      ],
      [
       0.28,
       0.018
      ],
      [
       0.32,
       0.021
      ],
      [
       0.36,
       0.024
      ],
      [
       0.4,
       0.0269
      ],
      [
       0.44,
       0.0298
      ],
      [
       0.48,
       0.033
      ],
      [
       0.52,
       0.0367
      ],
      [
       0.56,
       0.0409
      ],
      [
       0.6,
       0.0458
      ],
      [
       0.64,
       0.051
      ],
      [
       0.68,
       0.0557
      ],
      [
       0.72,
       0.0582
      ],
      [
       0.76,
       0.0588
      ],
      [
       0.8,
       0.059
      ],
      [
       0.84,
       0.0591
      ],
      [
       0.88,
       0.0593
      ],
      [
       0.92,
       0.0596
      ],
      [
       0.96,
       0.0599
      ],
      [
       1.0,
       0.0601
      ],
      [
       1.04,
       0.0603
      ],
      [
       1.08,
       0.0605
      ],
      [
       1.12,
       0.0607
      ],
      [
       1.16,
       0.0609
      ],
      [
       1.2,
       0.061
      ],
      [
       1.24,
       0.0611
      ],
      [
       1.28,
       0.0612
      ],
      [
       1.32,
       0.0614
      ],
      [
       1.36,
       0.0617
      ],
      [
       1.4,
       0.0622
      ],
      [
       1.44,
       0.0629
      ],
      [
       1.48,
       0.0638
      ],
      [
       1.52,
       0.0649
      ],
      [
       1.56,
       0.0661
      ],
      [
       1.6,
       0.0676
      ],
      [
       1.64,
       0.0692
      ],
      [
       1.68,
       0.0711
      ],
      [
       1.72,
       0.0732
      ],
      [
       1.76,
       0.0755
      ],
      [
       1.8,
       0.078
      ],
      [
       1.84,
       0.0807
      ],
      [
       1.88,
       0.0836
      ],
      [
       1.92,
       0.0868
      ],
      [
       1.96,
       0.0902
      ],
      [
       2.0,
       0.0938
      ],
      [
       2.04,
       0.0976
      ],
      [
       2.08,
       0.1016
      ],
      [
       2.12,
       0.1057
      ],
      [
       2.16,
       0.1073
      ],
      [
       2.2,
       0.1108
      ],
      [
       2.24,
       0.1159
      ],
      [
       2.28,
       0.1217
      ],
      [
       2.32,
       0.1277
      ],
      [
       2.36,
       0.1314
      ],
      [
       2.4,
       0.1318
      ],
      [
       2.44,
       0.1323
      ],
      [
       2.48,
       0.1329
      ],
      [
       2.52,
       0.1337
      ],
      [
       2.56,
       0.1347
      ],
      [
       2.6,
       0.1359
      ],
      [
       2.64,
       0.1374
      ],
      [
       2.68,
       0.1392
      ],
      [
       2.72,
       0.1411
      ],
      [
       2.76,
       0.1411
      ],
      [
       2.8,
       0.1413
      ],
      [
       2.84,
       0.1416
      ],
      [
       2.88,
       0.1416
      ],
      [
       2.92,
       0.1418
      ],
      [
       2.96,
       0.142
      ],
      [
       3.0,
       0.142
      ],
      [
       3.04,
       0.1421
      ],
      [
       3.08,
       0.1422
      ],
      [
       3.12,
       0.1423
      ],
      [
       3.16,
       0.1423
      ],
      [
       3.2,
       0.1424
      ],
      [
       3.24,
       0.1425
      ],
      [
       3.28,
       0.1425
      ],
      [
       3.32,
       0.1426
      ],
      [
       3.36,
       0.1426
      ],
      [
       3.4,
       0.1426
      ],
      [
       3.44,
       0.1427
      ],
      [
       3.48,
       0.1427
      ],
      [
       3.52,
       0.1427
      ],
      [
       3.56,
       0.1427
      ],
      [
       3.6,
       0.1428
      ],
      [
       3.64,
       0.1428
      ],
      [
       3.68,
       0.1428
      ],
      [
       3.72,
       0.1428
      ],
      [
       3.76,
       0.1428
      ],
      [
       3.8,
       0.1428
      ],
      [
       3.84,
       0.1428
      ],
      [
       3.88,
       0.1428
      ],
      [
       3.92,
       0.1428
      ],
      [
       3.96,
       0.1428
      ],
      [
       4.0,
       0.1428
      ],
      [
       4.04,
       0.1428
      ],
      [
       4.08,
       0.1428
      ],
      [
       4.12,
       0.1427
      ],
      [
       4.16,
       0.1428
      ],
      [
       4.2,
       0.1427
      ],
      [
       4.24,
       0.1427
      ],
      [
       4.28,
       0.1426
      ],
      [
       4.32,
       0.1426
      ],
      [
       4.36,
       0.1426
      ],
      [
       4.4,
       0.1426
      ],
      [
       4.44,
       0.1425
      ],
      [
       4.48,
       0.1425
      ],
      [
       4.52,
       0.1425
      ],
      [
       4.56,
       0.1424
      ],
      [
       4.6,
       0.1424
      ],
      [
       4.64,
       0.1424
      ],
      [
       4.68,
       0.1424
      ],
      [
       4.72,
       0.1439
      ],
      [
       4.76,
       0.1465
      ],
      [
       4.8,
       0.1494
      ],
      [
       4.84,
       0.1526
      ],
      [
       4.88,
       0.1556
      ],
      [
       4.92,
       0.1599
      ],
      [
       4.96,
       0.1642
      ],
      [
       5.0,
       0.1698
      ],
      [
       5.04,
       0.1752
      ],
      [
       5.08,
       0.1831
      ],
      [
       5.12,
       0.1911
      ],
      [
       5.16,
       0.2008
      ],
      [
       5.2,
       0.213
      ],
      [
       5.24,
       0.2248
      ],
      [
       5.28,
       0.2394
      ],
      [
       5.32,
       0.2564
      ],
      [
       5.36,
       0.2751
      ],
      [
       5.4,
       0.305
      ],
      [
       5.44,
       0.3337
      ],
      [
       5.48,
       0.3721
      ],
      [
       5.52,
       0.4091
      ],
      [
       5.56,
       0.4465
      ],
      [
       5.6,
       0.4839
      ],
      [
       5.64,
       0.5219
      ],
      [
       5.68,
       0.5605
      ],
      [
       5.72,
       0.5997
      ],
      [
       5.76,
       0.6394
      ],
      [
       5.8,
       0.6797
      ],
      [
       5.84,
       0.7204
      ],
      [
       5.88,
       0.7615
      ],
      [
       5.92,
       0.803
      ],
      [
       5.96,
       0.8448
      ],
      [
       6.0,
       0.8868
      ],
      [
       6.04,
       0.9291
      ],
      [
       6.08,
       0.9714
      ],
      [
       6.12,
       1.0
      ],
      [
       6.16,
       1.0
      ],
      [
       6.2,
       1.0
      ],
      [
       6.24,
       1.0
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "d0b1c51ce821717c7d42de33ed175b0e95ba648efde11d181c63704ff3e08349",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0015836005567964407,
       "final_progress": 0.0015846624757248956,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.5085693450744395,
       "final_progress": 0.508570406993368,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 1.3159380115689701e-05,
       "final_progress": 1.422129904414744e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 320,
       "return": 1.9999989380810717,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx92",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "white paper tray"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "499d12c5ed5328311b91311bfd7637f32a369dcdce986e57f1dfbf05309abba1",
   "recording_id": 6106,
   "task_number": 4,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "black floral dining tabletop",
   "human_action": false,
   "description": "Lift the foam block off the red spot on the black floral dining tabletop, set it aside among the white paper tray and the cake slice, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the foam block off the red spot on the black floral dining tabletop, set it aside among the white paper tray and the cake slice, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 6106,
    "contributor_id": 7,
    "video": "media/source-6106-07012c34e938.mp4",
    "poster": "media/source-6106.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6106,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6106_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e061c3fcbea4597937fbe4440a2e0c2dee1d8ec90783d229cbf88f4fab3f8dd1",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "07012c34e93801a860d515e62956c59664b584341a32026a0d3d51a682353a39",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 3,
    "added_context": 4,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "black floral dining tabletop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "499d12c5ed53-panda",
     "video": "media/sim-499d12c5ed53-panda-s0.mp4",
     "poster": "media/sim-499d12c5ed53-panda-s0.jpg",
     "trajectory": "trajectories/499d12c5ed53-panda.json",
     "recipe": "recipes/499d12c5ed53-panda.json",
     "seed": 0,
     "steps": 463,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.04,
       0.0023
      ],
      [
       1.08,
       0.0062
      ],
      [
       1.12,
       0.0105
      ],
      [
       1.16,
       0.0151
      ],
      [
       1.2,
       0.0198
      ],
      [
       1.24,
       0.0244
      ],
      [
       1.28,
       0.0285
      ],
      [
       1.32,
       0.0321
      ],
      [
       1.36,
       0.0354
      ],
      [
       1.4,
       0.0384
      ],
      [
       1.44,
       0.0411
      ],
      [
       1.48,
       0.0437
      ],
      [
       1.52,
       0.0462
      ],
      [
       1.56,
       0.0486
      ],
      [
       1.6,
       0.0508
      ],
      [
       1.64,
       0.053
      ],
      [
       1.68,
       0.0551
      ],
      [
       1.72,
       0.0572
      ],
      [
       1.76,
       0.0593
      ],
      [
       1.8,
       0.0614
      ],
      [
       1.84,
       0.0636
      ],
      [
       1.88,
       0.0659
      ],
      [
       1.92,
       0.0687
      ],
      [
       1.96,
       0.0712
      ],
      [
       2.0,
       0.0732
      ],
      [
       2.04,
       0.0751
      ],
      [
       2.08,
       0.0774
      ],
      [
       2.12,
       0.0798
      ],
      [
       2.16,
       0.0823
      ],
      [
       2.2,
       0.0849
      ],
      [
       2.24,
       0.0877
      ],
      [
       2.28,
       0.0908
      ],
      [
       2.32,
       0.0941
      ],
      [
       2.36,
       0.0975
      ],
      [
       2.4,
       0.0967
      ],
      [
       2.44,
       0.0959
      ],
      [
       2.48,
       0.096
      ],
      [
       2.52,
       0.0963
      ],
      [
       2.56,
       0.0967
      ],
      [
       2.6,
       0.097
      ],
      [
       2.64,
       0.0972
      ],
      [
       2.68,
       0.0972
      ],
      [
       2.72,
       0.0972
      ],
      [
       2.76,
       0.0973
      ],
      [
       2.8,
       0.0973
      ],
      [
       2.84,
       0.0973
      ],
      [
       2.88,
       0.0974
      ],
      [
       2.92,
       0.0972
      ],
      [
       2.96,
       0.097
      ],
      [
       3.0,
       0.097
      ],
      [
       3.04,
       0.0971
      ],
      [
       3.08,
       0.0971
      ],
      [
       3.12,
       0.0972
      ],
      [
       3.16,
       0.0972
      ],
      [
       3.2,
       0.0972
      ],
      [
       3.24,
       0.0973
      ],
      [
       3.28,
       0.0973
      ],
      [
       3.32,
       0.0974
      ],
      [
       3.36,
       0.0974
      ],
      [
       3.4,
       0.0974
      ],
      [
       3.44,
       0.0975
      ],
      [
       3.48,
       0.5517
      ],
      [
       3.52,
       0.5494
      ],
      [
       3.56,
       0.5433
      ],
      [
       3.6,
       0.5332
      ],
      [
       3.64,
       0.519
      ],
      [
       3.68,
       0.5027
      ],
      [
       3.72,
       0.4865
      ],
      [
       3.76,
       0.4698
      ],
      [
       3.8,
       0.4533
      ],
      [
       3.84,
       0.4367
      ],
      [
       3.88,
       0.4198
      ],
      [
       3.92,
       0.4034
      ],
      [
       3.96,
       0.3867
      ],
      [
       4.0,
       0.3691
      ],
      [
       4.04,
       0.3477
      ],
      [
       4.08,
       0.3194
      ],
      [
       4.12,
       0.3153
      ],
      [
       4.16,
       0.3576
      ],
      [
       4.2,
       0.408
      ],
      [
       4.24,
       0.4677
      ],
      [
       4.28,
       0.5343
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.68,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.84,
       0.6533
      ],
      [
       8.88,
       0.6
      ],
      [
       8.92,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.0,
       0.6533
      ],
      [
       9.04,
       0.7067
      ],
      [
       9.08,
       0.76
      ],
      [
       9.12,
       0.8133
      ],
      [
       9.16,
       0.8667
      ],
      [
       9.2,
       0.92
      ],
      [
       9.24,
       0.9733
      ],
      [
       9.26,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "3e0a6696fdc98f3f9b1c1eaecb7358ca4a2801d8dfccb732540e9b62e8355374",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.168404344971009e-18,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": -0.9102667158688051,
       "final_progress": 0.0898257402442593,
       "steps": 188,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 463,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx92",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "white paper tray"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "499d12c5ed53-aloha",
     "video": "media/sim-499d12c5ed53-aloha-s0.mp4",
     "poster": "media/sim-499d12c5ed53-aloha-s0.jpg",
     "trajectory": "trajectories/499d12c5ed53-aloha.json",
     "recipe": "recipes/499d12c5ed53-aloha.json",
     "seed": 0,
     "steps": 894,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0007
      ],
      [
       0.2,
       0.0018
      ],
      [
       0.3,
       0.0032
      ],
      [
       0.4,
       0.005
      ],
      [
       0.5,
       0.0072
      ],
      [
       0.6,
       0.0103
      ],
      [
       0.7,
       0.0143
      ],
      [
       0.8,
       0.0195
      ],
      [
       0.9,
       0.0258
      ],
      [
       1.0,
       0.0333
      ],
      [
       1.1,
       0.0419
      ],
      [
       1.2,
       0.0517
      ],
      [
       1.3,
       0.0609
      ],
      [
       1.4,
       0.0692
      ],
      [
       1.5,
       0.0782
      ],
      [
       1.6,
       0.0872
      ],
      [
       1.7,
       0.0909
      ],
      [
       1.8,
       0.0902
      ],
      [
       1.9,
       0.0894
      ],
      [
       2.0,
       0.0884
      ],
      [
       2.1,
       0.0885
      ],
      [
       2.2,
       0.0884
      ],
      [
       2.3,
       0.0886
      ],
      [
       2.4,
       0.0888
      ],
      [
       2.5,
       0.0893
      ],
      [
       2.6,
       0.0897
      ],
      [
       2.7,
       0.0903
      ],
      [
       2.8,
       0.0909
      ],
      [
       2.9,
       0.0915
      ],
      [
       3.0,
       0.0923
      ],
      [
       3.1,
       0.093
      ],
      [
       3.2,
       0.0936
      ],
      [
       3.3,
       0.094
      ],
      [
       3.4,
       0.0945
      ],
      [
       3.5,
       0.095
      ],
      [
       3.6,
       0.0953
      ],
      [
       3.7,
       0.0956
      ],
      [
       3.8,
       0.0943
      ],
      [
       3.9,
       0.0931
      ],
      [
       4.0,
       0.0929
      ],
      [
       4.1,
       0.0928
      ],
      [
       4.2,
       0.0928
      ],
      [
       4.3,
       0.0928
      ],
      [
       4.4,
       0.0928
      ],
      [
       4.5,
       0.0928
      ],
      [
       4.6,
       0.0928
      ],
      [
       4.7,
       0.0928
      ],
      [
       4.8,
       0.0929
      ],
      [
       4.9,
       0.0906
      ],
      [
       5.0,
       0.0875
      ],
      [
       5.1,
       0.0877
      ],
      [
       5.2,
       0.088
      ],
      [
       5.3,
       0.0881
      ],
      [
       5.4,
       0.0882
      ],
      [
       5.5,
       0.0883
      ],
      [
       5.6,
       0.0884
      ],
      [
       5.7,
       0.0884
      ],
      [
       5.8,
       0.0884
      ],
      [
       5.9,
       0.0884
      ],
      [
       6.0,
       0.0884
      ],
      [
       6.1,
       0.0884
      ],
      [
       6.2,
       0.0884
      ],
      [
       6.3,
       0.0886
      ],
      [
       6.4,
       0.0885
      ],
      [
       6.5,
       0.0885
      ],
      [
       6.6,
       0.0886
      ],
      [
       6.7,
       0.0888
      ],
      [
       6.8,
       0.0887
      ],
      [
       6.9,
       0.0887
      ],
      [
       7.0,
       0.0888
      ],
      [
       7.1,
       0.0889
      ],
      [
       7.2,
       0.0891
      ],
      [
       7.3,
       0.0893
      ],
      [
       7.4,
       0.0896
      ],
      [
       7.5,
       0.0899
      ],
      [
       7.6,
       0.0903
      ],
      [
       7.7,
       0.0907
      ],
      [
       7.8,
       0.0909
      ],
      [
       7.9,
       0.0916
      ],
      [
       8.0,
       0.092
      ],
      [
       8.1,
       0.0921
      ],
      [
       8.2,
       0.0921
      ],
      [
       8.3,
       0.0921
      ],
      [
       8.4,
       0.0921
      ],
      [
       8.5,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.9,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.1,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.4,
       0.6
      ],
      [
       9.5,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.7,
       0.6
      ],
      [
       9.8,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.6
      ],
      [
       15.9,
       0.6
      ],
      [
       16.0,
       0.6
      ],
      [
       16.1,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.3,
       0.6
      ],
      [
       16.4,
       0.6
      ],
      [
       16.5,
       0.6
      ],
      [
       16.6,
       0.6
      ],
      [
       16.7,
       0.6
      ],
      [
       16.8,
       0.6
      ],
      [
       16.9,
       0.6
      ],
      [
       17.0,
       0.6
      ],
      [
       17.1,
       0.6
      ],
      [
       17.2,
       0.6
      ],
      [
       17.3,
       0.6
      ],
      [
       17.4,
       0.6
      ],
      [
       17.5,
       0.6267
      ],
      [
       17.6,
       0.6267
      ],
      [
       17.7,
       0.76
      ],
      [
       17.8,
       0.8933
      ],
      [
       17.88,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "e8cbadef80567f794740d1d9c3e95a15b0f2c664a49612d5d68cc0996e0778cc",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0005061813715819153,
       "final_progress": 0.0005061813715819153,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.03659812753565398,
       "final_progress": 0.03659812753565398,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.04299740488969235,
       "final_progress": 0.04299740488969235,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 894,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx92",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "white_plate_with_cake_0",
       "source": "ycb:029_plate",
       "grounding": "observed",
       "role": "clutter",
       "label": "white plate with cake"
      },
      {
       "name": "white_paper_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "white paper tray"
      },
      {
       "name": "napkin_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "napkin"
      },
      {
       "name": "fork_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fork"
      },
      {
       "name": "cake_slice_0",
       "source": "ycb:003_cracker_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "cake slice"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "521251ed3e8eb86a40e8f3f6bfca849536d094c25976991b4cbfc3782c68d402",
   "recording_id": 6124,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "wood-grain kitchen worktop",
   "human_action": true,
   "description": "In the footage: Wipe the visible wood-grain kitchen worktop with the mint green wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 10\u00d78 cm patch (turned 40\u00b0) on the wood-grain kitchen worktop among the glass candy dish and the scissors and sweep it row by row at 2\u201310 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 2\u201310 N, no object moved >2 cm, peak force \u226430 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 6124,
    "contributor_id": 6,
    "video": "media/source-6124-2b30a7807efa.mp4",
    "poster": "media/source-6124.jpg",
    "source_sha256": null,
    "interval_s": [
     4.333333,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6124,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6124_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 27.299999999999997,
      "original_end_s": 47.3,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "6806ebf015c0390de016dbe371e1561e0eeece9b74b3edf507f5dd294802c1f4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.33\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
      "duration_s": 15.48,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 9,
    "added_context": 0,
    "recording_observed": 9,
    "recording_added": 0,
    "surface": "wood-grain kitchen worktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "521251ed3e8e-panda",
     "video": "media/sim-521251ed3e8e-panda-s0.mp4",
     "poster": "media/sim-521251ed3e8e-panda-s0.jpg",
     "trajectory": "trajectories/521251ed3e8e-panda.json",
     "recipe": "recipes/521251ed3e8e-panda.json",
     "seed": 0,
     "steps": 293,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0001
      ],
      [
       0.04,
       0.0001
      ],
      [
       0.06,
       0.0005
      ],
      [
       0.08,
       0.0013
      ],
      [
       0.1,
       0.0025
      ],
      [
       0.12,
       0.0039
      ],
      [
       0.14,
       0.0055
      ],
      [
       0.16,
       0.0069
      ],
      [
       0.18,
       0.0082
      ],
      [
       0.2,
       0.0095
      ],
      [
       0.22,
       0.0109
      ],
      [
       0.24,
       0.0123
      ],
      [
       0.26,
       0.0139
      ],
      [
       0.28,
       0.0155
      ],
      [
       0.3,
       0.0172
      ],
      [
       0.32,
       0.0189
      ],
      [
       0.34,
       0.0206
      ],
      [
       0.36,
       0.0224
      ],
      [
       0.38,
       0.0242
      ],
      [
       0.4,
       0.0261
      ],
      [
       0.42,
       0.028
      ],
      [
       0.44,
       0.0299
      ],
      [
       0.46,
       0.032
      ],
      [
       0.48,
       0.034
      ],
      [
       0.5,
       0.0361
      ],
      [
       0.52,
       0.0383
      ],
      [
       0.54,
       0.0405
      ],
      [
       0.56,
       0.0427
      ],
      [
       0.58,
       0.045
      ],
      [
       0.6,
       0.0473
      ],
      [
       0.62,
       0.0497
      ],
      [
       0.64,
       0.0521
      ],
      [
       0.66,
       0.0546
      ],
      [
       0.68,
       0.0571
      ],
      [
       0.7,
       0.0597
      ],
      [
       0.72,
       0.0622
      ],
      [
       0.74,
       0.0649
      ],
      [
       0.76,
       0.0675
      ],
      [
       0.78,
       0.0702
      ],
      [
       0.8,
       0.0729
      ],
      [
       0.82,
       0.0757
      ],
      [
       0.84,
       0.0784
      ],
      [
       0.86,
       0.0812
      ],
      [
       0.88,
       0.084
      ],
      [
       0.9,
       0.0869
      ],
      [
       0.92,
       0.0898
      ],
      [
       0.94,
       0.0927
      ],
      [
       0.96,
       0.0956
      ],
      [
       0.98,
       0.0986
      ],
      [
       1.0,
       0.1016
      ],
      [
       1.02,
       0.1046
      ],
      [
       1.04,
       0.1076
      ],
      [
       1.06,
       0.1106
      ],
      [
       1.08,
       0.1136
      ],
      [
       1.1,
       0.1166
      ],
      [
       1.12,
       0.1196
      ],
      [
       1.14,
       0.1226
      ],
      [
       1.16,
       0.1255
      ],
      [
       1.18,
       0.1284
      ],
      [
       1.2,
       0.1313
      ],
      [
       1.22,
       0.1343
      ],
      [
       1.24,
       0.1372
      ],
      [
       1.26,
       0.14
      ],
      [
       1.28,
       0.1425
      ],
      [
       1.3,
       0.1445
      ],
      [
       1.32,
       0.1444
      ],
      [
       1.34,
       0.1431
      ],
      [
       1.36,
       0.1425
      ],
      [
       1.38,
       0.143
      ],
      [
       1.4,
       0.144
      ],
      [
       1.42,
       0.1448
      ],
      [
       1.44,
       0.1451
      ],
      [
       1.46,
       0.1451
      ],
      [
       1.48,
       0.1449
      ],
      [
       1.5,
       0.1447
      ],
      [
       1.52,
       0.1446
      ],
      [
       1.54,
       0.1445
      ],
      [
       1.56,
       0.1442
      ],
      [
       1.58,
       0.1437
      ],
      [
       1.6,
       0.1431
      ],
      [
       1.62,
       0.1425
      ],
      [
       1.64,
       0.1418
      ],
      [
       1.66,
       0.1413
      ],
      [
       1.68,
       0.1409
      ],
      [
       1.7,
       0.1406
      ],
      [
       1.72,
       0.1405
      ],
      [
       1.74,
       0.1406
      ],
      [
       1.76,
       0.1407
      ],
      [
       1.78,
       0.1409
      ],
      [
       1.8,
       0.1412
      ],
      [
       1.82,
       0.1414
      ],
      [
       1.84,
       0.1416
      ],
      [
       1.86,
       0.1417
      ],
      [
       1.88,
       0.1419
      ],
      [
       1.9,
       0.1421
      ],
      [
       1.92,
       0.1423
      ],
      [
       1.94,
       0.1426
      ],
      [
       1.96,
       0.143
      ],
      [
       1.98,
       0.1435
      ],
      [
       2.0,
       0.144
      ],
      [
       2.02,
       0.1445
      ],
      [
       2.04,
       0.145
      ],
      [
       2.06,
       0.1455
      ],
      [
       2.08,
       0.146
      ],
      [
       2.1,
       0.1465
      ],
      [
       2.12,
       0.1469
      ],
      [
       2.14,
       0.1472
      ],
      [
       2.16,
       0.1475
      ],
      [
       2.18,
       0.1477
      ],
      [
       2.2,
       0.1479
      ],
      [
       2.22,
       0.1481
      ],
      [
       2.24,
       0.1482
      ],
      [
       2.26,
       0.1484
      ],
      [
       2.28,
       0.1486
      ],
      [
       2.3,
       0.1488
      ],
      [
       2.32,
       0.149
      ],
      [
       2.34,
       0.1492
      ],
      [
       2.36,
       0.1495
      ],
      [
       2.38,
       0.1497
      ],
      [
       2.4,
       0.1499
      ],
      [
       2.42,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.46,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.5,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.54,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.58,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.62,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.66,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.7,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.74,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.78,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.82,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.86,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.9,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.94,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       2.98,
       0.15
      ],
      [
       3.0,
       0.32
      ],
      [
       3.02,
       0.32
      ],
      [
       3.04,
       0.32
      ],
      [
       3.06,
       0.32
      ],
      [
       3.08,
       0.32
      ],
      [
       3.1,
       0.32
      ],
      [
       3.12,
       0.32
      ],
      [
       3.14,
       0.32
      ],
      [
       3.16,
       0.32
      ],
      [
       3.18,
       0.32
      ],
      [
       3.2,
       0.32
      ],
      [
       3.22,
       0.32
      ],
      [
       3.24,
       0.32
      ],
      [
       3.26,
       0.32
      ],
      [
       3.28,
       0.32
      ],
      [
       3.3,
       0.32
      ],
      [
       3.32,
       0.32
      ],
      [
       3.34,
       0.32
      ],
      [
       3.36,
       0.32
      ],
      [
       3.38,
       0.32
      ],
      [
       3.4,
       0.32
      ],
      [
       3.42,
       0.32
      ],
      [
       3.44,
       0.32
      ],
      [
       3.46,
       0.32
      ],
      [
       3.48,
       0.32
      ],
      [
       3.5,
       0.32
      ],
      [
       3.52,
       0.32
      ],
      [
       3.54,
       0.32
      ],
      [
       3.56,
       0.32
      ],
      [
       3.58,
       0.32
      ],
      [
       3.6,
       0.32
      ],
      [
       3.62,
       0.32
      ],
      [
       3.64,
       0.32
      ],
      [
       3.66,
       0.32
      ],
      [
       3.68,
       0.32
      ],
      [
       3.7,
       0.32
      ],
      [
       3.72,
       0.32
      ],
      [
       3.74,
       0.32
      ],
      [
       3.76,
       0.32
      ],
      [
       3.78,
       0.32
      ],
      [
       3.8,
       0.32
      ],
      [
       3.82,
       0.32
      ],
      [
       3.84,
       0.32
      ],
      [
       3.86,
       0.32
      ],
      [
       3.88,
       0.32
      ],
      [
       3.9,
       0.32
      ],
      [
       3.92,
       0.32
      ],
      [
       3.94,
       0.32
      ],
      [
       3.96,
       0.32
      ],
      [
       3.98,
       0.32
      ],
      [
       4.0,
       0.32
      ],
      [
       4.02,
       0.32
      ],
      [
       4.04,
       0.32
      ],
      [
       4.06,
       0.32
      ],
      [
       4.08,
       0.32
      ],
      [
       4.1,
       0.32
      ],
      [
       4.12,
       0.32
      ],
      [
       4.14,
       0.32
      ],
      [
       4.16,
       0.32
      ],
      [
       4.18,
       0.32
      ],
      [
       4.2,
       0.32
      ],
      [
       4.22,
       0.32
      ],
      [
       4.24,
       0.32
      ],
      [
       4.26,
       0.32
      ],
      [
       4.28,
       0.32
      ],
      [
       4.3,
       0.32
      ],
      [
       4.32,
       0.32
      ],
      [
       4.34,
       0.32
      ],
      [
       4.36,
       0.32
      ],
      [
       4.38,
       0.49
      ],
      [
       4.4,
       0.49
      ],
      [
       4.42,
       0.49
      ],
      [
       4.44,
       0.49
      ],
      [
       4.46,
       0.49
      ],
      [
       4.48,
       0.5325
      ],
      [
       4.5,
       0.5325
      ],
      [
       4.52,
       0.5325
      ],
      [
       4.54,
       0.5325
      ],
      [
       4.56,
       0.5325
      ],
      [
       4.58,
       0.5325
      ],
      [
       4.6,
       0.5325
      ],
      [
       4.62,
       0.5325
      ],
      [
       4.64,
       0.5325
      ],
      [
       4.66,
       0.5325
      ],
      [
       4.68,
       0.575
      ],
      [
       4.7,
       0.575
      ],
      [
       4.72,
       0.575
      ],
      [
       4.74,
       0.575
      ],
      [
       4.76,
       0.575
      ],
      [
       4.78,
       0.575
      ],
      [
       4.8,
       0.575
      ],
      [
       4.82,
       0.575
      ],
      [
       4.84,
       0.575
      ],
      [
       4.86,
       0.575
      ],
      [
       4.88,
       0.575
      ],
      [
       4.9,
       0.575
      ],
      [
       4.92,
       0.575
      ],
      [
       4.94,
       0.6175
      ],
      [
       4.96,
       0.6175
      ],
      [
       4.98,
       0.6175
      ],
      [
       5.0,
       0.6175
      ],
      [
       5.02,
       0.66
      ],
      [
       5.04,
       0.66
      ],
      [
       5.06,
       0.66
      ],
      [
       5.08,
       0.66
      ],
      [
       5.1,
       0.7025
      ],
      [
       5.12,
       0.7025
      ],
      [
       5.14,
       0.7025
      ],
      [
       5.16,
       0.7025
      ],
      [
       5.18,
       0.7025
      ],
      [
       5.2,
       0.7025
      ],
      [
       5.22,
       0.7025
      ],
      [
       5.24,
       0.7025
      ],
      [
       5.26,
       0.7025
      ],
      [
       5.28,
       0.7025
      ],
      [
       5.3,
       0.7025
      ],
      [
       5.32,
       0.7025
      ],
      [
       5.34,
       0.7025
      ],
      [
       5.36,
       0.7025
      ],
      [
       5.38,
       0.7875
      ],
      [
       5.4,
       0.7875
      ],
      [
       5.42,
       0.83
      ],
      [
       5.44,
       0.83
      ],
      [
       5.46,
       0.83
      ],
      [
       5.48,
       0.83
      ],
      [
       5.5,
       0.83
      ],
      [
       5.52,
       0.83
      ],
      [
       5.54,
       0.83
      ],
      [
       5.56,
       0.83
      ],
      [
       5.58,
       0.83
      ],
      [
       5.6,
       0.83
      ],
      [
       5.62,
       0.83
      ],
      [
       5.64,
       0.83
      ],
      [
       5.66,
       0.83
      ],
      [
       5.68,
       0.83
      ],
      [
       5.7,
       0.83
      ],
      [
       5.72,
       0.83
      ],
      [
       5.74,
       0.83
      ],
      [
       5.76,
       0.83
      ],
      [
       5.78,
       0.83
      ],
      [
       5.8,
       0.8725
      ],
      [
       5.82,
       0.8725
      ],
      [
       5.84,
       0.8725
      ],
      [
       5.86,
       0.915
      ]
     ],
     "total_reward": 1.8698,
     "initial_progress": 0.0,
     "final_progress": 0.915,
     "physics_sha256": "581527371d726f1de1ea075a06e16f79324a5b26130f14aeae186d645e7d2d40",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.6939210008517029,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.32,
       "final_progress": 0.32,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 293,
       "return": 1.8697591041263957,
       "final_progress": 0.915
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear pastry box"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    },
    "aloha": {
     "gym_id": "521251ed3e8e-aloha",
     "video": "media/sim-521251ed3e8e-aloha-s2.mp4",
     "poster": "media/sim-521251ed3e8e-aloha-s2.jpg",
     "trajectory": "trajectories/521251ed3e8e-aloha.json",
     "recipe": "recipes/521251ed3e8e-aloha.json",
     "seed": 2,
     "steps": 473,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0002
      ],
      [
       0.08,
       0.0008
      ],
      [
       0.12,
       0.0016
      ],
      [
       0.16,
       0.0025
      ],
      [
       0.2,
       0.0037
      ],
      [
       0.24,
       0.0051
      ],
      [
       0.28,
       0.0068
      ],
      [
       0.32,
       0.0087
      ],
      [
       0.36,
       0.0109
      ],
      [
       0.4,
       0.0134
      ],
      [
       0.44,
       0.0163
      ],
      [
       0.48,
       0.0195
      ],
      [
       0.52,
       0.0231
      ],
      [
       0.56,
       0.0271
      ],
      [
       0.6,
       0.0314
      ],
      [
       0.64,
       0.0362
      ],
      [
       0.68,
       0.0413
      ],
      [
       0.72,
       0.0468
      ],
      [
       0.76,
       0.0526
      ],
      [
       0.8,
       0.0587
      ],
      [
       0.84,
       0.0651
      ],
      [
       0.88,
       0.0718
      ],
      [
       0.92,
       0.0788
      ],
      [
       0.96,
       0.0863
      ],
      [
       1.0,
       0.0942
      ],
      [
       1.04,
       0.1026
      ],
      [
       1.08,
       0.1117
      ],
      [
       1.12,
       0.1217
      ],
      [
       1.16,
       0.1313
      ],
      [
       1.2,
       0.1371
      ],
      [
       1.24,
       0.1394
      ],
      [
       1.28,
       0.1405
      ],
      [
       1.32,
       0.1413
      ],
      [
       1.36,
       0.1422
      ],
      [
       1.4,
       0.1431
      ],
      [
       1.44,
       0.1438
      ],
      [
       1.48,
       0.1445
      ],
      [
       1.52,
       0.1453
      ],
      [
       1.56,
       0.146
      ],
      [
       1.6,
       0.1468
      ],
      [
       1.64,
       0.1475
      ],
      [
       1.68,
       0.1479
      ],
      [
       1.72,
       0.1481
      ],
      [
       1.76,
       0.1478
      ],
      [
       1.8,
       0.1473
      ],
      [
       1.84,
       0.1469
      ],
      [
       1.88,
       0.1472
      ],
      [
       1.92,
       0.1483
      ],
      [
       1.96,
       0.1494
      ],
      [
       2.0,
       0.15
      ],
      [
       2.04,
       0.15
      ],
      [
       2.08,
       0.15
      ],
      [
       2.12,
       0.15
      ],
      [
       2.16,
       0.15
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.1498
      ],
      [
       2.56,
       0.1495
      ],
      [
       2.6,
       0.1492
      ],
      [
       2.64,
       0.149
      ],
      [
       2.68,
       0.1489
      ],
      [
       2.72,
       0.1488
      ],
      [
       2.76,
       0.1487
      ],
      [
       2.8,
       0.1486
      ],
      [
       2.84,
       0.1485
      ],
      [
       2.88,
       0.1485
      ],
      [
       2.92,
       0.1484
      ],
      [
       2.96,
       0.1484
      ],
      [
       3.0,
       0.1483
      ],
      [
       3.04,
       0.1483
      ],
      [
       3.08,
       0.1483
      ],
      [
       3.12,
       0.1485
      ],
      [
       3.16,
       0.1488
      ],
      [
       3.2,
       0.149
      ],
      [
       3.24,
       0.1493
      ],
      [
       3.28,
       0.1494
      ],
      [
       3.32,
       0.1495
      ],
      [
       3.36,
       0.1495
      ],
      [
       3.4,
       0.1493
      ],
      [
       3.44,
       0.1491
      ],
      [
       3.48,
       0.1489
      ],
      [
       3.52,
       0.1487
      ],
      [
       3.56,
       0.1483
      ],
      [
       3.6,
       0.1476
      ],
      [
       3.64,
       0.1466
      ],
      [
       3.68,
       0.1452
      ],
      [
       3.72,
       0.1434
      ],
      [
       3.76,
       0.1415
      ],
      [
       3.8,
       0.1395
      ],
      [
       3.84,
       0.1378
      ],
      [
       3.88,
       0.1363
      ],
      [
       3.92,
       0.1353
      ],
      [
       3.96,
       0.1344
      ],
      [
       4.0,
       0.1338
      ],
      [
       4.04,
       0.1334
      ],
      [
       4.08,
       0.1331
      ],
      [
       4.12,
       0.1329
      ],
      [
       4.16,
       0.1326
      ],
      [
       4.2,
       0.1324
      ],
      [
       4.24,
       0.1321
      ],
      [
       4.28,
       0.1319
      ],
      [
       4.32,
       0.1317
      ],
      [
       4.36,
       0.1315
      ],
      [
       4.4,
       0.1314
      ],
      [
       4.44,
       0.1312
      ],
      [
       4.48,
       0.131
      ],
      [
       4.52,
       0.131
      ],
      [
       4.56,
       0.1316
      ],
      [
       4.6,
       0.1329
      ],
      [
       4.64,
       0.1349
      ],
      [
       4.68,
       0.1373
      ],
      [
       4.72,
       0.14
      ],
      [
       4.76,
       0.1428
      ],
      [
       4.8,
       0.1454
      ],
      [
       4.84,
       0.1476
      ],
      [
       4.88,
       0.1492
      ],
      [
       4.92,
       0.15
      ],
      [
       4.96,
       0.15
      ],
      [
       5.0,
       0.15
      ],
      [
       5.04,
       0.15
      ],
      [
       5.08,
       0.15
      ],
      [
       5.12,
       0.15
      ],
      [
       5.16,
       0.15
      ],
      [
       5.2,
       0.15
      ],
      [
       5.24,
       0.15
      ],
      [
       5.28,
       0.32
      ],
      [
       5.32,
       0.32
      ],
      [
       5.36,
       0.32
      ],
      [
       5.4,
       0.32
      ],
      [
       5.44,
       0.32
      ],
      [
       5.48,
       0.32
      ],
      [
       5.52,
       0.32
      ],
      [
       5.56,
       0.32
      ],
      [
       5.6,
       0.32
      ],
      [
       5.64,
       0.32
      ],
      [
       5.68,
       0.32
      ],
      [
       5.72,
       0.32
      ],
      [
       5.76,
       0.32
      ],
      [
       5.8,
       0.32
      ],
      [
       5.84,
       0.32
      ],
      [
       5.88,
       0.32
      ],
      [
       5.92,
       0.32
      ],
      [
       5.96,
       0.32
      ],
      [
       6.0,
       0.32
      ],
      [
       6.04,
       0.32
      ],
      [
       6.08,
       0.32
      ],
      [
       6.12,
       0.32
      ],
      [
       6.16,
       0.4475
      ],
      [
       6.2,
       0.4475
      ],
      [
       6.24,
       0.4475
      ],
      [
       6.28,
       0.4475
      ],
      [
       6.32,
       0.4475
      ],
      [
       6.36,
       0.4475
      ],
      [
       6.4,
       0.4475
      ],
      [
       6.44,
       0.4475
      ],
      [
       6.48,
       0.4475
      ],
      [
       6.52,
       0.4475
      ],
      [
       6.56,
       0.4475
      ],
      [
       6.6,
       0.5325
      ],
      [
       6.64,
       0.5325
      ],
      [
       6.68,
       0.5325
      ],
      [
       6.72,
       0.5325
      ],
      [
       6.76,
       0.5325
      ],
      [
       6.8,
       0.5325
      ],
      [
       6.84,
       0.5325
      ],
      [
       6.88,
       0.5325
      ],
      [
       6.92,
       0.5325
      ],
      [
       6.96,
       0.5325
      ],
      [
       7.0,
       0.5325
      ],
      [
       7.04,
       0.5325
      ],
      [
       7.08,
       0.5325
      ],
      [
       7.12,
       0.5325
      ],
      [
       7.16,
       0.5325
      ],
      [
       7.2,
       0.5325
      ],
      [
       7.24,
       0.5325
      ],
      [
       7.28,
       0.5325
      ],
      [
       7.32,
       0.5325
      ],
      [
       7.36,
       0.5325
      ],
      [
       7.4,
       0.5325
      ],
      [
       7.44,
       0.5325
      ],
      [
       7.48,
       0.66
      ],
      [
       7.52,
       0.66
      ],
      [
       7.56,
       0.66
      ],
      [
       7.6,
       0.66
      ],
      [
       7.64,
       0.66
      ],
      [
       7.68,
       0.66
      ],
      [
       7.72,
       0.66
      ],
      [
       7.76,
       0.66
      ],
      [
       7.8,
       0.66
      ],
      [
       7.84,
       0.66
      ],
      [
       7.88,
       0.66
      ],
      [
       7.92,
       0.66
      ],
      [
       7.96,
       0.66
      ],
      [
       8.0,
       0.66
      ],
      [
       8.04,
       0.66
      ],
      [
       8.08,
       0.66
      ],
      [
       8.12,
       0.66
      ],
      [
       8.16,
       0.66
      ],
      [
       8.2,
       0.66
      ],
      [
       8.24,
       0.66
      ],
      [
       8.28,
       0.66
      ],
      [
       8.32,
       0.7025
      ],
      [
       8.36,
       0.7025
      ],
      [
       8.4,
       0.7025
      ],
      [
       8.44,
       0.7025
      ],
      [
       8.48,
       0.7025
      ],
      [
       8.52,
       0.7025
      ],
      [
       8.56,
       0.7025
      ],
      [
       8.6,
       0.7025
      ],
      [
       8.64,
       0.7025
      ],
      [
       8.68,
       0.745
      ],
      [
       8.72,
       0.745
      ],
      [
       8.76,
       0.745
      ],
      [
       8.8,
       0.745
      ],
      [
       8.84,
       0.745
      ],
      [
       8.88,
       0.745
      ],
      [
       8.92,
       0.745
      ],
      [
       8.96,
       0.7875
      ],
      [
       9.0,
       0.7875
      ],
      [
       9.04,
       0.7875
      ],
      [
       9.08,
       0.7875
      ],
      [
       9.12,
       0.7875
      ],
      [
       9.16,
       0.83
      ],
      [
       9.2,
       0.83
      ],
      [
       9.24,
       0.83
      ],
      [
       9.28,
       0.83
      ],
      [
       9.32,
       0.83
      ],
      [
       9.36,
       0.83
      ],
      [
       9.4,
       0.8725
      ],
      [
       9.44,
       0.8725
      ],
      [
       9.46,
       0.915
      ]
     ],
     "total_reward": 1.8986,
     "initial_progress": 0.0,
     "final_progress": 0.915,
     "physics_sha256": "febb60427f3ccb38bb4a360f74197ec3d746cde9de88f6b111d59ff4afb20d0c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0014075864229380342,
       "final_progress": 0.0014075864229380342,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 4.336808689942018e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3508441604080697,
       "final_progress": 0.3625,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.1,
       "final_progress": 0.15
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.14811832047378778,
       "final_progress": 0.14811832047378778
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 473,
       "return": 1.8985798259775937,
       "final_progress": 0.915
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear pastry box"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    }
   }
  },
  {
   "example_id": "cfbce619f9a73730a4f9e4449a7d7886368554f50e7daf0ea3092659d8103ef4",
   "recording_id": 6124,
   "task_number": 2,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "wood-grain kitchen worktop",
   "human_action": false,
   "description": "Pick up the foam block and balance it on top of the pudding box on the wood-grain kitchen worktop among the glass bowl of milk and the clear pastry box.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the foam block and balance it on top of the pudding box on the wood-grain kitchen worktop among the glass bowl of milk and the clear pastry box.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 6124,
    "contributor_id": 6,
    "video": "media/source-6124-2b30a7807efa.mp4",
    "poster": "media/source-6124.jpg",
    "source_sha256": null,
    "interval_s": [
     4.333333,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6124,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6124_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 27.299999999999997,
      "original_end_s": 47.3,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "6806ebf015c0390de016dbe371e1561e0eeece9b74b3edf507f5dd294802c1f4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.33\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
      "duration_s": 15.48,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 11,
    "physical_objects": 11,
    "flat_decor": 0,
    "observed": 9,
    "added_context": 2,
    "recording_observed": 9,
    "recording_added": 0,
    "surface": "wood-grain kitchen worktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "cfbce619f9a7-panda",
     "video": "media/sim-cfbce619f9a7-panda-s0.mp4",
     "poster": "media/sim-cfbce619f9a7-panda-s0.jpg",
     "trajectory": "trajectories/cfbce619f9a7-panda.json",
     "recipe": "recipes/cfbce619f9a7-panda.json",
     "seed": 0,
     "steps": 351,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.24,
       0.0045
      ],
      [
       1.28,
       0.0107
      ],
      [
       1.32,
       0.0172
      ],
      [
       1.36,
       0.0235
      ],
      [
       1.4,
       0.0292
      ],
      [
       1.44,
       0.034
      ],
      [
       1.48,
       0.0383
      ],
      [
       1.52,
       0.0424
      ],
      [
       1.56,
       0.0463
      ],
      [
       1.6,
       0.05
      ],
      [
       1.64,
       0.0536
      ],
      [
       1.68,
       0.057
      ],
      [
       1.72,
       0.0601
      ],
      [
       1.76,
       0.0631
      ],
      [
       1.8,
       0.0659
      ],
      [
       1.84,
       0.0685
      ],
      [
       1.88,
       0.0709
      ],
      [
       1.92,
       0.0733
      ],
      [
       1.96,
       0.0755
      ],
      [
       2.0,
       0.0776
      ],
      [
       2.04,
       0.0797
      ],
      [
       2.08,
       0.0818
      ],
      [
       2.12,
       0.0839
      ],
      [
       2.16,
       0.086
      ],
      [
       2.2,
       0.0883
      ],
      [
       2.24,
       0.0907
      ],
      [
       2.28,
       0.0932
      ],
      [
       2.32,
       0.0959
      ],
      [
       2.36,
       0.0989
      ],
      [
       2.4,
       0.1021
      ],
      [
       2.44,
       0.1059
      ],
      [
       2.48,
       0.1099
      ],
      [
       2.52,
       0.1128
      ],
      [
       2.56,
       0.1149
      ],
      [
       2.6,
       0.117
      ],
      [
       2.64,
       0.1198
      ],
      [
       2.68,
       0.1228
      ],
      [
       2.72,
       0.126
      ],
      [
       2.76,
       0.1293
      ],
      [
       2.8,
       0.133
      ],
      [
       2.84,
       0.137
      ],
      [
       2.88,
       0.1414
      ],
      [
       2.92,
       0.1457
      ],
      [
       2.96,
       0.1452
      ],
      [
       3.0,
       0.1441
      ],
      [
       3.04,
       0.1443
      ],
      [
       3.08,
       0.1449
      ],
      [
       3.12,
       0.1455
      ],
      [
       3.16,
       0.1458
      ],
      [
       3.2,
       0.1461
      ],
      [
       3.24,
       0.1463
      ],
      [
       3.28,
       0.1464
      ],
      [
       3.32,
       0.1465
      ],
      [
       3.36,
       0.1466
      ],
      [
       3.4,
       0.1466
      ],
      [
       3.44,
       0.1467
      ],
      [
       3.48,
       0.1468
      ],
      [
       3.52,
       0.1468
      ],
      [
       3.56,
       0.1469
      ],
      [
       3.6,
       0.147
      ],
      [
       3.64,
       0.147
      ],
      [
       3.68,
       0.1471
      ],
      [
       3.72,
       0.1472
      ],
      [
       3.76,
       0.1472
      ],
      [
       3.8,
       0.1473
      ],
      [
       3.84,
       0.1474
      ],
      [
       3.88,
       0.1474
      ],
      [
       3.92,
       0.1475
      ],
      [
       3.96,
       0.1476
      ],
      [
       4.0,
       0.1476
      ],
      [
       4.04,
       0.1477
      ],
      [
       4.08,
       0.1478
      ],
      [
       4.12,
       0.1478
      ],
      [
       4.16,
       0.1479
      ],
      [
       4.2,
       0.148
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.72,
       0.4
      ],
      [
       4.76,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.84,
       0.4
      ],
      [
       4.88,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.96,
       0.4
      ],
      [
       5.0,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.08,
       0.4
      ],
      [
       5.12,
       0.4
      ],
      [
       5.16,
       0.4098
      ],
      [
       5.2,
       0.4404
      ],
      [
       5.24,
       0.4774
      ],
      [
       5.28,
       0.5183
      ],
      [
       5.32,
       0.5626
      ],
      [
       5.36,
       0.6106
      ],
      [
       5.4,
       0.6627
      ],
      [
       5.44,
       0.7188
      ],
      [
       5.48,
       0.7786
      ],
      [
       5.52,
       0.8418
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.02,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "e1558bfe7d361d3e7ded3866e793950d4437507c2e835ba358daeff4fc53bf4f",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.39935882402163186,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.44009030569367236,
       "final_progress": 0.44009030569367236,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 351,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx13",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "pudding_box_ctx13",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear pastry box"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    },
    "aloha": {
     "gym_id": "cfbce619f9a7-aloha",
     "video": "media/sim-cfbce619f9a7-aloha-s3.mp4",
     "poster": "media/sim-cfbce619f9a7-aloha-s3.jpg",
     "trajectory": "trajectories/cfbce619f9a7-aloha.json",
     "recipe": "recipes/cfbce619f9a7-aloha.json",
     "seed": 3,
     "steps": 621,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0027
      ],
      [
       0.12,
       0.0075
      ],
      [
       0.18,
       0.013
      ],
      [
       0.24,
       0.019
      ],
      [
       0.3,
       0.0255
      ],
      [
       0.36,
       0.0329
      ],
      [
       0.42,
       0.041
      ],
      [
       0.48,
       0.0497
      ],
      [
       0.54,
       0.0581
      ],
      [
       0.6,
       0.0658
      ],
      [
       0.66,
       0.0719
      ],
      [
       0.72,
       0.0752
      ],
      [
       0.78,
       0.0783
      ],
      [
       0.84,
       0.0813
      ],
      [
       0.9,
       0.0845
      ],
      [
       0.96,
       0.0878
      ],
      [
       1.02,
       0.0913
      ],
      [
       1.08,
       0.095
      ],
      [
       1.14,
       0.099
      ],
      [
       1.2,
       0.1032
      ],
      [
       1.26,
       0.1076
      ],
      [
       1.32,
       0.1106
      ],
      [
       1.38,
       0.1152
      ],
      [
       1.44,
       0.1204
      ],
      [
       1.5,
       0.1266
      ],
      [
       1.56,
       0.1336
      ],
      [
       1.62,
       0.1342
      ],
      [
       1.68,
       0.1324
      ],
      [
       1.74,
       0.1315
      ],
      [
       1.8,
       0.13
      ],
      [
       1.86,
       0.1289
      ],
      [
       1.92,
       0.1275
      ],
      [
       1.98,
       0.1269
      ],
      [
       2.04,
       0.1257
      ],
      [
       2.1,
       0.1256
      ],
      [
       2.16,
       0.1253
      ],
      [
       2.22,
       0.1245
      ],
      [
       2.28,
       0.1247
      ],
      [
       2.34,
       0.1251
      ],
      [
       2.4,
       0.1247
      ],
      [
       2.46,
       0.1254
      ],
      [
       2.52,
       0.1243
      ],
      [
       2.58,
       0.1235
      ],
      [
       2.64,
       0.1233
      ],
      [
       2.7,
       0.1249
      ],
      [
       2.76,
       0.1291
      ],
      [
       2.82,
       0.1289
      ],
      [
       2.88,
       0.1264
      ],
      [
       2.94,
       0.1257
      ],
      [
       3.0,
       0.1257
      ],
      [
       3.06,
       0.1256
      ],
      [
       3.12,
       0.1257
      ],
      [
       3.18,
       0.1257
      ],
      [
       3.24,
       0.1258
      ],
      [
       3.3,
       0.1258
      ],
      [
       3.36,
       0.1258
      ],
      [
       3.42,
       0.126
      ],
      [
       3.48,
       0.1261
      ],
      [
       3.54,
       0.1262
      ],
      [
       3.6,
       0.1262
      ],
      [
       3.66,
       0.1262
      ],
      [
       3.72,
       0.1263
      ],
      [
       3.78,
       0.1263
      ],
      [
       3.84,
       0.1264
      ],
      [
       3.9,
       0.1265
      ],
      [
       3.96,
       0.1266
      ],
      [
       4.02,
       0.1268
      ],
      [
       4.08,
       0.1269
      ],
      [
       4.14,
       0.127
      ],
      [
       4.2,
       0.1271
      ],
      [
       4.26,
       0.1272
      ],
      [
       4.32,
       0.1273
      ],
      [
       4.38,
       0.1274
      ],
      [
       4.44,
       0.1275
      ],
      [
       4.5,
       0.1277
      ],
      [
       4.56,
       0.1278
      ],
      [
       4.62,
       0.1279
      ],
      [
       4.68,
       0.1281
      ],
      [
       4.74,
       0.1282
      ],
      [
       4.8,
       0.1284
      ],
      [
       4.86,
       0.1285
      ],
      [
       4.92,
       0.1287
      ],
      [
       4.98,
       0.1289
      ],
      [
       5.04,
       0.129
      ],
      [
       5.1,
       0.1291
      ],
      [
       5.16,
       0.1291
      ],
      [
       5.22,
       0.1291
      ],
      [
       5.28,
       0.1291
      ],
      [
       5.34,
       0.1291
      ],
      [
       5.4,
       0.1291
      ],
      [
       5.46,
       0.1291
      ],
      [
       5.52,
       0.1291
      ],
      [
       5.58,
       0.4307
      ],
      [
       5.64,
       0.4358
      ],
      [
       5.7,
       0.441
      ],
      [
       5.76,
       0.4454
      ],
      [
       5.82,
       0.4485
      ],
      [
       5.88,
       0.4498
      ],
      [
       5.94,
       0.4503
      ],
      [
       6.0,
       0.4512
      ],
      [
       6.06,
       0.4505
      ],
      [
       6.12,
       0.4479
      ],
      [
       6.18,
       0.4441
      ],
      [
       6.24,
       0.4403
      ],
      [
       6.3,
       0.4376
      ],
      [
       6.36,
       0.4368
      ],
      [
       6.42,
       0.437
      ],
      [
       6.48,
       0.4362
      ],
      [
       6.54,
       0.4348
      ],
      [
       6.6,
       0.4333
      ],
      [
       6.66,
       0.4318
      ],
      [
       6.72,
       0.4305
      ],
      [
       6.78,
       0.4294
      ],
      [
       6.84,
       0.4288
      ],
      [
       6.9,
       0.4291
      ],
      [
       6.96,
       0.4302
      ],
      [
       7.02,
       0.4317
      ],
      [
       7.08,
       0.4336
      ],
      [
       7.14,
       0.436
      ],
      [
       7.2,
       0.4436
      ],
      [
       7.26,
       0.465
      ],
      [
       7.32,
       0.4924
      ],
      [
       7.38,
       0.5232
      ],
      [
       7.44,
       0.557
      ],
      [
       7.5,
       0.5937
      ],
      [
       7.56,
       0.6331
      ],
      [
       7.62,
       0.675
      ],
      [
       7.68,
       0.7194
      ],
      [
       7.74,
       0.7659
      ],
      [
       7.8,
       0.8138
      ],
      [
       7.86,
       0.8623
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.8863
      ],
      [
       8.34,
       0.8678
      ],
      [
       8.4,
       0.851
      ],
      [
       8.46,
       0.8357
      ],
      [
       8.52,
       0.8221
      ],
      [
       8.58,
       0.8099
      ],
      [
       8.64,
       0.7993
      ],
      [
       8.7,
       0.79
      ],
      [
       8.76,
       0.782
      ],
      [
       8.82,
       0.7751
      ],
      [
       8.88,
       0.7683
      ],
      [
       8.94,
       0.7613
      ],
      [
       9.0,
       0.7541
      ],
      [
       9.06,
       0.7478
      ],
      [
       9.12,
       0.7427
      ],
      [
       9.18,
       0.7393
      ],
      [
       9.24,
       0.7377
      ],
      [
       9.3,
       0.7378
      ],
      [
       9.36,
       0.7394
      ],
      [
       9.42,
       0.7425
      ],
      [
       9.48,
       0.747
      ],
      [
       9.54,
       0.7527
      ],
      [
       9.6,
       0.7597
      ],
      [
       9.66,
       0.768
      ],
      [
       9.72,
       0.7775
      ],
      [
       9.78,
       0.7884
      ],
      [
       9.84,
       0.8005
      ],
      [
       9.9,
       0.814
      ],
      [
       9.96,
       0.8287
      ],
      [
       10.02,
       0.8448
      ],
      [
       10.08,
       0.8622
      ],
      [
       10.14,
       0.8807
      ],
      [
       10.2,
       0.9
      ],
      [
       10.26,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.38,
       0.9
      ],
      [
       10.44,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.62,
       0.9
      ],
      [
       10.68,
       0.9
      ],
      [
       10.74,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.86,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       10.98,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.1,
       0.9
      ],
      [
       11.16,
       0.9
      ],
      [
       11.22,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.34,
       0.9
      ],
      [
       11.4,
       0.9
      ],
      [
       11.46,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.58,
       0.9
      ],
      [
       11.64,
       0.9
      ],
      [
       11.7,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.82,
       0.9
      ],
      [
       11.88,
       1.0
      ],
      [
       11.94,
       1.0
      ],
      [
       12.0,
       1.0
      ],
      [
       12.06,
       1.0
      ],
      [
       12.12,
       1.0
      ],
      [
       12.18,
       1.0
      ],
      [
       12.24,
       1.0
      ],
      [
       12.3,
       1.0
      ],
      [
       12.36,
       1.0
      ],
      [
       12.42,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "46d984a8aa9a071fcee986c31a6a9ae78e9a41310982921e6175e26d01caab35",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011908747164815158,
       "final_progress": 0.0011908747164815158,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.02018467310173768,
       "final_progress": 0.02018467310173768,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": true,
       "return": 2.0,
       "final_progress": 1.0,
       "steps": 459,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7672455858777425,
       "final_progress": 0.7672455858777425
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6727007208340582,
       "final_progress": 0.6727007208340582
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0,
       "final_progress": 0.0
      },
      {
       "layout_seed": 3,
       "outcome": "success",
       "steps": 621,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx13",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "pudding_box_ctx13",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear pastry box"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    }
   }
  },
  {
   "example_id": "95d53b8b4be569e4db5d525184f3fdf69beb296fefcf517e1607ba4b2a2df229",
   "recording_id": 6124,
   "task_number": 3,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "wood-grain kitchen worktop",
   "human_action": false,
   "description": "Grasp the paper cup from among the glass bowl of milk and the blue window-cleaner spray, lift it clear and set it down on the clear pastry box on the wood-grain kitchen worktop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the paper cup from among the glass bowl of milk and the blue window-cleaner spray, lift it clear and set it down on the clear pastry box on the wood-grain kitchen worktop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 6124,
    "contributor_id": 6,
    "video": "media/source-6124-2b30a7807efa.mp4",
    "poster": "media/source-6124.jpg",
    "source_sha256": null,
    "interval_s": [
     4.333333,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6124,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6124_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 27.299999999999997,
      "original_end_s": 47.3,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "6806ebf015c0390de016dbe371e1561e0eeece9b74b3edf507f5dd294802c1f4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.33\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
      "duration_s": 15.48,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 10,
    "physical_objects": 10,
    "flat_decor": 0,
    "observed": 9,
    "added_context": 1,
    "recording_observed": 9,
    "recording_added": 0,
    "surface": "wood-grain kitchen worktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "95d53b8b4be5-panda",
     "video": "media/sim-95d53b8b4be5-panda-s0.mp4",
     "poster": "media/sim-95d53b8b4be5-panda-s0.jpg",
     "trajectory": "trajectories/95d53b8b4be5-panda.json",
     "recipe": "recipes/95d53b8b4be5-panda.json",
     "seed": 0,
     "steps": 414,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0023
      ],
      [
       0.88,
       0.0088
      ],
      [
       0.92,
       0.0158
      ],
      [
       0.96,
       0.021
      ],
      [
       1.0,
       0.025
      ],
      [
       1.04,
       0.0288
      ],
      [
       1.08,
       0.0333
      ],
      [
       1.12,
       0.0386
      ],
      [
       1.16,
       0.0442
      ],
      [
       1.2,
       0.0499
      ],
      [
       1.24,
       0.0557
      ],
      [
       1.28,
       0.0617
      ],
      [
       1.32,
       0.0678
      ],
      [
       1.36,
       0.074
      ],
      [
       1.4,
       0.0802
      ],
      [
       1.44,
       0.0864
      ],
      [
       1.48,
       0.0925
      ],
      [
       1.52,
       0.0985
      ],
      [
       1.56,
       0.1038
      ],
      [
       1.6,
       0.1079
      ],
      [
       1.64,
       0.1112
      ],
      [
       1.68,
       0.1139
      ],
      [
       1.72,
       0.117
      ],
      [
       1.76,
       0.1203
      ],
      [
       1.8,
       0.1235
      ],
      [
       1.84,
       0.1266
      ],
      [
       1.88,
       0.1299
      ],
      [
       1.92,
       0.1333
      ],
      [
       1.96,
       0.1372
      ],
      [
       2.0,
       0.1414
      ],
      [
       2.04,
       0.1469
      ],
      [
       2.08,
       0.1466
      ],
      [
       2.12,
       0.1448
      ],
      [
       2.16,
       0.1454
      ],
      [
       2.2,
       0.1463
      ],
      [
       2.24,
       0.147
      ],
      [
       2.28,
       0.1474
      ],
      [
       2.32,
       0.1475
      ],
      [
       2.36,
       0.1475
      ],
      [
       2.4,
       0.1475
      ],
      [
       2.44,
       0.1475
      ],
      [
       2.48,
       0.1476
      ],
      [
       2.52,
       0.1476
      ],
      [
       2.56,
       0.1477
      ],
      [
       2.6,
       0.1474
      ],
      [
       2.64,
       0.1469
      ],
      [
       2.68,
       0.1467
      ],
      [
       2.72,
       0.1467
      ],
      [
       2.76,
       0.1467
      ],
      [
       2.8,
       0.1467
      ],
      [
       2.84,
       0.1467
      ],
      [
       2.88,
       0.1467
      ],
      [
       2.92,
       0.1467
      ],
      [
       2.96,
       0.1466
      ],
      [
       3.0,
       0.1466
      ],
      [
       3.04,
       0.1466
      ],
      [
       3.08,
       0.1466
      ],
      [
       3.12,
       0.1466
      ],
      [
       3.16,
       0.4
      ],
      [
       3.2,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.32,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4145
      ],
      [
       4.04,
       0.442
      ],
      [
       4.08,
       0.4707
      ],
      [
       4.12,
       0.5037
      ],
      [
       4.16,
       0.5389
      ],
      [
       4.2,
       0.5734
      ],
      [
       4.24,
       0.6065
      ],
      [
       4.28,
       0.6388
      ],
      [
       4.32,
       0.6705
      ],
      [
       4.36,
       0.701
      ],
      [
       4.4,
       0.7305
      ],
      [
       4.44,
       0.7589
      ],
      [
       4.48,
       0.7867
      ],
      [
       4.52,
       0.8132
      ],
      [
       4.56,
       0.8398
      ],
      [
       4.6,
       0.8679
      ],
      [
       4.64,
       0.8968
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.8875
      ],
      [
       5.04,
       0.8931
      ],
      [
       5.08,
       0.8959
      ],
      [
       5.12,
       0.892
      ],
      [
       5.16,
       0.8896
      ],
      [
       5.2,
       0.8908
      ],
      [
       5.24,
       0.8926
      ],
      [
       5.28,
       0.8941
      ],
      [
       5.32,
       0.8965
      ],
      [
       5.36,
       0.8999
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.6,
       0.9
      ],
      [
       7.64,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ],
      [
       7.96,
       1.0
      ],
      [
       8.0,
       1.0
      ],
      [
       8.04,
       1.0
      ],
      [
       8.08,
       1.0
      ],
      [
       8.12,
       1.0
      ],
      [
       8.16,
       1.0
      ],
      [
       8.2,
       1.0
      ],
      [
       8.24,
       1.0
      ],
      [
       8.28,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "5128e6c01b7e4952c3c95caa8f2c8f48980c4ecff2118526ae79bccb81584f7d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -3.3881317890172014e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.860175330273683,
       "final_progress": 0.860175330273683,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 414,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx13",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "goal_support",
       "label": "clear pastry box"
      },
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    },
    "aloha": {
     "gym_id": "95d53b8b4be5-aloha",
     "video": "media/sim-95d53b8b4be5-aloha-s5.mp4",
     "poster": "media/sim-95d53b8b4be5-aloha-s5.jpg",
     "trajectory": "trajectories/95d53b8b4be5-aloha.json",
     "recipe": "recipes/95d53b8b4be5-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0026
      ],
      [
       0.28,
       0.0068
      ],
      [
       0.42,
       0.0123
      ],
      [
       0.56,
       0.0193
      ],
      [
       0.7,
       0.0278
      ],
      [
       0.84,
       0.0378
      ],
      [
       0.98,
       0.0494
      ],
      [
       1.12,
       0.0632
      ],
      [
       1.26,
       0.0832
      ],
      [
       1.4,
       0.0994
      ],
      [
       1.54,
       0.1165
      ],
      [
       1.68,
       0.1328
      ],
      [
       1.82,
       0.1343
      ],
      [
       1.96,
       0.1334
      ],
      [
       2.1,
       0.1339
      ],
      [
       2.24,
       0.1357
      ],
      [
       2.38,
       0.1382
      ],
      [
       2.52,
       0.1422
      ],
      [
       2.66,
       0.146
      ],
      [
       2.8,
       0.146
      ],
      [
       2.94,
       0.146
      ],
      [
       3.08,
       0.146
      ],
      [
       3.22,
       0.1439
      ],
      [
       3.36,
       0.1441
      ],
      [
       3.5,
       0.1439
      ],
      [
       3.64,
       0.1437
      ],
      [
       3.78,
       0.1435
      ],
      [
       3.92,
       0.1433
      ],
      [
       4.06,
       0.1431
      ],
      [
       4.2,
       0.1429
      ],
      [
       4.34,
       0.1427
      ],
      [
       4.48,
       0.1425
      ],
      [
       4.62,
       0.1423
      ],
      [
       4.76,
       0.1422
      ],
      [
       4.9,
       0.1415
      ],
      [
       5.04,
       0.1409
      ],
      [
       5.18,
       0.1413
      ],
      [
       5.32,
       0.1419
      ],
      [
       5.46,
       0.1423
      ],
      [
       5.6,
       0.1428
      ],
      [
       5.74,
       0.1434
      ],
      [
       5.88,
       0.1439
      ],
      [
       6.02,
       0.1445
      ],
      [
       6.16,
       0.145
      ],
      [
       6.3,
       0.1453
      ],
      [
       6.44,
       0.1455
      ],
      [
       6.58,
       0.1455
      ],
      [
       6.72,
       0.1456
      ],
      [
       6.86,
       0.6621
      ],
      [
       7.0,
       0.6517
      ],
      [
       7.14,
       0.648
      ],
      [
       7.28,
       0.6533
      ],
      [
       7.42,
       0.6656
      ],
      [
       7.56,
       0.6831
      ],
      [
       7.7,
       0.7023
      ],
      [
       7.84,
       0.7261
      ],
      [
       7.98,
       0.7746
      ],
      [
       8.12,
       0.8256
      ],
      [
       8.26,
       0.8729
      ],
      [
       8.4,
       0.9
      ],
      [
       8.54,
       0.9
      ],
      [
       8.68,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.96,
       0.9
      ],
      [
       9.1,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.38,
       0.9
      ],
      [
       9.52,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.8,
       0.9
      ],
      [
       9.94,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.22,
       0.9
      ],
      [
       10.36,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.78,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       11.06,
       0.9
      ],
      [
       11.2,
       1.0
      ],
      [
       11.34,
       0.9
      ],
      [
       11.48,
       0.9
      ],
      [
       11.62,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.9,
       0.9
      ],
      [
       12.04,
       0.9
      ],
      [
       12.18,
       0.9
      ],
      [
       12.32,
       0.8882
      ],
      [
       12.46,
       0.8928
      ],
      [
       12.6,
       0.8928
      ],
      [
       12.74,
       0.8926
      ],
      [
       12.88,
       0.8925
      ],
      [
       13.02,
       0.8921
      ],
      [
       13.16,
       0.892
      ],
      [
       13.3,
       0.8919
      ],
      [
       13.44,
       0.8915
      ],
      [
       13.58,
       0.8909
      ],
      [
       13.72,
       0.8907
      ],
      [
       13.86,
       0.8906
      ],
      [
       14.0,
       0.8907
      ],
      [
       14.14,
       0.8902
      ],
      [
       14.28,
       0.8897
      ],
      [
       14.42,
       0.8894
      ],
      [
       14.56,
       0.8892
      ],
      [
       14.7,
       0.8887
      ],
      [
       14.84,
       0.8887
      ],
      [
       14.98,
       0.8891
      ],
      [
       15.12,
       0.8879
      ],
      [
       15.26,
       0.8878
      ],
      [
       15.4,
       0.8873
      ],
      [
       15.54,
       0.8875
      ],
      [
       15.68,
       0.887
      ],
      [
       15.82,
       0.887
      ],
      [
       15.96,
       0.8869
      ],
      [
       16.1,
       0.886
      ],
      [
       16.24,
       0.8858
      ],
      [
       16.38,
       0.8853
      ],
      [
       16.52,
       0.8852
      ],
      [
       16.66,
       0.8848
      ],
      [
       16.8,
       0.8847
      ],
      [
       16.94,
       0.8845
      ],
      [
       17.08,
       0.8839
      ],
      [
       17.22,
       0.8834
      ],
      [
       17.36,
       0.8832
      ],
      [
       17.5,
       0.8826
      ],
      [
       17.64,
       0.8824
      ],
      [
       17.78,
       0.8822
      ],
      [
       17.92,
       0.8818
      ],
      [
       18.06,
       0.8814
      ],
      [
       18.2,
       0.8813
      ],
      [
       18.34,
       0.8808
      ],
      [
       18.48,
       0.8805
      ],
      [
       18.62,
       0.8803
      ],
      [
       18.76,
       0.8794
      ],
      [
       18.9,
       0.8795
      ],
      [
       19.04,
       0.8792
      ],
      [
       19.18,
       0.8787
      ],
      [
       19.32,
       0.8785
      ],
      [
       19.46,
       0.878
      ],
      [
       19.6,
       0.8778
      ],
      [
       19.74,
       0.8771
      ],
      [
       19.88,
       0.8769
      ],
      [
       20.02,
       0.8766
      ],
      [
       20.16,
       0.876
      ],
      [
       20.3,
       0.8759
      ],
      [
       20.44,
       0.8756
      ],
      [
       20.58,
       0.8751
      ],
      [
       20.72,
       0.8746
      ],
      [
       20.86,
       0.8741
      ],
      [
       21.0,
       0.8739
      ],
      [
       21.14,
       0.8732
      ],
      [
       21.28,
       0.8731
      ],
      [
       21.42,
       0.8731
      ],
      [
       21.56,
       0.8722
      ],
      [
       21.7,
       0.872
      ],
      [
       21.84,
       0.8716
      ],
      [
       21.98,
       0.8714
      ],
      [
       22.12,
       0.8709
      ],
      [
       22.26,
       0.8707
      ],
      [
       22.4,
       0.8704
      ],
      [
       22.54,
       0.8699
      ],
      [
       22.68,
       0.8692
      ],
      [
       22.82,
       0.869
      ],
      [
       22.96,
       0.8688
      ],
      [
       23.1,
       0.8687
      ],
      [
       23.24,
       0.8681
      ],
      [
       23.38,
       0.8675
      ],
      [
       23.52,
       0.8671
      ],
      [
       23.66,
       0.8668
      ],
      [
       23.8,
       0.8662
      ],
      [
       23.94,
       0.866
      ],
      [
       24.0,
       0.8657
      ]
     ],
     "total_reward": 0.8657,
     "initial_progress": 0.0,
     "final_progress": 0.8657,
     "physics_sha256": "683c6be2c3b344779f5623730e72cd885466b2cb08e76ec985e11442aca93e38",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0006505268133994323,
       "final_progress": 0.0006505268133994323,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.037219357939337644,
       "final_progress": 0.037219357939337644,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -2.710505431213761e-20,
       "final_progress": 0.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8964632746485777,
       "final_progress": 0.9
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4,
       "final_progress": 0.4
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0,
       "final_progress": 0.0
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9,
       "final_progress": 0.9
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8656619716324818,
       "final_progress": 0.8656619716324818
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx13",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "goal_support",
       "label": "clear pastry box"
      },
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    }
   }
  },
  {
   "example_id": "382626113f5768f0a9311be037bbbb9db518184a4355617d5afe05c0c5c6b60c",
   "recording_id": 6124,
   "task_number": 4,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "wood-grain kitchen worktop",
   "human_action": false,
   "description": "Lift the foam block off the red spot on the wood-grain kitchen worktop, set it aside among the glass sugar bowl and the glass bowl of milk, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the foam block off the red spot on the wood-grain kitchen worktop, set it aside among the glass sugar bowl and the glass bowl of milk, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 6124,
    "contributor_id": 6,
    "video": "media/source-6124-2b30a7807efa.mp4",
    "poster": "media/source-6124.jpg",
    "source_sha256": null,
    "interval_s": [
     4.333333,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6124,
     "contributor_id": 6,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6124_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 27.299999999999997,
      "original_end_s": 47.3,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "6806ebf015c0390de016dbe371e1561e0eeece9b74b3edf507f5dd294802c1f4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.33\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
      "duration_s": 15.48,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "2b30a7807efac846617102b550a5de0f1196b479b7af0da781905e0f4ef902e0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 10,
    "physical_objects": 10,
    "flat_decor": 0,
    "observed": 9,
    "added_context": 1,
    "recording_observed": 9,
    "recording_added": 0,
    "surface": "wood-grain kitchen worktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "382626113f57-panda",
     "video": "media/sim-382626113f57-panda-s0.mp4",
     "poster": "media/sim-382626113f57-panda-s0.jpg",
     "trajectory": "trajectories/382626113f57-panda.json",
     "recipe": "recipes/382626113f57-panda.json",
     "seed": 0,
     "steps": 488,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.78,
       0.0058
      ],
      [
       0.84,
       0.0135
      ],
      [
       0.9,
       0.0217
      ],
      [
       0.96,
       0.0287
      ],
      [
       1.02,
       0.035
      ],
      [
       1.08,
       0.0412
      ],
      [
       1.14,
       0.0477
      ],
      [
       1.2,
       0.0542
      ],
      [
       1.26,
       0.0604
      ],
      [
       1.32,
       0.0664
      ],
      [
       1.38,
       0.0713
      ],
      [
       1.44,
       0.0751
      ],
      [
       1.5,
       0.0791
      ],
      [
       1.56,
       0.083
      ],
      [
       1.62,
       0.087
      ],
      [
       1.68,
       0.0914
      ],
      [
       1.74,
       0.0962
      ],
      [
       1.8,
       0.0968
      ],
      [
       1.86,
       0.0957
      ],
      [
       1.92,
       0.0963
      ],
      [
       1.98,
       0.0969
      ],
      [
       2.04,
       0.097
      ],
      [
       2.1,
       0.097
      ],
      [
       2.16,
       0.097
      ],
      [
       2.22,
       0.0971
      ],
      [
       2.28,
       0.0971
      ],
      [
       2.34,
       0.0968
      ],
      [
       2.4,
       0.0967
      ],
      [
       2.46,
       0.0968
      ],
      [
       2.52,
       0.0969
      ],
      [
       2.58,
       0.0969
      ],
      [
       2.64,
       0.0969
      ],
      [
       2.7,
       0.097
      ],
      [
       2.76,
       0.097
      ],
      [
       2.82,
       0.0971
      ],
      [
       2.88,
       0.5347
      ],
      [
       2.94,
       0.5269
      ],
      [
       3.0,
       0.5097
      ],
      [
       3.06,
       0.4877
      ],
      [
       3.12,
       0.4656
      ],
      [
       3.18,
       0.4438
      ],
      [
       3.24,
       0.4208
      ],
      [
       3.3,
       0.3984
      ],
      [
       3.36,
       0.3753
      ],
      [
       3.42,
       0.3456
      ],
      [
       3.48,
       0.3213
      ],
      [
       3.54,
       0.3685
      ],
      [
       3.6,
       0.4512
      ],
      [
       3.66,
       0.5478
      ],
      [
       3.72,
       0.6
      ],
      [
       3.78,
       0.6
      ],
      [
       3.84,
       0.6
      ],
      [
       3.9,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.02,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.14,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.26,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.38,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.5,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.62,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.74,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.86,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.98,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.1,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.22,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.34,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.46,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6533
      ],
      [
       9.12,
       0.6267
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.3,
       0.68
      ],
      [
       9.36,
       0.76
      ],
      [
       9.42,
       0.6
      ],
      [
       9.48,
       0.6267
      ],
      [
       9.54,
       0.7067
      ],
      [
       9.6,
       0.7867
      ],
      [
       9.66,
       0.8667
      ],
      [
       9.72,
       0.9467
      ],
      [
       9.76,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "d75d10af21bc3d7c947e9ab93970fead95dd99c3b130894854e7d4f80ed1dbb5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": -0.910660912322239,
       "final_progress": 0.08926960523531477,
       "steps": 116,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 488,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx13",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear pastry box"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    },
    "aloha": {
     "gym_id": "382626113f57-aloha",
     "video": "media/sim-382626113f57-aloha-s0.mp4",
     "poster": "media/sim-382626113f57-aloha-s0.jpg",
     "trajectory": "trajectories/382626113f57-aloha.json",
     "recipe": "recipes/382626113f57-aloha.json",
     "seed": 0,
     "steps": 1048,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.12,
       0.0016
      ],
      [
       0.24,
       0.004
      ],
      [
       0.36,
       0.007
      ],
      [
       0.48,
       0.0107
      ],
      [
       0.6,
       0.0151
      ],
      [
       0.72,
       0.0202
      ],
      [
       0.84,
       0.0267
      ],
      [
       0.96,
       0.0346
      ],
      [
       1.08,
       0.044
      ],
      [
       1.2,
       0.0552
      ],
      [
       1.32,
       0.0624
      ],
      [
       1.44,
       0.0648
      ],
      [
       1.56,
       0.0666
      ],
      [
       1.68,
       0.0675
      ],
      [
       1.8,
       0.0682
      ],
      [
       1.92,
       0.0689
      ],
      [
       2.04,
       0.0688
      ],
      [
       2.16,
       0.0674
      ],
      [
       2.28,
       0.0649
      ],
      [
       2.4,
       0.0616
      ],
      [
       2.52,
       0.059
      ],
      [
       2.64,
       0.0589
      ],
      [
       2.76,
       0.0592
      ],
      [
       2.88,
       0.0597
      ],
      [
       3.0,
       0.0621
      ],
      [
       3.12,
       0.0661
      ],
      [
       3.24,
       0.0707
      ],
      [
       3.36,
       0.0748
      ],
      [
       3.48,
       0.0794
      ],
      [
       3.6,
       0.0832
      ],
      [
       3.72,
       0.0851
      ],
      [
       3.84,
       0.0871
      ],
      [
       3.96,
       0.0888
      ],
      [
       4.08,
       0.0898
      ],
      [
       4.2,
       0.0898
      ],
      [
       4.32,
       0.0898
      ],
      [
       4.44,
       0.0898
      ],
      [
       4.56,
       0.0897
      ],
      [
       4.68,
       0.0897
      ],
      [
       4.8,
       0.0896
      ],
      [
       4.92,
       0.0898
      ],
      [
       5.04,
       0.0901
      ],
      [
       5.16,
       0.0904
      ],
      [
       5.28,
       0.0907
      ],
      [
       5.4,
       0.0908
      ],
      [
       5.52,
       0.0908
      ],
      [
       5.64,
       0.0909
      ],
      [
       5.76,
       0.0909
      ],
      [
       5.88,
       0.0908
      ],
      [
       6.0,
       0.0907
      ],
      [
       6.12,
       0.0906
      ],
      [
       6.24,
       0.0906
      ],
      [
       6.36,
       0.0909
      ],
      [
       6.48,
       0.0909
      ],
      [
       6.6,
       0.0906
      ],
      [
       6.72,
       0.0903
      ],
      [
       6.84,
       0.0901
      ],
      [
       6.96,
       0.0898
      ],
      [
       7.08,
       0.0894
      ],
      [
       7.2,
       0.089
      ],
      [
       7.32,
       0.0886
      ],
      [
       7.44,
       0.0882
      ],
      [
       7.56,
       0.0879
      ],
      [
       7.68,
       0.0876
      ],
      [
       7.8,
       0.0866
      ],
      [
       7.92,
       0.0866
      ],
      [
       8.04,
       0.0866
      ],
      [
       8.16,
       0.0866
      ],
      [
       8.28,
       0.0866
      ],
      [
       8.4,
       0.0865
      ],
      [
       8.52,
       0.0864
      ],
      [
       8.64,
       0.0865
      ],
      [
       8.76,
       0.0864
      ],
      [
       8.88,
       0.0864
      ],
      [
       9.0,
       0.0864
      ],
      [
       9.12,
       0.0864
      ],
      [
       9.24,
       0.0864
      ],
      [
       9.36,
       0.0865
      ],
      [
       9.48,
       0.0865
      ],
      [
       9.6,
       0.0866
      ],
      [
       9.72,
       0.0867
      ],
      [
       9.84,
       0.0867
      ],
      [
       9.96,
       0.0867
      ],
      [
       10.08,
       0.0866
      ],
      [
       10.2,
       0.0865
      ],
      [
       10.32,
       0.0864
      ],
      [
       10.44,
       0.0863
      ],
      [
       10.56,
       0.0862
      ],
      [
       10.68,
       0.0861
      ],
      [
       10.8,
       0.0861
      ],
      [
       10.92,
       0.086
      ],
      [
       11.04,
       0.0859
      ],
      [
       11.16,
       0.6
      ],
      [
       11.28,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.52,
       0.6
      ],
      [
       11.64,
       0.6
      ],
      [
       11.76,
       0.6
      ],
      [
       11.88,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.12,
       0.6
      ],
      [
       12.24,
       0.6
      ],
      [
       12.36,
       0.6
      ],
      [
       12.48,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.72,
       0.6
      ],
      [
       12.84,
       0.6
      ],
      [
       12.96,
       0.6
      ],
      [
       13.08,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.32,
       0.6
      ],
      [
       13.44,
       0.6
      ],
      [
       13.56,
       0.6
      ],
      [
       13.68,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.92,
       0.6
      ],
      [
       14.04,
       0.6
      ],
      [
       14.16,
       0.6
      ],
      [
       14.28,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.52,
       0.6
      ],
      [
       14.64,
       0.6
      ],
      [
       14.76,
       0.6
      ],
      [
       14.88,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.12,
       0.6
      ],
      [
       15.24,
       0.6
      ],
      [
       15.36,
       0.6
      ],
      [
       15.48,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.72,
       0.6
      ],
      [
       15.84,
       0.6
      ],
      [
       15.96,
       0.6
      ],
      [
       16.08,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.32,
       0.6
      ],
      [
       16.44,
       0.6
      ],
      [
       16.56,
       0.6
      ],
      [
       16.68,
       0.6
      ],
      [
       16.8,
       0.6
      ],
      [
       16.92,
       0.6
      ],
      [
       17.04,
       0.6
      ],
      [
       17.16,
       0.6
      ],
      [
       17.28,
       0.6
      ],
      [
       17.4,
       0.6
      ],
      [
       17.52,
       0.6
      ],
      [
       17.64,
       0.6
      ],
      [
       17.76,
       0.6
      ],
      [
       17.88,
       0.6
      ],
      [
       18.0,
       0.6
      ],
      [
       18.12,
       0.6
      ],
      [
       18.24,
       0.6
      ],
      [
       18.36,
       0.6
      ],
      [
       18.48,
       0.6
      ],
      [
       18.6,
       0.6
      ],
      [
       18.72,
       0.6
      ],
      [
       18.84,
       0.6
      ],
      [
       18.96,
       0.6
      ],
      [
       19.08,
       0.6
      ],
      [
       19.2,
       0.6
      ],
      [
       19.32,
       0.6
      ],
      [
       19.44,
       0.6
      ],
      [
       19.56,
       0.6
      ],
      [
       19.68,
       0.6
      ],
      [
       19.8,
       0.6
      ],
      [
       19.92,
       0.6
      ],
      [
       20.04,
       0.6
      ],
      [
       20.16,
       0.6
      ],
      [
       20.28,
       0.76
      ],
      [
       20.4,
       0.6
      ],
      [
       20.52,
       0.7333
      ],
      [
       20.64,
       0.8933
      ],
      [
       20.76,
       0.7333
      ],
      [
       20.88,
       0.8933
      ],
      [
       20.96,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "a51414fbea1fac48bcab8ea0030fc309e1be0c2a5e5fef4d916d5c7de1be835a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0004584104751290674,
       "final_progress": 0.0004584104751290674,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.011720773147637677,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.06655694437719084,
       "final_progress": 0.06655694437719084,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 1048,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "foam_block_ctx13",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "glass_bowl_of_milk_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass bowl of milk"
      },
      {
       "name": "glass_candy_dish_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass candy dish"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "clear_pastry_box_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear pastry box"
      },
      {
       "name": "white_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "white insulated jug"
      },
      {
       "name": "beige_insulated_jug_0",
       "source": "primitive:thermos",
       "grounding": "observed",
       "role": "clutter",
       "label": "beige insulated jug"
      },
      {
       "name": "blue_window_cleaner_spray_0",
       "source": "primitive:spray_bottle",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue window-cleaner spray"
      },
      {
       "name": "honey_jar_with_gold_lid_0",
       "source": "primitive:jar",
       "grounding": "observed",
       "role": "clutter",
       "label": "honey jar with gold lid"
      },
      {
       "name": "glass_sugar_bowl_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "glass sugar bowl"
      }
     ]
    }
   }
  },
  {
   "example_id": "0e0c403a5cfa5b949b0d22586472d2dc343be8536a36084d24a54852a4eeb919",
   "recording_id": 6524,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "turquoise patterned worktable",
   "human_action": true,
   "description": "In the footage: Wipe the visible turquoise patterned worktable with the beige wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 10\u00d76 cm patch (square to the table edge) on the turquoise patterned worktable among the white glue bottle and the small tool tray and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 6524,
    "contributor_id": 11,
    "video": "media/source-6524-46127397ca53.mp4",
    "poster": "media/source-6524.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6524,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6524_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 26.96,
      "original_end_s": 46.96,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "87fd5cd174dfa1d52cd6ebda6d90ccf2d685304982d9f69b18300d32501ead93",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 2,
    "recording_observed": 5,
    "recording_added": 2,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "0e0c403a5cfa-panda",
     "video": "media/sim-0e0c403a5cfa-panda-s0.mp4",
     "poster": "media/sim-0e0c403a5cfa-panda-s0.jpg",
     "trajectory": "trajectories/0e0c403a5cfa-panda.json",
     "recipe": "recipes/0e0c403a5cfa-panda.json",
     "seed": 0,
     "steps": 275,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0004
      ],
      [
       0.08,
       0.0014
      ],
      [
       0.1,
       0.0029
      ],
      [
       0.12,
       0.0046
      ],
      [
       0.14,
       0.0065
      ],
      [
       0.16,
       0.0082
      ],
      [
       0.18,
       0.0097
      ],
      [
       0.2,
       0.0113
      ],
      [
       0.22,
       0.0128
      ],
      [
       0.24,
       0.0145
      ],
      [
       0.26,
       0.0163
      ],
      [
       0.28,
       0.0182
      ],
      [
       0.3,
       0.0202
      ],
      [
       0.32,
       0.0222
      ],
      [
       0.34,
       0.0242
      ],
      [
       0.36,
       0.0262
      ],
      [
       0.38,
       0.0283
      ],
      [
       0.4,
       0.0305
      ],
      [
       0.42,
       0.0327
      ],
      [
       0.44,
       0.0349
      ],
      [
       0.46,
       0.0373
      ],
      [
       0.48,
       0.0396
      ],
      [
       0.5,
       0.042
      ],
      [
       0.52,
       0.0445
      ],
      [
       0.54,
       0.047
      ],
      [
       0.56,
       0.0496
      ],
      [
       0.58,
       0.0522
      ],
      [
       0.6,
       0.0549
      ],
      [
       0.62,
       0.0576
      ],
      [
       0.64,
       0.0604
      ],
      [
       0.66,
       0.0632
      ],
      [
       0.68,
       0.066
      ],
      [
       0.7,
       0.069
      ],
      [
       0.72,
       0.0719
      ],
      [
       0.74,
       0.0749
      ],
      [
       0.76,
       0.078
      ],
      [
       0.78,
       0.0811
      ],
      [
       0.8,
       0.0842
      ],
      [
       0.82,
       0.0874
      ],
      [
       0.84,
       0.0906
      ],
      [
       0.86,
       0.0939
      ],
      [
       0.88,
       0.0972
      ],
      [
       0.9,
       0.1006
      ],
      [
       0.92,
       0.1039
      ],
      [
       0.94,
       0.1074
      ],
      [
       0.96,
       0.1108
      ],
      [
       0.98,
       0.1142
      ],
      [
       1.0,
       0.1177
      ],
      [
       1.02,
       0.1211
      ],
      [
       1.04,
       0.1245
      ],
      [
       1.06,
       0.1278
      ],
      [
       1.08,
       0.131
      ],
      [
       1.1,
       0.1339
      ],
      [
       1.12,
       0.1365
      ],
      [
       1.14,
       0.1391
      ],
      [
       1.16,
       0.1415
      ],
      [
       1.18,
       0.1436
      ],
      [
       1.2,
       0.1453
      ],
      [
       1.22,
       0.1466
      ],
      [
       1.24,
       0.1475
      ],
      [
       1.26,
       0.1478
      ],
      [
       1.28,
       0.1477
      ],
      [
       1.3,
       0.1472
      ],
      [
       1.32,
       0.1466
      ],
      [
       1.34,
       0.146
      ],
      [
       1.36,
       0.1455
      ],
      [
       1.38,
       0.1451
      ],
      [
       1.4,
       0.1447
      ],
      [
       1.42,
       0.1443
      ],
      [
       1.44,
       0.1438
      ],
      [
       1.46,
       0.1432
      ],
      [
       1.48,
       0.1426
      ],
      [
       1.5,
       0.142
      ],
      [
       1.52,
       0.1414
      ],
      [
       1.54,
       0.1409
      ],
      [
       1.56,
       0.1406
      ],
      [
       1.58,
       0.1405
      ],
      [
       1.6,
       0.1405
      ],
      [
       1.62,
       0.1406
      ],
      [
       1.64,
       0.1408
      ],
      [
       1.66,
       0.141
      ],
      [
       1.68,
       0.1412
      ],
      [
       1.7,
       0.1414
      ],
      [
       1.72,
       0.1416
      ],
      [
       1.74,
       0.1417
      ],
      [
       1.76,
       0.1418
      ],
      [
       1.78,
       0.142
      ],
      [
       1.8,
       0.1422
      ],
      [
       1.82,
       0.1425
      ],
      [
       1.84,
       0.1429
      ],
      [
       1.86,
       0.1434
      ],
      [
       1.88,
       0.1439
      ],
      [
       1.9,
       0.1444
      ],
      [
       1.92,
       0.145
      ],
      [
       1.94,
       0.1455
      ],
      [
       1.96,
       0.146
      ],
      [
       1.98,
       0.1465
      ],
      [
       2.0,
       0.1469
      ],
      [
       2.02,
       0.1472
      ],
      [
       2.04,
       0.1475
      ],
      [
       2.06,
       0.1478
      ],
      [
       2.08,
       0.148
      ],
      [
       2.1,
       0.1481
      ],
      [
       2.12,
       0.1483
      ],
      [
       2.14,
       0.1485
      ],
      [
       2.16,
       0.1486
      ],
      [
       2.18,
       0.1488
      ],
      [
       2.2,
       0.149
      ],
      [
       2.22,
       0.1493
      ],
      [
       2.24,
       0.1495
      ],
      [
       2.26,
       0.1497
      ],
      [
       2.28,
       0.15
      ],
      [
       2.3,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.34,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.38,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.42,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.46,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.5,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.54,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.58,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.62,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.66,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.7,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.74,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.78,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.82,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.86,
       0.3767
      ],
      [
       2.88,
       0.3767
      ],
      [
       2.9,
       0.3767
      ],
      [
       2.92,
       0.3767
      ],
      [
       2.94,
       0.3767
      ],
      [
       2.96,
       0.3767
      ],
      [
       2.98,
       0.3767
      ],
      [
       3.0,
       0.3767
      ],
      [
       3.02,
       0.3767
      ],
      [
       3.04,
       0.3767
      ],
      [
       3.06,
       0.3767
      ],
      [
       3.08,
       0.3767
      ],
      [
       3.1,
       0.3767
      ],
      [
       3.12,
       0.3767
      ],
      [
       3.14,
       0.3767
      ],
      [
       3.16,
       0.3767
      ],
      [
       3.18,
       0.3767
      ],
      [
       3.2,
       0.3767
      ],
      [
       3.22,
       0.3767
      ],
      [
       3.24,
       0.3767
      ],
      [
       3.26,
       0.3767
      ],
      [
       3.28,
       0.3767
      ],
      [
       3.3,
       0.3767
      ],
      [
       3.32,
       0.3767
      ],
      [
       3.34,
       0.3767
      ],
      [
       3.36,
       0.3767
      ],
      [
       3.38,
       0.3767
      ],
      [
       3.4,
       0.49
      ],
      [
       3.42,
       0.49
      ],
      [
       3.44,
       0.49
      ],
      [
       3.46,
       0.49
      ],
      [
       3.48,
       0.49
      ],
      [
       3.5,
       0.49
      ],
      [
       3.52,
       0.49
      ],
      [
       3.54,
       0.49
      ],
      [
       3.56,
       0.49
      ],
      [
       3.58,
       0.49
      ],
      [
       3.6,
       0.49
      ],
      [
       3.62,
       0.49
      ],
      [
       3.64,
       0.49
      ],
      [
       3.66,
       0.49
      ],
      [
       3.68,
       0.49
      ],
      [
       3.7,
       0.49
      ],
      [
       3.72,
       0.49
      ],
      [
       3.74,
       0.49
      ],
      [
       3.76,
       0.6033
      ],
      [
       3.78,
       0.6033
      ],
      [
       3.8,
       0.6033
      ],
      [
       3.82,
       0.6033
      ],
      [
       3.84,
       0.6033
      ],
      [
       3.86,
       0.6033
      ],
      [
       3.88,
       0.6033
      ],
      [
       3.9,
       0.6033
      ],
      [
       3.92,
       0.6033
      ],
      [
       3.94,
       0.6033
      ],
      [
       3.96,
       0.6033
      ],
      [
       3.98,
       0.6033
      ],
      [
       4.0,
       0.6033
      ],
      [
       4.02,
       0.6033
      ],
      [
       4.04,
       0.7167
      ],
      [
       4.06,
       0.7167
      ],
      [
       4.08,
       0.7167
      ],
      [
       4.1,
       0.7167
      ],
      [
       4.12,
       0.7167
      ],
      [
       4.14,
       0.7167
      ],
      [
       4.16,
       0.7167
      ],
      [
       4.18,
       0.7167
      ],
      [
       4.2,
       0.7167
      ],
      [
       4.22,
       0.7167
      ],
      [
       4.24,
       0.7167
      ],
      [
       4.26,
       0.7167
      ],
      [
       4.28,
       0.7167
      ],
      [
       4.3,
       0.7167
      ],
      [
       4.32,
       0.7167
      ],
      [
       4.34,
       0.7167
      ],
      [
       4.36,
       0.7167
      ],
      [
       4.38,
       0.7167
      ],
      [
       4.4,
       0.7167
      ],
      [
       4.42,
       0.7167
      ],
      [
       4.44,
       0.7167
      ],
      [
       4.46,
       0.7167
      ],
      [
       4.48,
       0.7167
      ],
      [
       4.5,
       0.7167
      ],
      [
       4.52,
       0.7167
      ],
      [
       4.54,
       0.7167
      ],
      [
       4.56,
       0.7167
      ],
      [
       4.58,
       0.83
      ],
      [
       4.6,
       0.83
      ],
      [
       4.62,
       0.83
      ],
      [
       4.64,
       0.83
      ],
      [
       4.66,
       0.83
      ],
      [
       4.68,
       0.83
      ],
      [
       4.7,
       0.83
      ],
      [
       4.72,
       0.83
      ],
      [
       4.74,
       0.83
      ],
      [
       4.76,
       0.83
      ],
      [
       4.78,
       0.83
      ],
      [
       4.8,
       0.83
      ],
      [
       4.82,
       0.83
      ],
      [
       4.84,
       0.83
      ],
      [
       4.86,
       0.83
      ],
      [
       4.88,
       0.83
      ],
      [
       4.9,
       0.83
      ],
      [
       4.92,
       0.83
      ],
      [
       4.94,
       0.83
      ],
      [
       4.96,
       0.83
      ],
      [
       4.98,
       0.83
      ],
      [
       5.0,
       0.83
      ],
      [
       5.02,
       0.83
      ],
      [
       5.04,
       0.83
      ],
      [
       5.06,
       0.83
      ],
      [
       5.08,
       0.83
      ],
      [
       5.1,
       0.83
      ],
      [
       5.12,
       0.83
      ],
      [
       5.14,
       0.83
      ],
      [
       5.16,
       0.83
      ],
      [
       5.18,
       0.83
      ],
      [
       5.2,
       0.83
      ],
      [
       5.22,
       0.83
      ],
      [
       5.24,
       0.83
      ],
      [
       5.26,
       0.8867
      ],
      [
       5.28,
       0.8867
      ],
      [
       5.3,
       0.8867
      ],
      [
       5.32,
       0.8867
      ],
      [
       5.34,
       0.8867
      ],
      [
       5.36,
       0.8867
      ],
      [
       5.38,
       0.8867
      ],
      [
       5.4,
       0.8867
      ],
      [
       5.42,
       0.8867
      ],
      [
       5.44,
       0.8867
      ],
      [
       5.46,
       0.8867
      ],
      [
       5.48,
       0.8867
      ],
      [
       5.5,
       0.9433
      ]
     ],
     "total_reward": 1.9433,
     "initial_progress": 0.0,
     "final_progress": 0.9433,
     "physics_sha256": "19e628bbe3e6d5ed9ef9863ed37c41651971107f2fc5155c5a81b76900a34335",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.033333333333333326,
       "final_progress": 0.2833333333333333,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.37666666666666665,
       "final_progress": 0.37666666666666665,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 275,
       "return": 1.9433333333333334,
       "final_progress": 0.9433333333333334
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "0e0c403a5cfa-aloha",
     "video": "media/sim-0e0c403a5cfa-aloha-s0.mp4",
     "poster": "media/sim-0e0c403a5cfa-aloha-s0.jpg",
     "trajectory": "trajectories/0e0c403a5cfa-aloha.json",
     "recipe": "recipes/0e0c403a5cfa-aloha.json",
     "seed": 0,
     "steps": 654,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0013
      ],
      [
       0.16,
       0.0046
      ],
      [
       0.24,
       0.0086
      ],
      [
       0.32,
       0.0133
      ],
      [
       0.4,
       0.0189
      ],
      [
       0.48,
       0.0257
      ],
      [
       0.56,
       0.034
      ],
      [
       0.64,
       0.0438
      ],
      [
       0.72,
       0.0553
      ],
      [
       0.8,
       0.0679
      ],
      [
       0.88,
       0.0816
      ],
      [
       0.96,
       0.0968
      ],
      [
       1.04,
       0.1142
      ],
      [
       1.12,
       0.1323
      ],
      [
       1.2,
       0.1378
      ],
      [
       1.28,
       0.1394
      ],
      [
       1.36,
       0.1411
      ],
      [
       1.44,
       0.1427
      ],
      [
       1.52,
       0.1442
      ],
      [
       1.6,
       0.1453
      ],
      [
       1.68,
       0.1451
      ],
      [
       1.76,
       0.1433
      ],
      [
       1.84,
       0.1405
      ],
      [
       1.92,
       0.1401
      ],
      [
       2.0,
       0.1419
      ],
      [
       2.08,
       0.1431
      ],
      [
       2.16,
       0.1448
      ],
      [
       2.24,
       0.1478
      ],
      [
       2.32,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.88,
       0.49
      ],
      [
       2.96,
       0.49
      ],
      [
       3.04,
       0.49
      ],
      [
       3.12,
       0.49
      ],
      [
       3.2,
       0.49
      ],
      [
       3.28,
       0.49
      ],
      [
       3.36,
       0.6033
      ],
      [
       3.44,
       0.66
      ],
      [
       3.52,
       0.66
      ],
      [
       3.6,
       0.66
      ],
      [
       3.68,
       0.66
      ],
      [
       3.76,
       0.66
      ],
      [
       3.84,
       0.66
      ],
      [
       3.92,
       0.66
      ],
      [
       4.0,
       0.66
      ],
      [
       4.08,
       0.66
      ],
      [
       4.16,
       0.6582
      ],
      [
       4.24,
       0.6535
      ],
      [
       4.32,
       0.6489
      ],
      [
       4.4,
       0.6451
      ],
      [
       4.48,
       0.6424
      ],
      [
       4.56,
       0.6409
      ],
      [
       4.64,
       0.64
      ],
      [
       4.72,
       0.6391
      ],
      [
       4.8,
       0.6385
      ],
      [
       4.88,
       0.638
      ],
      [
       4.96,
       0.6375
      ],
      [
       5.04,
       0.6373
      ],
      [
       5.12,
       0.6382
      ],
      [
       5.2,
       0.6397
      ],
      [
       5.28,
       0.6411
      ],
      [
       5.36,
       0.642
      ],
      [
       5.44,
       0.6432
      ],
      [
       5.52,
       0.6476
      ],
      [
       5.6,
       0.6542
      ],
      [
       5.68,
       0.6595
      ],
      [
       5.76,
       0.66
      ],
      [
       5.84,
       0.66
      ],
      [
       5.92,
       0.66
      ],
      [
       6.0,
       0.66
      ],
      [
       6.08,
       0.66
      ],
      [
       6.16,
       0.66
      ],
      [
       6.24,
       0.66
      ],
      [
       6.32,
       0.66
      ],
      [
       6.4,
       0.66
      ],
      [
       6.48,
       0.66
      ],
      [
       6.56,
       0.66
      ],
      [
       6.64,
       0.66
      ],
      [
       6.72,
       0.66
      ],
      [
       6.8,
       0.66
      ],
      [
       6.88,
       0.66
      ],
      [
       6.96,
       0.66
      ],
      [
       7.04,
       0.66
      ],
      [
       7.12,
       0.66
      ],
      [
       7.2,
       0.66
      ],
      [
       7.28,
       0.66
      ],
      [
       7.36,
       0.66
      ],
      [
       7.44,
       0.66
      ],
      [
       7.52,
       0.66
      ],
      [
       7.6,
       0.66
      ],
      [
       7.68,
       0.66
      ],
      [
       7.76,
       0.66
      ],
      [
       7.84,
       0.66
      ],
      [
       7.92,
       0.66
      ],
      [
       8.0,
       0.66
      ],
      [
       8.08,
       0.66
      ],
      [
       8.16,
       0.66
      ],
      [
       8.24,
       0.66
      ],
      [
       8.32,
       0.66
      ],
      [
       8.4,
       0.7733
      ],
      [
       8.48,
       0.7733
      ],
      [
       8.56,
       0.7733
      ],
      [
       8.64,
       0.7733
      ],
      [
       8.72,
       0.7733
      ],
      [
       8.8,
       0.7733
      ],
      [
       8.88,
       0.7733
      ],
      [
       8.96,
       0.7733
      ],
      [
       9.04,
       0.7733
      ],
      [
       9.12,
       0.7733
      ],
      [
       9.2,
       0.7733
      ],
      [
       9.28,
       0.7733
      ],
      [
       9.36,
       0.7733
      ],
      [
       9.44,
       0.7733
      ],
      [
       9.52,
       0.7733
      ],
      [
       9.6,
       0.7733
      ],
      [
       9.68,
       0.7733
      ],
      [
       9.76,
       0.7733
      ],
      [
       9.84,
       0.7733
      ],
      [
       9.92,
       0.7733
      ],
      [
       10.0,
       0.7733
      ],
      [
       10.08,
       0.7733
      ],
      [
       10.16,
       0.7733
      ],
      [
       10.24,
       0.7733
      ],
      [
       10.32,
       0.7733
      ],
      [
       10.4,
       0.7733
      ],
      [
       10.48,
       0.7733
      ],
      [
       10.56,
       0.7733
      ],
      [
       10.64,
       0.7733
      ],
      [
       10.72,
       0.7733
      ],
      [
       10.8,
       0.7733
      ],
      [
       10.88,
       0.7733
      ],
      [
       10.96,
       0.8867
      ],
      [
       11.04,
       0.8867
      ],
      [
       11.12,
       0.8867
      ],
      [
       11.2,
       0.8867
      ],
      [
       11.28,
       0.8867
      ],
      [
       11.36,
       0.8867
      ],
      [
       11.44,
       0.8867
      ],
      [
       11.52,
       0.8867
      ],
      [
       11.6,
       0.8867
      ],
      [
       11.68,
       0.8867
      ],
      [
       11.76,
       0.8867
      ],
      [
       11.84,
       0.8867
      ],
      [
       11.92,
       0.8867
      ],
      [
       12.0,
       0.8867
      ],
      [
       12.08,
       0.8867
      ],
      [
       12.16,
       0.8867
      ],
      [
       12.24,
       0.8867
      ],
      [
       12.32,
       0.8867
      ],
      [
       12.4,
       0.8867
      ],
      [
       12.48,
       0.8867
      ],
      [
       12.56,
       0.8867
      ],
      [
       12.64,
       0.8867
      ],
      [
       12.72,
       0.8867
      ],
      [
       12.8,
       0.8867
      ],
      [
       12.88,
       0.8867
      ],
      [
       12.96,
       0.8867
      ],
      [
       13.04,
       0.8867
      ],
      [
       13.08,
       1.0
      ]
     ],
     "total_reward": 1.9811,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "08bb532ccae47070bac72ff5529518fe8fd820ae51c627f7c486ea4766f34b88",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0015424373345288343,
       "final_progress": 0.0015424373345288343,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.11801778052672995,
       "final_progress": 0.11801778052672995,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.66,
       "final_progress": 0.66,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 654,
       "return": 1.9810925500792245,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "67fb183fe83d5068961a4451a5c8b9d33a2ee83f3b7ffcca892cb20503c00828",
   "recording_id": 6524,
   "task_number": 2,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Lift the small white boxes off the red spot on the turquoise patterned worktable, set them aside among the white glue bottle and the scissors, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the small white boxes off the red spot on the turquoise patterned worktable, set them aside among the white glue bottle and the scissors, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 6524,
    "contributor_id": 11,
    "video": "media/source-6524-46127397ca53.mp4",
    "poster": "media/source-6524.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6524,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6524_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 26.96,
      "original_end_s": 46.96,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "87fd5cd174dfa1d52cd6ebda6d90ccf2d685304982d9f69b18300d32501ead93",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 2,
    "recording_observed": 5,
    "recording_added": 2,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "67fb183fe83d-panda",
     "video": "media/sim-67fb183fe83d-panda-s0.mp4",
     "poster": "media/sim-67fb183fe83d-panda-s0.jpg",
     "trajectory": "trajectories/67fb183fe83d-panda.json",
     "recipe": "recipes/67fb183fe83d-panda.json",
     "seed": 0,
     "steps": 502,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.3,
       0.0026
      ],
      [
       0.36,
       0.0057
      ],
      [
       0.42,
       0.007
      ],
      [
       0.48,
       0.0093
      ],
      [
       0.54,
       0.0119
      ],
      [
       0.6,
       0.0144
      ],
      [
       0.66,
       0.0173
      ],
      [
       0.72,
       0.0204
      ],
      [
       0.78,
       0.0238
      ],
      [
       0.84,
       0.0274
      ],
      [
       0.9,
       0.0312
      ],
      [
       0.96,
       0.0353
      ],
      [
       1.02,
       0.0397
      ],
      [
       1.08,
       0.0442
      ],
      [
       1.14,
       0.0489
      ],
      [
       1.2,
       0.0538
      ],
      [
       1.26,
       0.0587
      ],
      [
       1.32,
       0.0635
      ],
      [
       1.38,
       0.068
      ],
      [
       1.44,
       0.0721
      ],
      [
       1.5,
       0.0749
      ],
      [
       1.56,
       0.0775
      ],
      [
       1.62,
       0.0804
      ],
      [
       1.68,
       0.0832
      ],
      [
       1.74,
       0.0863
      ],
      [
       1.8,
       0.0896
      ],
      [
       1.86,
       0.0933
      ],
      [
       1.92,
       0.0978
      ],
      [
       1.98,
       0.0966
      ],
      [
       2.04,
       0.0972
      ],
      [
       2.1,
       0.0974
      ],
      [
       2.16,
       0.0974
      ],
      [
       2.22,
       0.0974
      ],
      [
       2.28,
       0.0974
      ],
      [
       2.34,
       0.0974
      ],
      [
       2.4,
       0.0974
      ],
      [
       2.46,
       0.0975
      ],
      [
       2.52,
       0.0976
      ],
      [
       2.58,
       0.0977
      ],
      [
       2.64,
       0.0978
      ],
      [
       2.7,
       0.0978
      ],
      [
       2.76,
       0.0978
      ],
      [
       2.82,
       0.0979
      ],
      [
       2.88,
       0.0979
      ],
      [
       2.94,
       0.0979
      ],
      [
       3.0,
       0.0979
      ],
      [
       3.06,
       0.5243
      ],
      [
       3.12,
       0.5205
      ],
      [
       3.18,
       0.5095
      ],
      [
       3.24,
       0.4936
      ],
      [
       3.3,
       0.4772
      ],
      [
       3.36,
       0.4609
      ],
      [
       3.42,
       0.444
      ],
      [
       3.48,
       0.4264
      ],
      [
       3.54,
       0.4089
      ],
      [
       3.6,
       0.3899
      ],
      [
       3.66,
       0.37
      ],
      [
       3.72,
       0.3443
      ],
      [
       3.78,
       0.3067
      ],
      [
       3.84,
       0.3668
      ],
      [
       3.9,
       0.4387
      ],
      [
       3.96,
       0.5198
      ],
      [
       4.02,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.14,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.26,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.38,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.5,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.62,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.74,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.86,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.98,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.1,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.22,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.34,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.46,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.42,
       0.6
      ],
      [
       9.48,
       0.6
      ],
      [
       9.54,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.66,
       0.6
      ],
      [
       9.72,
       0.6
      ],
      [
       9.78,
       0.6533
      ],
      [
       9.84,
       0.7333
      ],
      [
       9.9,
       0.8133
      ],
      [
       9.96,
       0.8933
      ],
      [
       10.02,
       0.9733
      ],
      [
       10.04,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8a30a6ceb1166ab68d75180335657994d7ac4008a4428d10bbab5e73b794f954",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.09093277224569829,
       "final_progress": 0.09093277224569829,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 502,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "small white boxes"
      },
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "67fb183fe83d-aloha",
     "video": "media/sim-67fb183fe83d-aloha-s5.mp4",
     "poster": "media/sim-67fb183fe83d-aloha-s5.jpg",
     "trajectory": "trajectories/67fb183fe83d-aloha.json",
     "recipe": "recipes/67fb183fe83d-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0015
      ],
      [
       0.28,
       0.0039
      ],
      [
       0.42,
       0.007
      ],
      [
       0.56,
       0.0109
      ],
      [
       0.7,
       0.0158
      ],
      [
       0.84,
       0.0216
      ],
      [
       0.98,
       0.0296
      ],
      [
       1.12,
       0.0405
      ],
      [
       1.26,
       0.0544
      ],
      [
       1.4,
       0.0657
      ],
      [
       1.54,
       0.0768
      ],
      [
       1.68,
       0.0885
      ],
      [
       1.82,
       0.0917
      ],
      [
       1.96,
       0.0911
      ],
      [
       2.1,
       0.0907
      ],
      [
       2.24,
       0.0905
      ],
      [
       2.38,
       0.0905
      ],
      [
       2.52,
       0.0907
      ],
      [
       2.66,
       0.0909
      ],
      [
       2.8,
       0.0911
      ],
      [
       2.94,
       0.0914
      ],
      [
       3.08,
       0.0918
      ],
      [
       3.22,
       0.0922
      ],
      [
       3.36,
       0.0926
      ],
      [
       3.5,
       0.0929
      ],
      [
       3.64,
       0.0932
      ],
      [
       3.78,
       0.0934
      ],
      [
       3.92,
       0.0935
      ],
      [
       4.06,
       0.0937
      ],
      [
       4.2,
       0.0937
      ],
      [
       4.34,
       0.0938
      ],
      [
       4.48,
       0.0938
      ],
      [
       4.62,
       0.0939
      ],
      [
       4.76,
       0.0939
      ],
      [
       4.9,
       0.0939
      ],
      [
       5.04,
       0.0939
      ],
      [
       5.18,
       0.094
      ],
      [
       5.32,
       0.094
      ],
      [
       5.46,
       0.094
      ],
      [
       5.6,
       0.094
      ],
      [
       5.74,
       0.094
      ],
      [
       5.88,
       0.094
      ],
      [
       6.02,
       0.0941
      ],
      [
       6.16,
       0.0941
      ],
      [
       6.3,
       0.0941
      ],
      [
       6.44,
       0.0941
      ],
      [
       6.58,
       0.0941
      ],
      [
       6.72,
       0.0941
      ],
      [
       6.86,
       0.094
      ],
      [
       7.0,
       0.094
      ],
      [
       7.14,
       0.094
      ],
      [
       7.28,
       0.094
      ],
      [
       7.42,
       0.094
      ],
      [
       7.56,
       0.0942
      ],
      [
       7.7,
       0.0943
      ],
      [
       7.84,
       0.0943
      ],
      [
       7.98,
       0.0943
      ],
      [
       8.12,
       0.0943
      ],
      [
       8.26,
       0.0942
      ],
      [
       8.4,
       0.094
      ],
      [
       8.54,
       0.0939
      ],
      [
       8.68,
       0.0938
      ],
      [
       8.82,
       0.0937
      ],
      [
       8.96,
       0.0936
      ],
      [
       9.1,
       0.0935
      ],
      [
       9.24,
       0.0935
      ],
      [
       9.38,
       0.0934
      ],
      [
       9.52,
       0.0933
      ],
      [
       9.66,
       0.0932
      ],
      [
       9.8,
       0.0931
      ],
      [
       9.94,
       0.093
      ],
      [
       10.08,
       0.0927
      ],
      [
       10.22,
       0.092
      ],
      [
       10.36,
       0.0911
      ],
      [
       10.5,
       0.0919
      ],
      [
       10.64,
       0.0907
      ],
      [
       10.78,
       0.0881
      ],
      [
       10.92,
       0.0889
      ],
      [
       11.06,
       0.089
      ],
      [
       11.2,
       0.0866
      ],
      [
       11.34,
       0.082
      ],
      [
       11.48,
       0.0776
      ],
      [
       11.62,
       0.0729
      ],
      [
       11.76,
       0.0688
      ],
      [
       11.9,
       0.0682
      ],
      [
       12.04,
       0.0684
      ],
      [
       12.18,
       0.07
      ],
      [
       12.32,
       0.0676
      ],
      [
       12.46,
       0.0686
      ],
      [
       12.6,
       0.0705
      ],
      [
       12.74,
       0.0671
      ],
      [
       12.88,
       0.0644
      ],
      [
       13.02,
       0.0626
      ],
      [
       13.16,
       0.0604
      ],
      [
       13.3,
       0.0567
      ],
      [
       13.44,
       0.051
      ],
      [
       13.58,
       0.0427
      ],
      [
       13.72,
       0.0336
      ],
      [
       13.86,
       0.0245
      ],
      [
       14.0,
       0.0163
      ],
      [
       14.14,
       0.0104
      ],
      [
       14.28,
       0.0058
      ],
      [
       14.42,
       0.002
      ],
      [
       14.56,
       0.0
      ],
      [
       14.7,
       0.0
      ],
      [
       14.84,
       0.0
      ],
      [
       14.98,
       0.0
      ],
      [
       15.12,
       0.0
      ],
      [
       15.26,
       0.0
      ],
      [
       15.4,
       0.0
      ],
      [
       15.54,
       0.0
      ],
      [
       15.68,
       0.0
      ],
      [
       15.82,
       0.0
      ],
      [
       15.96,
       0.0
      ],
      [
       16.1,
       0.0
      ],
      [
       16.24,
       0.0
      ],
      [
       16.38,
       0.0
      ],
      [
       16.52,
       0.0
      ],
      [
       16.66,
       0.0
      ],
      [
       16.8,
       0.0
      ],
      [
       16.94,
       0.0
      ],
      [
       17.08,
       0.0
      ],
      [
       17.22,
       0.0
      ],
      [
       17.36,
       0.0
      ],
      [
       17.5,
       0.0
      ],
      [
       17.64,
       0.0
      ],
      [
       17.78,
       0.0
      ],
      [
       17.92,
       0.0
      ],
      [
       18.06,
       0.0
      ],
      [
       18.2,
       0.0
      ],
      [
       18.34,
       0.0
      ],
      [
       18.48,
       0.0
      ],
      [
       18.62,
       0.0
      ],
      [
       18.76,
       0.0
      ],
      [
       18.9,
       0.0
      ],
      [
       19.04,
       0.0
      ],
      [
       19.18,
       0.0
      ],
      [
       19.32,
       0.0
      ],
      [
       19.46,
       0.0
      ],
      [
       19.6,
       0.0
      ],
      [
       19.74,
       0.0
      ],
      [
       19.88,
       0.0
      ],
      [
       20.02,
       0.0
      ],
      [
       20.16,
       0.0
      ],
      [
       20.3,
       0.0
      ],
      [
       20.44,
       0.0
      ],
      [
       20.58,
       0.0
      ],
      [
       20.72,
       0.0
      ],
      [
       20.86,
       0.0
      ],
      [
       21.0,
       0.0
      ],
      [
       21.14,
       0.0
      ],
      [
       21.28,
       0.0
      ],
      [
       21.42,
       0.0
      ],
      [
       21.56,
       0.0
      ],
      [
       21.7,
       0.0
      ],
      [
       21.84,
       0.0
      ],
      [
       21.98,
       0.0
      ],
      [
       22.12,
       0.0
      ],
      [
       22.26,
       0.0
      ],
      [
       22.4,
       0.0
      ],
      [
       22.54,
       0.0
      ],
      [
       22.68,
       0.0
      ],
      [
       22.82,
       0.0
      ],
      [
       22.96,
       0.0
      ],
      [
       23.1,
       0.0
      ],
      [
       23.24,
       0.0
      ],
      [
       23.38,
       0.0
      ],
      [
       23.52,
       0.0
      ],
      [
       23.66,
       0.0
      ],
      [
       23.8,
       0.0
      ],
      [
       23.94,
       0.0
      ],
      [
       24.0,
       0.0
      ]
     ],
     "total_reward": 0.0,
     "initial_progress": 0.0,
     "final_progress": 0.0,
     "physics_sha256": "9ab7e15a5c13ce5782a7d95a29a2d1478ddc0f38fb772ec2be379953222b9c32",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.00044825885598612783,
       "final_progress": 0.00044825885598612783,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.02321786811964499,
       "final_progress": 0.02321786811964499,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07533458819406147,
       "final_progress": 0.07533458819406147,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.17060199834278766,
       "final_progress": 0.06341665600758654
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.3169357335913199,
       "final_progress": 0.31693573359131977
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6,
       "final_progress": 0.6
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.24753530145797437,
       "final_progress": 0.07658620382545334
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.07469388060302538,
       "final_progress": 0.07469388060302538
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0,
       "final_progress": 0.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "small white boxes"
      },
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "99d69adfa76be569f036e868af5ea075dcdc5b803e4d6e84c0892251dd2545b7",
   "recording_id": 6524,
   "task_number": 3,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the turquoise patterned worktable among the small white boxes and the small tool tray and pull the drawer 6 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the turquoise patterned worktable among the small white boxes and the small tool tray and pull the drawer 6 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22656 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 6524,
    "contributor_id": 11,
    "video": "media/source-6524-46127397ca53.mp4",
    "poster": "media/source-6524.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6524,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6524_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 26.96,
      "original_end_s": 46.96,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "87fd5cd174dfa1d52cd6ebda6d90ccf2d685304982d9f69b18300d32501ead93",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 8,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 3,
    "recording_observed": 5,
    "recording_added": 2,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "99d69adfa76b-panda",
     "video": "media/sim-99d69adfa76b-panda-s0.mp4",
     "poster": "media/sim-99d69adfa76b-panda-s0.jpg",
     "trajectory": "trajectories/99d69adfa76b-panda.json",
     "recipe": "recipes/99d69adfa76b-panda.json",
     "seed": 0,
     "steps": 237,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0019
      ],
      [
       1.24,
       0.0043
      ],
      [
       1.26,
       0.0068
      ],
      [
       1.28,
       0.0094
      ],
      [
       1.3,
       0.0122
      ],
      [
       1.32,
       0.0152
      ],
      [
       1.34,
       0.0184
      ],
      [
       1.36,
       0.0217
      ],
      [
       1.38,
       0.025
      ],
      [
       1.4,
       0.0283
      ],
      [
       1.42,
       0.0314
      ],
      [
       1.44,
       0.0343
      ],
      [
       1.46,
       0.037
      ],
      [
       1.48,
       0.0393
      ],
      [
       1.5,
       0.0414
      ],
      [
       1.52,
       0.0434
      ],
      [
       1.54,
       0.0453
      ],
      [
       1.56,
       0.0472
      ],
      [
       1.58,
       0.0492
      ],
      [
       1.6,
       0.0512
      ],
      [
       1.62,
       0.0533
      ],
      [
       1.64,
       0.0553
      ],
      [
       1.66,
       0.0574
      ],
      [
       1.68,
       0.0594
      ],
      [
       1.7,
       0.0614
      ],
      [
       1.72,
       0.0634
      ],
      [
       1.74,
       0.0652
      ],
      [
       1.76,
       0.067
      ],
      [
       1.78,
       0.0688
      ],
      [
       1.8,
       0.0705
      ],
      [
       1.82,
       0.0721
      ],
      [
       1.84,
       0.0736
      ],
      [
       1.86,
       0.0751
      ],
      [
       1.88,
       0.0765
      ],
      [
       1.9,
       0.0778
      ],
      [
       1.92,
       0.0791
      ],
      [
       1.94,
       0.0803
      ],
      [
       1.96,
       0.0815
      ],
      [
       1.98,
       0.0826
      ],
      [
       2.0,
       0.0837
      ],
      [
       2.02,
       0.0847
      ],
      [
       2.04,
       0.0857
      ],
      [
       2.06,
       0.0867
      ],
      [
       2.08,
       0.0876
      ],
      [
       2.1,
       0.0885
      ],
      [
       2.12,
       0.0894
      ],
      [
       2.14,
       0.0903
      ],
      [
       2.16,
       0.0911
      ],
      [
       2.18,
       0.092
      ],
      [
       2.2,
       0.0929
      ],
      [
       2.22,
       0.0938
      ],
      [
       2.24,
       0.0947
      ],
      [
       2.26,
       0.0956
      ],
      [
       2.28,
       0.0965
      ],
      [
       2.3,
       0.0975
      ],
      [
       2.32,
       0.0985
      ],
      [
       2.34,
       0.0996
      ],
      [
       2.36,
       0.1007
      ],
      [
       2.38,
       0.1018
      ],
      [
       2.4,
       0.103
      ],
      [
       2.42,
       0.1043
      ],
      [
       2.44,
       0.1057
      ],
      [
       2.46,
       0.1071
      ],
      [
       2.48,
       0.1086
      ],
      [
       2.5,
       0.1103
      ],
      [
       2.52,
       0.1121
      ],
      [
       2.54,
       0.1137
      ],
      [
       2.56,
       0.115
      ],
      [
       2.58,
       0.1162
      ],
      [
       2.6,
       0.1171
      ],
      [
       2.62,
       0.1179
      ],
      [
       2.64,
       0.1186
      ],
      [
       2.66,
       0.1192
      ],
      [
       2.68,
       0.1198
      ],
      [
       2.7,
       0.1206
      ],
      [
       2.72,
       0.1215
      ],
      [
       2.74,
       0.1226
      ],
      [
       2.76,
       0.1238
      ],
      [
       2.78,
       0.125
      ],
      [
       2.8,
       0.1263
      ],
      [
       2.82,
       0.1276
      ],
      [
       2.84,
       0.1289
      ],
      [
       2.86,
       0.1303
      ],
      [
       2.88,
       0.1317
      ],
      [
       2.9,
       0.1333
      ],
      [
       2.92,
       0.135
      ],
      [
       2.94,
       0.1367
      ],
      [
       2.96,
       0.1385
      ],
      [
       2.98,
       0.1405
      ],
      [
       3.0,
       0.1425
      ],
      [
       3.02,
       0.1447
      ],
      [
       3.04,
       0.1469
      ],
      [
       3.06,
       0.1522
      ],
      [
       3.08,
       0.1652
      ],
      [
       3.1,
       0.1613
      ],
      [
       3.12,
       0.1497
      ],
      [
       3.14,
       0.147
      ],
      [
       3.16,
       0.147
      ],
      [
       3.18,
       0.147
      ],
      [
       3.2,
       0.147
      ],
      [
       3.22,
       0.147
      ],
      [
       3.24,
       0.147
      ],
      [
       3.26,
       0.147
      ],
      [
       3.28,
       0.147
      ],
      [
       3.3,
       0.147
      ],
      [
       3.32,
       0.1471
      ],
      [
       3.34,
       0.1471
      ],
      [
       3.36,
       0.1471
      ],
      [
       3.38,
       0.1472
      ],
      [
       3.4,
       0.1472
      ],
      [
       3.42,
       0.15
      ],
      [
       3.44,
       0.1535
      ],
      [
       3.46,
       0.1577
      ],
      [
       3.48,
       0.1625
      ],
      [
       3.5,
       0.1679
      ],
      [
       3.52,
       0.1738
      ],
      [
       3.54,
       0.1802
      ],
      [
       3.56,
       0.1872
      ],
      [
       3.58,
       0.1897
      ],
      [
       3.6,
       0.1904
      ],
      [
       3.62,
       0.1913
      ],
      [
       3.64,
       0.1928
      ],
      [
       3.66,
       0.1949
      ],
      [
       3.68,
       0.1976
      ],
      [
       3.7,
       0.2007
      ],
      [
       3.72,
       0.2058
      ],
      [
       3.74,
       0.2141
      ],
      [
       3.76,
       0.2255
      ],
      [
       3.78,
       0.2388
      ],
      [
       3.8,
       0.2531
      ],
      [
       3.82,
       0.268
      ],
      [
       3.84,
       0.2831
      ],
      [
       3.86,
       0.3009
      ],
      [
       3.88,
       0.3166
      ],
      [
       3.9,
       0.3329
      ],
      [
       3.92,
       0.3498
      ],
      [
       3.94,
       0.3672
      ],
      [
       3.96,
       0.3853
      ],
      [
       3.98,
       0.404
      ],
      [
       4.0,
       0.4233
      ],
      [
       4.02,
       0.4431
      ],
      [
       4.04,
       0.4634
      ],
      [
       4.06,
       0.4844
      ],
      [
       4.08,
       0.5058
      ],
      [
       4.1,
       0.5277
      ],
      [
       4.12,
       0.5502
      ],
      [
       4.14,
       0.5732
      ],
      [
       4.16,
       0.5966
      ],
      [
       4.18,
       0.6206
      ],
      [
       4.2,
       0.645
      ],
      [
       4.22,
       0.6699
      ],
      [
       4.24,
       0.6952
      ],
      [
       4.26,
       0.7209
      ],
      [
       4.28,
       0.747
      ],
      [
       4.3,
       0.7735
      ],
      [
       4.32,
       0.8003
      ],
      [
       4.34,
       0.8275
      ],
      [
       4.36,
       0.8549
      ],
      [
       4.38,
       0.8827
      ],
      [
       4.4,
       0.9107
      ],
      [
       4.42,
       0.9395
      ],
      [
       4.44,
       0.9698
      ],
      [
       4.46,
       1.0
      ],
      [
       4.48,
       1.0
      ],
      [
       4.5,
       1.0
      ],
      [
       4.52,
       1.0
      ],
      [
       4.54,
       1.0
      ],
      [
       4.56,
       1.0
      ],
      [
       4.58,
       1.0
      ],
      [
       4.6,
       1.0
      ],
      [
       4.62,
       1.0
      ],
      [
       4.64,
       1.0
      ],
      [
       4.66,
       1.0
      ],
      [
       4.68,
       1.0
      ],
      [
       4.7,
       1.0
      ],
      [
       4.72,
       1.0
      ],
      [
       4.74,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "92d1e5f75f73b1020cfe5162f6d82ec4063e08f1cfe17964ddfe0cb0d76d9740",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 6.577219012335938e-05,
       "final_progress": 7.107858008098512e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.45473942011916474,
       "final_progress": 0.04526588627079291,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.03735640230686842,
       "final_progress": 0.037361708696826056,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 237,
       "return": 1.9999946936100423,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx25",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "99d69adfa76b-aloha",
     "video": "media/sim-99d69adfa76b-aloha-s0.mp4",
     "poster": "media/sim-99d69adfa76b-aloha-s0.jpg",
     "trajectory": "trajectories/99d69adfa76b-aloha.json",
     "recipe": "recipes/99d69adfa76b-aloha.json",
     "seed": 0,
     "steps": 209,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0007
      ],
      [
       0.04,
       0.0022
      ],
      [
       0.06,
       0.0042
      ],
      [
       0.08,
       0.0065
      ],
      [
       0.1,
       0.009
      ],
      [
       0.12,
       0.0116
      ],
      [
       0.14,
       0.0141
      ],
      [
       0.16,
       0.0167
      ],
      [
       0.18,
       0.0193
      ],
      [
       0.2,
       0.0219
      ],
      [
       0.22,
       0.0244
      ],
      [
       0.24,
       0.0269
      ],
      [
       0.26,
       0.0293
      ],
      [
       0.28,
       0.0317
      ],
      [
       0.3,
       0.034
      ],
      [
       0.32,
       0.0363
      ],
      [
       0.34,
       0.0385
      ],
      [
       0.36,
       0.0407
      ],
      [
       0.38,
       0.0429
      ],
      [
       0.4,
       0.0452
      ],
      [
       0.42,
       0.0473
      ],
      [
       0.44,
       0.0494
      ],
      [
       0.46,
       0.0513
      ],
      [
       0.48,
       0.053
      ],
      [
       0.5,
       0.0546
      ],
      [
       0.52,
       0.056
      ],
      [
       0.54,
       0.0573
      ],
      [
       0.56,
       0.0584
      ],
      [
       0.58,
       0.0594
      ],
      [
       0.6,
       0.0604
      ],
      [
       0.62,
       0.0612
      ],
      [
       0.64,
       0.062
      ],
      [
       0.66,
       0.0627
      ],
      [
       0.68,
       0.0634
      ],
      [
       0.7,
       0.064
      ],
      [
       0.72,
       0.0647
      ],
      [
       0.74,
       0.0653
      ],
      [
       0.76,
       0.0659
      ],
      [
       0.78,
       0.0666
      ],
      [
       0.8,
       0.0673
      ],
      [
       0.82,
       0.068
      ],
      [
       0.84,
       0.0687
      ],
      [
       0.86,
       0.0694
      ],
      [
       0.88,
       0.07
      ],
      [
       0.9,
       0.0706
      ],
      [
       0.92,
       0.0711
      ],
      [
       0.94,
       0.0715
      ],
      [
       0.96,
       0.0718
      ],
      [
       0.98,
       0.072
      ],
      [
       1.0,
       0.0721
      ],
      [
       1.02,
       0.0721
      ],
      [
       1.04,
       0.0724
      ],
      [
       1.06,
       0.0729
      ],
      [
       1.08,
       0.0735
      ],
      [
       1.1,
       0.0741
      ],
      [
       1.12,
       0.0748
      ],
      [
       1.14,
       0.0755
      ],
      [
       1.16,
       0.0761
      ],
      [
       1.18,
       0.0768
      ],
      [
       1.2,
       0.0775
      ],
      [
       1.22,
       0.0782
      ],
      [
       1.24,
       0.0788
      ],
      [
       1.26,
       0.0795
      ],
      [
       1.28,
       0.0803
      ],
      [
       1.3,
       0.081
      ],
      [
       1.32,
       0.0818
      ],
      [
       1.34,
       0.0827
      ],
      [
       1.36,
       0.0836
      ],
      [
       1.38,
       0.0847
      ],
      [
       1.4,
       0.0858
      ],
      [
       1.42,
       0.0869
      ],
      [
       1.44,
       0.0882
      ],
      [
       1.46,
       0.0895
      ],
      [
       1.48,
       0.0909
      ],
      [
       1.5,
       0.0924
      ],
      [
       1.52,
       0.0939
      ],
      [
       1.54,
       0.0956
      ],
      [
       1.56,
       0.0964
      ],
      [
       1.58,
       0.0964
      ],
      [
       1.6,
       0.0971
      ],
      [
       1.62,
       0.0974
      ],
      [
       1.64,
       0.0978
      ],
      [
       1.66,
       0.098
      ],
      [
       1.68,
       0.0983
      ],
      [
       1.7,
       0.0987
      ],
      [
       1.72,
       0.0988
      ],
      [
       1.74,
       0.099
      ],
      [
       1.76,
       0.0991
      ],
      [
       1.78,
       0.0993
      ],
      [
       1.8,
       0.0994
      ],
      [
       1.82,
       0.0996
      ],
      [
       1.84,
       0.0995
      ],
      [
       1.86,
       0.0998
      ],
      [
       1.88,
       0.0997
      ],
      [
       1.9,
       0.1
      ],
      [
       1.92,
       0.1001
      ],
      [
       1.94,
       0.0999
      ],
      [
       1.96,
       0.0999
      ],
      [
       1.98,
       0.1
      ],
      [
       2.0,
       0.1
      ],
      [
       2.02,
       0.1
      ],
      [
       2.04,
       0.1001
      ],
      [
       2.06,
       0.1001
      ],
      [
       2.08,
       0.1001
      ],
      [
       2.1,
       0.1001
      ],
      [
       2.12,
       0.1001
      ],
      [
       2.14,
       0.1001
      ],
      [
       2.16,
       0.1001
      ],
      [
       2.18,
       0.1001
      ],
      [
       2.2,
       0.1002
      ],
      [
       2.22,
       0.1002
      ],
      [
       2.24,
       0.1002
      ],
      [
       2.26,
       0.1002
      ],
      [
       2.28,
       0.1002
      ],
      [
       2.3,
       0.1002
      ],
      [
       2.32,
       0.1003
      ],
      [
       2.34,
       0.1003
      ],
      [
       2.36,
       0.1003
      ],
      [
       2.38,
       0.1004
      ],
      [
       2.4,
       0.1004
      ],
      [
       2.42,
       0.1005
      ],
      [
       2.44,
       0.1005
      ],
      [
       2.46,
       0.1006
      ],
      [
       2.48,
       0.1006
      ],
      [
       2.5,
       0.1007
      ],
      [
       2.52,
       0.1008
      ],
      [
       2.54,
       0.1009
      ],
      [
       2.56,
       0.1016
      ],
      [
       2.58,
       0.1022
      ],
      [
       2.6,
       0.103
      ],
      [
       2.62,
       0.1041
      ],
      [
       2.64,
       0.1058
      ],
      [
       2.66,
       0.1082
      ],
      [
       2.68,
       0.1114
      ],
      [
       2.7,
       0.1154
      ],
      [
       2.72,
       0.1203
      ],
      [
       2.74,
       0.126
      ],
      [
       2.76,
       0.1326
      ],
      [
       2.78,
       0.1402
      ],
      [
       2.8,
       0.1486
      ],
      [
       2.82,
       0.1578
      ],
      [
       2.84,
       0.1676
      ],
      [
       2.86,
       0.1782
      ],
      [
       2.88,
       0.1896
      ],
      [
       2.9,
       0.202
      ],
      [
       2.92,
       0.2111
      ],
      [
       2.94,
       0.2186
      ],
      [
       2.96,
       0.2227
      ],
      [
       2.98,
       0.2262
      ],
      [
       3.0,
       0.2297
      ],
      [
       3.02,
       0.2337
      ],
      [
       3.04,
       0.2382
      ],
      [
       3.06,
       0.2433
      ],
      [
       3.08,
       0.2963
      ],
      [
       3.1,
       0.3028
      ],
      [
       3.12,
       0.3098
      ],
      [
       3.14,
       0.3175
      ],
      [
       3.16,
       0.3258
      ],
      [
       3.18,
       0.3348
      ],
      [
       3.2,
       0.3443
      ],
      [
       3.22,
       0.3545
      ],
      [
       3.24,
       0.3653
      ],
      [
       3.26,
       0.3767
      ],
      [
       3.28,
       0.3886
      ],
      [
       3.3,
       0.4012
      ],
      [
       3.32,
       0.4144
      ],
      [
       3.34,
       0.4281
      ],
      [
       3.36,
       0.4424
      ],
      [
       3.38,
       0.4573
      ],
      [
       3.4,
       0.4727
      ],
      [
       3.42,
       0.4887
      ],
      [
       3.44,
       0.5053
      ],
      [
       3.46,
       0.5224
      ],
      [
       3.48,
       0.54
      ],
      [
       3.5,
       0.5582
      ],
      [
       3.52,
       0.577
      ],
      [
       3.54,
       0.5963
      ],
      [
       3.56,
       0.6162
      ],
      [
       3.58,
       0.6368
      ],
      [
       3.6,
       0.658
      ],
      [
       3.62,
       0.6798
      ],
      [
       3.64,
       0.7018
      ],
      [
       3.66,
       0.7245
      ],
      [
       3.68,
       0.7476
      ],
      [
       3.7,
       0.7712
      ],
      [
       3.72,
       0.7952
      ],
      [
       3.74,
       0.8195
      ],
      [
       3.76,
       0.8444
      ],
      [
       3.78,
       0.8697
      ],
      [
       3.8,
       0.8955
      ],
      [
       3.82,
       0.9215
      ],
      [
       3.84,
       0.945
      ],
      [
       3.86,
       0.9679
      ],
      [
       3.88,
       0.9922
      ],
      [
       3.9,
       1.0
      ],
      [
       3.92,
       1.0
      ],
      [
       3.94,
       1.0
      ],
      [
       3.96,
       1.0
      ],
      [
       3.98,
       1.0
      ],
      [
       4.0,
       1.0
      ],
      [
       4.02,
       1.0
      ],
      [
       4.04,
       1.0
      ],
      [
       4.06,
       1.0
      ],
      [
       4.08,
       1.0
      ],
      [
       4.1,
       1.0
      ],
      [
       4.12,
       1.0
      ],
      [
       4.14,
       1.0
      ],
      [
       4.16,
       1.0
      ],
      [
       4.18,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6155a3af92bade4401b077f490c8a6d4c7bbc323710b3b12767afe406f7aa03b",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0012282724545458225,
       "final_progress": 0.0012293343734744598,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.11916227100092197,
       "final_progress": 0.1191633329198506,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 1.3159380115686347e-05,
       "final_progress": 1.4221299044324497e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 209,
       "return": 1.9999989380810712,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx25",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "e8cbf061c3cc23d511152482dac0dc315ebbf86bd38912c8f6e11f76d4be9904",
   "recording_id": 6524,
   "task_number": 4,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Pick up the paper cup and balance it on top of the coffee can on the turquoise patterned worktable among the white glue bottle and the small tool tray.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the paper cup and balance it on top of the coffee can on the turquoise patterned worktable among the white glue bottle and the small tool tray.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 6524,
    "contributor_id": 11,
    "video": "media/source-6524-46127397ca53.mp4",
    "poster": "media/source-6524.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 6524,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/006/6524_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 26.96,
      "original_end_s": 46.96,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "87fd5cd174dfa1d52cd6ebda6d90ccf2d685304982d9f69b18300d32501ead93",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "46127397ca53f87ee7878f98f0d0ce4a939e84f6f6cb17ad599e5938866dba57",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 9,
    "physical_objects": 9,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 4,
    "recording_observed": 5,
    "recording_added": 2,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "e8cbf061c3cc-panda",
     "video": "media/sim-e8cbf061c3cc-panda-s0.mp4",
     "poster": "media/sim-e8cbf061c3cc-panda-s0.jpg",
     "trajectory": "trajectories/e8cbf061c3cc-panda.json",
     "recipe": "recipes/e8cbf061c3cc-panda.json",
     "seed": 0,
     "steps": 387,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.12,
       0.0007
      ],
      [
       1.16,
       0.0044
      ],
      [
       1.2,
       0.0084
      ],
      [
       1.24,
       0.0126
      ],
      [
       1.28,
       0.0173
      ],
      [
       1.32,
       0.0223
      ],
      [
       1.36,
       0.0278
      ],
      [
       1.4,
       0.0335
      ],
      [
       1.44,
       0.0394
      ],
      [
       1.48,
       0.0451
      ],
      [
       1.52,
       0.0506
      ],
      [
       1.56,
       0.0556
      ],
      [
       1.6,
       0.0601
      ],
      [
       1.64,
       0.064
      ],
      [
       1.68,
       0.0674
      ],
      [
       1.72,
       0.0699
      ],
      [
       1.76,
       0.0717
      ],
      [
       1.8,
       0.073
      ],
      [
       1.84,
       0.0744
      ],
      [
       1.88,
       0.0758
      ],
      [
       1.92,
       0.0773
      ],
      [
       1.96,
       0.0788
      ],
      [
       2.0,
       0.0804
      ],
      [
       2.04,
       0.0823
      ],
      [
       2.08,
       0.0843
      ],
      [
       2.12,
       0.0866
      ],
      [
       2.16,
       0.0891
      ],
      [
       2.2,
       0.0919
      ],
      [
       2.24,
       0.0952
      ],
      [
       2.28,
       0.0988
      ],
      [
       2.32,
       0.1029
      ],
      [
       2.36,
       0.1075
      ],
      [
       2.4,
       0.1109
      ],
      [
       2.44,
       0.1137
      ],
      [
       2.48,
       0.1166
      ],
      [
       2.52,
       0.1201
      ],
      [
       2.56,
       0.1239
      ],
      [
       2.6,
       0.1278
      ],
      [
       2.64,
       0.1321
      ],
      [
       2.68,
       0.1367
      ],
      [
       2.72,
       0.1417
      ],
      [
       2.76,
       0.1457
      ],
      [
       2.8,
       0.1446
      ],
      [
       2.84,
       0.144
      ],
      [
       2.88,
       0.1449
      ],
      [
       2.92,
       0.1463
      ],
      [
       2.96,
       0.147
      ],
      [
       3.0,
       0.1474
      ],
      [
       3.04,
       0.1477
      ],
      [
       3.08,
       0.1478
      ],
      [
       3.12,
       0.1479
      ],
      [
       3.16,
       0.148
      ],
      [
       3.2,
       0.1481
      ],
      [
       3.24,
       0.1482
      ],
      [
       3.28,
       0.1483
      ],
      [
       3.32,
       0.1483
      ],
      [
       3.36,
       0.1484
      ],
      [
       3.4,
       0.1485
      ],
      [
       3.44,
       0.1485
      ],
      [
       3.48,
       0.1485
      ],
      [
       3.52,
       0.1485
      ],
      [
       3.56,
       0.1485
      ],
      [
       3.6,
       0.1486
      ],
      [
       3.64,
       0.1487
      ],
      [
       3.68,
       0.1487
      ],
      [
       3.72,
       0.1487
      ],
      [
       3.76,
       0.1487
      ],
      [
       3.8,
       0.1487
      ],
      [
       3.84,
       0.1487
      ],
      [
       3.88,
       0.1487
      ],
      [
       3.92,
       0.1487
      ],
      [
       3.96,
       0.1487
      ],
      [
       4.0,
       0.1487
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.72,
       0.4006
      ],
      [
       4.76,
       0.4084
      ],
      [
       4.8,
       0.4165
      ],
      [
       4.84,
       0.4245
      ],
      [
       4.88,
       0.4323
      ],
      [
       4.92,
       0.4393
      ],
      [
       4.96,
       0.4456
      ],
      [
       5.0,
       0.4512
      ],
      [
       5.04,
       0.4558
      ],
      [
       5.08,
       0.4594
      ],
      [
       5.12,
       0.4618
      ],
      [
       5.16,
       0.4629
      ],
      [
       5.2,
       0.4626
      ],
      [
       5.24,
       0.4608
      ],
      [
       5.28,
       0.4573
      ],
      [
       5.32,
       0.452
      ],
      [
       5.36,
       0.4449
      ],
      [
       5.4,
       0.4361
      ],
      [
       5.44,
       0.4256
      ],
      [
       5.48,
       0.4143
      ],
      [
       5.52,
       0.4038
      ],
      [
       5.56,
       0.4
      ],
      [
       5.6,
       0.4
      ],
      [
       5.64,
       0.4
      ],
      [
       5.68,
       0.4
      ],
      [
       5.72,
       0.4
      ],
      [
       5.76,
       0.4281
      ],
      [
       5.8,
       0.4666
      ],
      [
       5.84,
       0.5102
      ],
      [
       5.88,
       0.5585
      ],
      [
       5.92,
       0.611
      ],
      [
       5.96,
       0.667
      ],
      [
       6.0,
       0.726
      ],
      [
       6.04,
       0.7878
      ],
      [
       6.08,
       0.8521
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       0.9
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.74,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ecee3a0ff231dc15c023972da364a117db6d92582e200b8ab13ee9ca9ebca25b",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -1.734723475976807e-18,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.601389048296533,
       "final_progress": 0.601389048296533,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 387,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx25",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "coffee_can_ctx25",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "e8cbf061c3cc-aloha",
     "video": "media/sim-e8cbf061c3cc-aloha-s5.mp4",
     "poster": "media/sim-e8cbf061c3cc-aloha-s5.jpg",
     "trajectory": "trajectories/e8cbf061c3cc-aloha.json",
     "recipe": "recipes/e8cbf061c3cc-aloha.json",
     "seed": 5,
     "steps": 628,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0008
      ],
      [
       0.12,
       0.0021
      ],
      [
       0.18,
       0.0036
      ],
      [
       0.24,
       0.0053
      ],
      [
       0.3,
       0.0071
      ],
      [
       0.36,
       0.0092
      ],
      [
       0.42,
       0.0114
      ],
      [
       0.48,
       0.0139
      ],
      [
       0.54,
       0.0166
      ],
      [
       0.6,
       0.0195
      ],
      [
       0.66,
       0.0226
      ],
      [
       0.72,
       0.0261
      ],
      [
       0.78,
       0.0301
      ],
      [
       0.84,
       0.0349
      ],
      [
       0.9,
       0.0404
      ],
      [
       0.96,
       0.0467
      ],
      [
       1.02,
       0.0538
      ],
      [
       1.08,
       0.0618
      ],
      [
       1.14,
       0.0707
      ],
      [
       1.2,
       0.0802
      ],
      [
       1.26,
       0.0872
      ],
      [
       1.32,
       0.0932
      ],
      [
       1.38,
       0.1002
      ],
      [
       1.44,
       0.108
      ],
      [
       1.5,
       0.115
      ],
      [
       1.56,
       0.1203
      ],
      [
       1.62,
       0.1269
      ],
      [
       1.68,
       0.1347
      ],
      [
       1.74,
       0.1429
      ],
      [
       1.8,
       0.1445
      ],
      [
       1.86,
       0.1437
      ],
      [
       1.92,
       0.1439
      ],
      [
       1.98,
       0.1433
      ],
      [
       2.04,
       0.1425
      ],
      [
       2.1,
       0.1424
      ],
      [
       2.16,
       0.1424
      ],
      [
       2.22,
       0.1424
      ],
      [
       2.28,
       0.1423
      ],
      [
       2.34,
       0.1421
      ],
      [
       2.4,
       0.1421
      ],
      [
       2.46,
       0.1419
      ],
      [
       2.52,
       0.1417
      ],
      [
       2.58,
       0.1417
      ],
      [
       2.64,
       0.1416
      ],
      [
       2.7,
       0.1411
      ],
      [
       2.76,
       0.1411
      ],
      [
       2.82,
       0.141
      ],
      [
       2.88,
       0.1408
      ],
      [
       2.94,
       0.1408
      ],
      [
       3.0,
       0.1407
      ],
      [
       3.06,
       0.1407
      ],
      [
       3.12,
       0.1407
      ],
      [
       3.18,
       0.1407
      ],
      [
       3.24,
       0.1407
      ],
      [
       3.3,
       0.1407
      ],
      [
       3.36,
       0.1407
      ],
      [
       3.42,
       0.1407
      ],
      [
       3.48,
       0.1406
      ],
      [
       3.54,
       0.1406
      ],
      [
       3.6,
       0.1406
      ],
      [
       3.66,
       0.1406
      ],
      [
       3.72,
       0.1406
      ],
      [
       3.78,
       0.1406
      ],
      [
       3.84,
       0.1406
      ],
      [
       3.9,
       0.1406
      ],
      [
       3.96,
       0.1405
      ],
      [
       4.02,
       0.1405
      ],
      [
       4.08,
       0.1405
      ],
      [
       4.14,
       0.1405
      ],
      [
       4.2,
       0.1405
      ],
      [
       4.26,
       0.1405
      ],
      [
       4.32,
       0.1407
      ],
      [
       4.38,
       0.1408
      ],
      [
       4.44,
       0.1409
      ],
      [
       4.5,
       0.141
      ],
      [
       4.56,
       0.141
      ],
      [
       4.62,
       0.1411
      ],
      [
       4.68,
       0.1412
      ],
      [
       4.74,
       0.1411
      ],
      [
       4.8,
       0.1411
      ],
      [
       4.86,
       0.1411
      ],
      [
       4.92,
       0.1411
      ],
      [
       4.98,
       0.141
      ],
      [
       5.04,
       0.141
      ],
      [
       5.1,
       0.1409
      ],
      [
       5.16,
       0.1408
      ],
      [
       5.22,
       0.1408
      ],
      [
       5.28,
       0.1405
      ],
      [
       5.34,
       0.1406
      ],
      [
       5.4,
       0.1406
      ],
      [
       5.46,
       0.1406
      ],
      [
       5.52,
       0.1403
      ],
      [
       5.58,
       0.1405
      ],
      [
       5.64,
       0.1401
      ],
      [
       5.7,
       0.1403
      ],
      [
       5.76,
       0.14
      ],
      [
       5.82,
       0.1399
      ],
      [
       5.88,
       0.14
      ],
      [
       5.94,
       0.1399
      ],
      [
       6.0,
       0.1398
      ],
      [
       6.06,
       0.1395
      ],
      [
       6.12,
       0.1394
      ],
      [
       6.18,
       0.1395
      ],
      [
       6.24,
       0.1393
      ],
      [
       6.3,
       0.1391
      ],
      [
       6.36,
       0.139
      ],
      [
       6.42,
       0.1389
      ],
      [
       6.48,
       0.1389
      ],
      [
       6.54,
       0.1388
      ],
      [
       6.6,
       0.1387
      ],
      [
       6.66,
       0.1387
      ],
      [
       6.72,
       0.6496
      ],
      [
       6.78,
       0.6512
      ],
      [
       6.84,
       0.6528
      ],
      [
       6.9,
       0.6545
      ],
      [
       6.96,
       0.6563
      ],
      [
       7.02,
       0.6581
      ],
      [
       7.08,
       0.6599
      ],
      [
       7.14,
       0.662
      ],
      [
       7.2,
       0.6644
      ],
      [
       7.26,
       0.6672
      ],
      [
       7.32,
       0.6702
      ],
      [
       7.38,
       0.6734
      ],
      [
       7.44,
       0.6767
      ],
      [
       7.5,
       0.6802
      ],
      [
       7.56,
       0.6837
      ],
      [
       7.62,
       0.6873
      ],
      [
       7.68,
       0.6908
      ],
      [
       7.74,
       0.6946
      ],
      [
       7.8,
       0.7008
      ],
      [
       7.86,
       0.7075
      ],
      [
       7.92,
       0.7142
      ],
      [
       7.98,
       0.7205
      ],
      [
       8.04,
       0.7262
      ],
      [
       8.1,
       0.7309
      ],
      [
       8.16,
       0.7344
      ],
      [
       8.22,
       0.7368
      ],
      [
       8.28,
       0.7383
      ],
      [
       8.34,
       0.7399
      ],
      [
       8.4,
       0.7432
      ],
      [
       8.46,
       0.7492
      ],
      [
       8.52,
       0.7586
      ],
      [
       8.58,
       0.7716
      ],
      [
       8.64,
       0.7877
      ],
      [
       8.7,
       0.805
      ],
      [
       8.76,
       0.8224
      ],
      [
       8.82,
       0.84
      ],
      [
       8.88,
       0.8581
      ],
      [
       8.94,
       0.8762
      ],
      [
       9.0,
       0.892
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       0.899
      ],
      [
       9.36,
       0.8877
      ],
      [
       9.42,
       0.8783
      ],
      [
       9.48,
       0.8728
      ],
      [
       9.54,
       0.8704
      ],
      [
       9.6,
       0.8701
      ],
      [
       9.66,
       0.8712
      ],
      [
       9.72,
       0.8732
      ],
      [
       9.78,
       0.876
      ],
      [
       9.84,
       0.8794
      ],
      [
       9.9,
       0.8834
      ],
      [
       9.96,
       0.8878
      ],
      [
       10.02,
       0.8929
      ],
      [
       10.08,
       0.8993
      ],
      [
       10.14,
       0.9
      ],
      [
       10.2,
       0.9
      ],
      [
       10.26,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.38,
       0.9
      ],
      [
       10.44,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.62,
       0.9
      ],
      [
       10.68,
       0.9
      ],
      [
       10.74,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.86,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       10.98,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.1,
       0.9
      ],
      [
       11.16,
       0.9
      ],
      [
       11.22,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.34,
       0.9
      ],
      [
       11.4,
       0.9
      ],
      [
       11.46,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.58,
       0.9
      ],
      [
       11.64,
       0.9
      ],
      [
       11.7,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.82,
       0.9
      ],
      [
       11.88,
       0.9
      ],
      [
       11.94,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.06,
       0.9
      ],
      [
       12.12,
       1.0
      ],
      [
       12.18,
       1.0
      ],
      [
       12.24,
       1.0
      ],
      [
       12.3,
       1.0
      ],
      [
       12.36,
       1.0
      ],
      [
       12.42,
       1.0
      ],
      [
       12.48,
       1.0
      ],
      [
       12.54,
       1.0
      ],
      [
       12.56,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "34a5c910bdcfcf87ee83f153dbe3bb17c6a9d639b12e6f2b9371fbe4c3bad435",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0007280291586892529,
       "final_progress": 0.0007280291586892529,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0445353557251482,
       "final_progress": 0.0445353557251482,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8735498939890013,
       "final_progress": 0.8735498939890013
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8768368923440623,
       "final_progress": 0.8768368923440623
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8364698378745872,
       "final_progress": 0.8364698378745872
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4275339288470672,
       "final_progress": 0.4275339288470672
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6489652864420339,
       "final_progress": 0.6489652864420339
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 628,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx25",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "coffee_can_ctx25",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "small_tool_tray_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "small tool tray"
      },
      {
       "name": "scissors_0",
       "source": "ycb:037_scissors",
       "grounding": "observed",
       "role": "clutter",
       "label": "scissors"
      },
      {
       "name": "small_white_boxes_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "small_white_boxes_1",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "small white boxes"
      },
      {
       "name": "white_glue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "white glue bottle"
      },
      {
       "name": "tape_roll_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tape roll"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "4eccd8cc43d66057a82335971eace831d56937be13bcad13633021c1e22cbeaa",
   "recording_id": 7021,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "turquoise patterned dining tabletop",
   "human_action": true,
   "description": "In the footage: Wipe the visible turquoise patterned dining tabletop with the pale green wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d78 cm patch (turned 20\u00b0) on the turquoise patterned dining tabletop among the potted plant and the white container and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 7021,
    "contributor_id": 11,
    "video": "media/source-7021-fef94c956381.mp4",
    "poster": "media/source-7021.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7021,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7021_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.64,
      "original_end_s": 310.64,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8a948f1cf1528b41aebf45fd3b3827e2b0a60de3c2832807add7fad70642584a",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 5,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 0,
    "recording_observed": 5,
    "recording_added": 0,
    "surface": "turquoise patterned dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "4eccd8cc43d6-panda",
     "video": "media/sim-4eccd8cc43d6-panda-s1.mp4",
     "poster": "media/sim-4eccd8cc43d6-panda-s1.jpg",
     "trajectory": "trajectories/4eccd8cc43d6-panda.json",
     "recipe": "recipes/4eccd8cc43d6-panda.json",
     "seed": 1,
     "steps": 398,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0008
      ],
      [
       0.12,
       0.0032
      ],
      [
       0.16,
       0.0058
      ],
      [
       0.2,
       0.0081
      ],
      [
       0.24,
       0.0104
      ],
      [
       0.28,
       0.0132
      ],
      [
       0.32,
       0.0161
      ],
      [
       0.36,
       0.0192
      ],
      [
       0.4,
       0.0224
      ],
      [
       0.44,
       0.0258
      ],
      [
       0.48,
       0.0294
      ],
      [
       0.52,
       0.0332
      ],
      [
       0.56,
       0.0372
      ],
      [
       0.6,
       0.0413
      ],
      [
       0.64,
       0.0456
      ],
      [
       0.68,
       0.05
      ],
      [
       0.72,
       0.0546
      ],
      [
       0.76,
       0.0592
      ],
      [
       0.8,
       0.064
      ],
      [
       0.84,
       0.0689
      ],
      [
       0.88,
       0.0741
      ],
      [
       0.92,
       0.0794
      ],
      [
       0.96,
       0.0849
      ],
      [
       1.0,
       0.0906
      ],
      [
       1.04,
       0.0965
      ],
      [
       1.08,
       0.1025
      ],
      [
       1.12,
       0.1086
      ],
      [
       1.16,
       0.1148
      ],
      [
       1.2,
       0.1212
      ],
      [
       1.24,
       0.1277
      ],
      [
       1.28,
       0.1343
      ],
      [
       1.32,
       0.1404
      ],
      [
       1.36,
       0.143
      ],
      [
       1.4,
       0.1394
      ],
      [
       1.44,
       0.1404
      ],
      [
       1.48,
       0.1428
      ],
      [
       1.52,
       0.1433
      ],
      [
       1.56,
       0.1433
      ],
      [
       1.6,
       0.1435
      ],
      [
       1.64,
       0.143
      ],
      [
       1.68,
       0.1416
      ],
      [
       1.72,
       0.1404
      ],
      [
       1.76,
       0.1398
      ],
      [
       1.8,
       0.1398
      ],
      [
       1.84,
       0.1402
      ],
      [
       1.88,
       0.1407
      ],
      [
       1.92,
       0.141
      ],
      [
       1.96,
       0.1414
      ],
      [
       2.0,
       0.1419
      ],
      [
       2.04,
       0.1429
      ],
      [
       2.08,
       0.144
      ],
      [
       2.12,
       0.1451
      ],
      [
       2.16,
       0.1461
      ],
      [
       2.2,
       0.1469
      ],
      [
       2.24,
       0.1475
      ],
      [
       2.28,
       0.1479
      ],
      [
       2.32,
       0.1482
      ],
      [
       2.36,
       0.1487
      ],
      [
       2.4,
       0.1491
      ],
      [
       2.44,
       0.1496
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.04,
       0.15
      ],
      [
       3.08,
       0.2714
      ],
      [
       3.12,
       0.2714
      ],
      [
       3.16,
       0.2714
      ],
      [
       3.2,
       0.2714
      ],
      [
       3.24,
       0.2714
      ],
      [
       3.28,
       0.2714
      ],
      [
       3.32,
       0.2714
      ],
      [
       3.36,
       0.2714
      ],
      [
       3.4,
       0.2714
      ],
      [
       3.44,
       0.2714
      ],
      [
       3.48,
       0.2714
      ],
      [
       3.52,
       0.2714
      ],
      [
       3.56,
       0.2714
      ],
      [
       3.6,
       0.2714
      ],
      [
       3.64,
       0.2714
      ],
      [
       3.68,
       0.2714
      ],
      [
       3.72,
       0.2714
      ],
      [
       3.76,
       0.2714
      ],
      [
       3.8,
       0.2714
      ],
      [
       3.84,
       0.2714
      ],
      [
       3.88,
       0.2714
      ],
      [
       3.92,
       0.2714
      ],
      [
       3.96,
       0.2714
      ],
      [
       4.0,
       0.2714
      ],
      [
       4.04,
       0.2714
      ],
      [
       4.08,
       0.2714
      ],
      [
       4.12,
       0.2714
      ],
      [
       4.16,
       0.2714
      ],
      [
       4.2,
       0.2714
      ],
      [
       4.24,
       0.2714
      ],
      [
       4.28,
       0.2714
      ],
      [
       4.32,
       0.2714
      ],
      [
       4.36,
       0.2714
      ],
      [
       4.4,
       0.2714
      ],
      [
       4.44,
       0.2714
      ],
      [
       4.48,
       0.2714
      ],
      [
       4.52,
       0.2714
      ],
      [
       4.56,
       0.2714
      ],
      [
       4.6,
       0.2714
      ],
      [
       4.64,
       0.2714
      ],
      [
       4.68,
       0.2714
      ],
      [
       4.72,
       0.2714
      ],
      [
       4.76,
       0.2714
      ],
      [
       4.8,
       0.2714
      ],
      [
       4.84,
       0.2714
      ],
      [
       4.88,
       0.2714
      ],
      [
       4.92,
       0.2714
      ],
      [
       4.96,
       0.2714
      ],
      [
       5.0,
       0.2714
      ],
      [
       5.04,
       0.2714
      ],
      [
       5.08,
       0.2714
      ],
      [
       5.12,
       0.2714
      ],
      [
       5.16,
       0.4232
      ],
      [
       5.2,
       0.4232
      ],
      [
       5.24,
       0.4536
      ],
      [
       5.28,
       0.4536
      ],
      [
       5.32,
       0.4536
      ],
      [
       5.36,
       0.4536
      ],
      [
       5.4,
       0.4536
      ],
      [
       5.44,
       0.4839
      ],
      [
       5.48,
       0.4839
      ],
      [
       5.52,
       0.4839
      ],
      [
       5.56,
       0.4839
      ],
      [
       5.6,
       0.4839
      ],
      [
       5.64,
       0.5143
      ],
      [
       5.68,
       0.5143
      ],
      [
       5.72,
       0.5143
      ],
      [
       5.76,
       0.5446
      ],
      [
       5.8,
       0.5446
      ],
      [
       5.84,
       0.5446
      ],
      [
       5.88,
       0.5446
      ],
      [
       5.92,
       0.575
      ],
      [
       5.96,
       0.575
      ],
      [
       6.0,
       0.575
      ],
      [
       6.04,
       0.6054
      ],
      [
       6.08,
       0.6054
      ],
      [
       6.12,
       0.6054
      ],
      [
       6.16,
       0.6357
      ],
      [
       6.2,
       0.6357
      ],
      [
       6.24,
       0.6357
      ],
      [
       6.28,
       0.6357
      ],
      [
       6.32,
       0.6964
      ],
      [
       6.36,
       0.6964
      ],
      [
       6.4,
       0.6964
      ],
      [
       6.44,
       0.7268
      ],
      [
       6.48,
       0.7268
      ],
      [
       6.52,
       0.7268
      ],
      [
       6.56,
       0.7268
      ],
      [
       6.6,
       0.7571
      ],
      [
       6.64,
       0.7571
      ],
      [
       6.68,
       0.7571
      ],
      [
       6.72,
       0.7875
      ],
      [
       6.76,
       0.7875
      ],
      [
       6.8,
       0.7875
      ],
      [
       6.84,
       0.7875
      ],
      [
       6.88,
       0.7875
      ],
      [
       6.92,
       0.7875
      ],
      [
       6.96,
       0.7875
      ],
      [
       7.0,
       0.8179
      ],
      [
       7.04,
       0.8179
      ],
      [
       7.08,
       0.8482
      ],
      [
       7.12,
       0.8482
      ],
      [
       7.16,
       0.8482
      ],
      [
       7.2,
       0.8482
      ],
      [
       7.24,
       0.8482
      ],
      [
       7.28,
       0.8482
      ],
      [
       7.32,
       0.8482
      ],
      [
       7.36,
       0.8482
      ],
      [
       7.4,
       0.8786
      ],
      [
       7.44,
       0.8786
      ],
      [
       7.48,
       0.8786
      ],
      [
       7.52,
       0.9089
      ],
      [
       7.56,
       0.9089
      ],
      [
       7.6,
       0.9089
      ],
      [
       7.64,
       0.9089
      ],
      [
       7.68,
       0.9089
      ],
      [
       7.72,
       0.9089
      ],
      [
       7.76,
       0.9089
      ],
      [
       7.8,
       0.9089
      ],
      [
       7.84,
       0.9089
      ],
      [
       7.88,
       0.9089
      ],
      [
       7.92,
       0.9089
      ],
      [
       7.96,
       0.9393
      ]
     ],
     "total_reward": 1.9038,
     "initial_progress": 0.0,
     "final_progress": 0.9393,
     "physics_sha256": "bc9223a73836ee6e60e5b9802c55a218849a57f8a746117c7beab293b6df6e57",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.12857142857142856,
       "final_progress": 0.12142857142857141,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.021428571428571408,
       "final_progress": 0.2714285714285714,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9368634162182493,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 398,
       "return": 1.9037817606333096,
       "final_progress": 0.9392857142857143
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black pouch"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    },
    "aloha": {
     "gym_id": "4eccd8cc43d6-aloha",
     "video": "media/sim-4eccd8cc43d6-aloha-s5.mp4",
     "poster": "media/sim-4eccd8cc43d6-aloha-s5.jpg",
     "trajectory": "trajectories/4eccd8cc43d6-aloha.json",
     "recipe": "recipes/4eccd8cc43d6-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0099
      ],
      [
       0.28,
       0.0261
      ],
      [
       0.42,
       0.0425
      ],
      [
       0.56,
       0.0593
      ],
      [
       0.7,
       0.0781
      ],
      [
       0.84,
       0.0998
      ],
      [
       0.98,
       0.1259
      ],
      [
       1.12,
       0.1345
      ],
      [
       1.26,
       0.1368
      ],
      [
       1.4,
       0.1394
      ],
      [
       1.54,
       0.1398
      ],
      [
       1.68,
       0.1362
      ],
      [
       1.82,
       0.1317
      ],
      [
       1.96,
       0.1334
      ],
      [
       2.1,
       0.1348
      ],
      [
       2.24,
       0.1387
      ],
      [
       2.38,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.66,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.94,
       0.15
      ],
      [
       3.08,
       0.15
      ],
      [
       3.22,
       0.15
      ],
      [
       3.36,
       0.15
      ],
      [
       3.5,
       0.15
      ],
      [
       3.64,
       0.15
      ],
      [
       3.78,
       0.15
      ],
      [
       3.92,
       0.15
      ],
      [
       4.06,
       0.15
      ],
      [
       4.2,
       0.15
      ],
      [
       4.34,
       0.15
      ],
      [
       4.48,
       0.15
      ],
      [
       4.62,
       0.15
      ],
      [
       4.76,
       0.15
      ],
      [
       4.9,
       0.15
      ],
      [
       5.04,
       0.15
      ],
      [
       5.18,
       0.15
      ],
      [
       5.32,
       0.15
      ],
      [
       5.46,
       0.15
      ],
      [
       5.6,
       0.15
      ],
      [
       5.74,
       0.15
      ],
      [
       5.88,
       0.15
      ],
      [
       6.02,
       0.15
      ],
      [
       6.16,
       0.15
      ],
      [
       6.3,
       0.15
      ],
      [
       6.44,
       0.15
      ],
      [
       6.58,
       0.15
      ],
      [
       6.72,
       0.15
      ],
      [
       6.86,
       0.15
      ],
      [
       7.0,
       0.15
      ],
      [
       7.14,
       0.15
      ],
      [
       7.28,
       0.15
      ],
      [
       7.42,
       0.15
      ],
      [
       7.56,
       0.15
      ],
      [
       7.7,
       0.15
      ],
      [
       7.84,
       0.15
      ],
      [
       7.98,
       0.15
      ],
      [
       8.12,
       0.15
      ],
      [
       8.26,
       0.15
      ],
      [
       8.4,
       0.15
      ],
      [
       8.54,
       0.15
      ],
      [
       8.68,
       0.15
      ],
      [
       8.82,
       0.15
      ],
      [
       8.96,
       0.15
      ],
      [
       9.1,
       0.15
      ],
      [
       9.24,
       0.15
      ],
      [
       9.38,
       0.15
      ],
      [
       9.52,
       0.15
      ],
      [
       9.66,
       0.15
      ],
      [
       9.8,
       0.15
      ],
      [
       9.94,
       0.15
      ],
      [
       10.08,
       0.15
      ],
      [
       10.22,
       0.15
      ],
      [
       10.36,
       0.15
      ],
      [
       10.5,
       0.15
      ],
      [
       10.64,
       0.15
      ],
      [
       10.78,
       0.15
      ],
      [
       10.92,
       0.15
      ],
      [
       11.06,
       0.15
      ],
      [
       11.2,
       0.15
      ],
      [
       11.34,
       0.15
      ],
      [
       11.48,
       0.15
      ],
      [
       11.62,
       0.15
      ],
      [
       11.76,
       0.15
      ],
      [
       11.9,
       0.15
      ],
      [
       12.04,
       0.15
      ],
      [
       12.18,
       0.15
      ],
      [
       12.32,
       0.15
      ],
      [
       12.46,
       0.15
      ],
      [
       12.6,
       0.15
      ],
      [
       12.74,
       0.15
      ],
      [
       12.88,
       0.15
      ],
      [
       13.02,
       0.15
      ],
      [
       13.16,
       0.15
      ],
      [
       13.3,
       0.15
      ],
      [
       13.44,
       0.15
      ],
      [
       13.58,
       0.15
      ],
      [
       13.72,
       0.15
      ],
      [
       13.86,
       0.15
      ],
      [
       14.0,
       0.15
      ],
      [
       14.14,
       0.15
      ],
      [
       14.28,
       0.15
      ],
      [
       14.42,
       0.15
      ],
      [
       14.56,
       0.15
      ],
      [
       14.7,
       0.15
      ],
      [
       14.84,
       0.15
      ],
      [
       14.98,
       0.15
      ],
      [
       15.12,
       0.15
      ],
      [
       15.26,
       0.15
      ],
      [
       15.4,
       0.15
      ],
      [
       15.54,
       0.15
      ],
      [
       15.68,
       0.15
      ],
      [
       15.82,
       0.15
      ],
      [
       15.96,
       0.15
      ],
      [
       16.1,
       0.15
      ],
      [
       16.24,
       0.15
      ],
      [
       16.38,
       0.15
      ],
      [
       16.52,
       0.15
      ],
      [
       16.66,
       0.15
      ],
      [
       16.8,
       0.15
      ],
      [
       16.94,
       0.15
      ],
      [
       17.08,
       0.15
      ],
      [
       17.22,
       0.15
      ],
      [
       17.36,
       0.15
      ],
      [
       17.5,
       0.15
      ],
      [
       17.64,
       0.15
      ],
      [
       17.78,
       0.15
      ],
      [
       17.92,
       0.15
      ],
      [
       18.06,
       0.15
      ],
      [
       18.2,
       0.15
      ],
      [
       18.34,
       0.15
      ],
      [
       18.48,
       0.15
      ],
      [
       18.62,
       0.15
      ],
      [
       18.76,
       0.15
      ],
      [
       18.9,
       0.15
      ],
      [
       19.04,
       0.15
      ],
      [
       19.18,
       0.15
      ],
      [
       19.32,
       0.15
      ],
      [
       19.46,
       0.15
      ],
      [
       19.6,
       0.15
      ],
      [
       19.74,
       0.15
      ],
      [
       19.88,
       0.15
      ],
      [
       20.02,
       0.15
      ],
      [
       20.16,
       0.15
      ],
      [
       20.3,
       0.15
      ],
      [
       20.44,
       0.15
      ],
      [
       20.58,
       0.15
      ],
      [
       20.72,
       0.15
      ],
      [
       20.86,
       0.15
      ],
      [
       21.0,
       0.15
      ],
      [
       21.14,
       0.15
      ],
      [
       21.28,
       0.15
      ],
      [
       21.42,
       0.15
      ],
      [
       21.56,
       0.15
      ],
      [
       21.7,
       0.15
      ],
      [
       21.84,
       0.15
      ],
      [
       21.98,
       0.15
      ],
      [
       22.12,
       0.15
      ],
      [
       22.26,
       0.15
      ],
      [
       22.4,
       0.15
      ],
      [
       22.54,
       0.15
      ],
      [
       22.68,
       0.15
      ],
      [
       22.82,
       0.15
      ],
      [
       22.96,
       0.15
      ],
      [
       23.1,
       0.15
      ],
      [
       23.24,
       0.15
      ],
      [
       23.38,
       0.15
      ],
      [
       23.52,
       0.15
      ],
      [
       23.66,
       0.15
      ],
      [
       23.8,
       0.15
      ],
      [
       23.94,
       0.15
      ],
      [
       24.0,
       0.15
      ]
     ],
     "total_reward": -0.1,
     "initial_progress": 0.0,
     "final_progress": 0.15,
     "physics_sha256": "3246c6e5c79e1fad44333d53f758dc7fcdf7397a0d232fa7c6f2111f8f8a0d53",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001554951279763067,
       "final_progress": 0.001554951279763067,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.07273685027877767,
       "final_progress": 0.07273685027877767,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": -0.1,
       "final_progress": 0.15,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.1,
       "final_progress": 0.15
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.14786728547892344,
       "final_progress": 0.14786728547892344
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.3928571428571428,
       "final_progress": 0.3928571428571428
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.1426968612941128,
       "final_progress": 0.1426968612941128
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.14802403074254614,
       "final_progress": 0.14802403074254614
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.1,
       "final_progress": 0.15
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black pouch"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    }
   }
  },
  {
   "example_id": "314cb26aeb6b27c3415113b448662f90026cd96eb61b8b99289471dbb8acd67a",
   "recording_id": 7021,
   "task_number": 2,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "turquoise patterned dining tabletop",
   "human_action": false,
   "description": "Slide the black pouch across the turquoise patterned dining tabletop among the potted plant and the white container onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the black pouch across the turquoise patterned dining tabletop among the potted plant and the white container onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 7021,
    "contributor_id": 11,
    "video": "media/source-7021-fef94c956381.mp4",
    "poster": "media/source-7021.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7021,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7021_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.64,
      "original_end_s": 310.64,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8a948f1cf1528b41aebf45fd3b3827e2b0a60de3c2832807add7fad70642584a",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 5,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 0,
    "recording_observed": 5,
    "recording_added": 0,
    "surface": "turquoise patterned dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "314cb26aeb6b-panda",
     "video": "media/sim-314cb26aeb6b-panda-s1.mp4",
     "poster": "media/sim-314cb26aeb6b-panda-s1.jpg",
     "trajectory": "trajectories/314cb26aeb6b-panda.json",
     "recipe": "recipes/314cb26aeb6b-panda.json",
     "seed": 1,
     "steps": 220,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0007
      ],
      [
       0.24,
       0.0027
      ],
      [
       0.26,
       0.0049
      ],
      [
       0.28,
       0.0071
      ],
      [
       0.3,
       0.0089
      ],
      [
       0.32,
       0.0101
      ],
      [
       0.34,
       0.0108
      ],
      [
       0.36,
       0.0113
      ],
      [
       0.38,
       0.0119
      ],
      [
       0.4,
       0.0127
      ],
      [
       0.42,
       0.0137
      ],
      [
       0.44,
       0.0148
      ],
      [
       0.46,
       0.0159
      ],
      [
       0.48,
       0.0171
      ],
      [
       0.5,
       0.0181
      ],
      [
       0.52,
       0.0192
      ],
      [
       0.54,
       0.0202
      ],
      [
       0.56,
       0.0213
      ],
      [
       0.58,
       0.0224
      ],
      [
       0.6,
       0.0236
      ],
      [
       0.62,
       0.0248
      ],
      [
       0.64,
       0.026
      ],
      [
       0.66,
       0.0272
      ],
      [
       0.68,
       0.0285
      ],
      [
       0.7,
       0.0298
      ],
      [
       0.72,
       0.0311
      ],
      [
       0.74,
       0.0324
      ],
      [
       0.76,
       0.0338
      ],
      [
       0.78,
       0.0352
      ],
      [
       0.8,
       0.0366
      ],
      [
       0.82,
       0.0381
      ],
      [
       0.84,
       0.0396
      ],
      [
       0.86,
       0.0411
      ],
      [
       0.88,
       0.0427
      ],
      [
       0.9,
       0.0442
      ],
      [
       0.92,
       0.0459
      ],
      [
       0.94,
       0.0475
      ],
      [
       0.96,
       0.0492
      ],
      [
       0.98,
       0.0509
      ],
      [
       1.0,
       0.0527
      ],
      [
       1.02,
       0.0545
      ],
      [
       1.04,
       0.0563
      ],
      [
       1.06,
       0.0582
      ],
      [
       1.08,
       0.0601
      ],
      [
       1.1,
       0.0621
      ],
      [
       1.12,
       0.0641
      ],
      [
       1.14,
       0.0661
      ],
      [
       1.16,
       0.0681
      ],
      [
       1.18,
       0.0703
      ],
      [
       1.2,
       0.0724
      ],
      [
       1.22,
       0.0746
      ],
      [
       1.24,
       0.0768
      ],
      [
       1.26,
       0.0791
      ],
      [
       1.28,
       0.0814
      ],
      [
       1.3,
       0.0837
      ],
      [
       1.32,
       0.0861
      ],
      [
       1.34,
       0.0885
      ],
      [
       1.36,
       0.0909
      ],
      [
       1.38,
       0.0934
      ],
      [
       1.4,
       0.0959
      ],
      [
       1.42,
       0.0984
      ],
      [
       1.44,
       0.1009
      ],
      [
       1.46,
       0.1034
      ],
      [
       1.48,
       0.1059
      ],
      [
       1.5,
       0.1084
      ],
      [
       1.52,
       0.1106
      ],
      [
       1.54,
       0.1126
      ],
      [
       1.56,
       0.1144
      ],
      [
       1.58,
       0.1159
      ],
      [
       1.6,
       0.1173
      ],
      [
       1.62,
       0.1185
      ],
      [
       1.64,
       0.1195
      ],
      [
       1.66,
       0.1205
      ],
      [
       1.68,
       0.1213
      ],
      [
       1.7,
       0.1222
      ],
      [
       1.72,
       0.1232
      ],
      [
       1.74,
       0.1244
      ],
      [
       1.76,
       0.1257
      ],
      [
       1.78,
       0.1269
      ],
      [
       1.8,
       0.1282
      ],
      [
       1.82,
       0.1294
      ],
      [
       1.84,
       0.1306
      ],
      [
       1.86,
       0.1318
      ],
      [
       1.88,
       0.133
      ],
      [
       1.9,
       0.1341
      ],
      [
       1.92,
       0.1349
      ],
      [
       1.94,
       0.135
      ],
      [
       1.96,
       0.1347
      ],
      [
       1.98,
       0.1342
      ],
      [
       2.0,
       0.1337
      ],
      [
       2.02,
       0.1333
      ],
      [
       2.04,
       0.1331
      ],
      [
       2.06,
       0.1328
      ],
      [
       2.08,
       0.1326
      ],
      [
       2.1,
       0.1324
      ],
      [
       2.12,
       0.1322
      ],
      [
       2.14,
       0.132
      ],
      [
       2.16,
       0.1318
      ],
      [
       2.18,
       0.1317
      ],
      [
       2.2,
       0.1315
      ],
      [
       2.22,
       0.1314
      ],
      [
       2.24,
       0.1313
      ],
      [
       2.26,
       0.1312
      ],
      [
       2.28,
       0.1311
      ],
      [
       2.3,
       0.131
      ],
      [
       2.32,
       0.131
      ],
      [
       2.34,
       0.1309
      ],
      [
       2.36,
       0.1309
      ],
      [
       2.38,
       0.1308
      ],
      [
       2.4,
       0.1308
      ],
      [
       2.42,
       0.1308
      ],
      [
       2.44,
       0.1308
      ],
      [
       2.46,
       0.1308
      ],
      [
       2.48,
       0.1308
      ],
      [
       2.5,
       0.1308
      ],
      [
       2.52,
       0.1308
      ],
      [
       2.54,
       0.1308
      ],
      [
       2.56,
       0.1308
      ],
      [
       2.58,
       0.1309
      ],
      [
       2.6,
       0.1309
      ],
      [
       2.62,
       0.1309
      ],
      [
       2.64,
       0.131
      ],
      [
       2.66,
       0.1311
      ],
      [
       2.68,
       0.1311
      ],
      [
       2.7,
       0.1312
      ],
      [
       2.72,
       0.1312
      ],
      [
       2.74,
       0.1313
      ],
      [
       2.76,
       0.1314
      ],
      [
       2.78,
       0.1315
      ],
      [
       2.8,
       0.1318
      ],
      [
       2.82,
       0.1322
      ],
      [
       2.84,
       0.1323
      ],
      [
       2.86,
       0.1321
      ],
      [
       2.88,
       0.1321
      ],
      [
       2.9,
       0.1323
      ],
      [
       2.92,
       0.1325
      ],
      [
       2.94,
       0.1326
      ],
      [
       2.96,
       0.1326
      ],
      [
       2.98,
       0.1325
      ],
      [
       3.0,
       0.1325
      ],
      [
       3.02,
       0.1322
      ],
      [
       3.04,
       0.1326
      ],
      [
       3.06,
       0.1564
      ],
      [
       3.08,
       0.1752
      ],
      [
       3.1,
       0.196
      ],
      [
       3.12,
       0.2004
      ],
      [
       3.14,
       0.2044
      ],
      [
       3.16,
       0.2081
      ],
      [
       3.18,
       0.2119
      ],
      [
       3.2,
       0.2158
      ],
      [
       3.22,
       0.2203
      ],
      [
       3.24,
       0.2254
      ],
      [
       3.26,
       0.2307
      ],
      [
       3.28,
       0.2365
      ],
      [
       3.3,
       0.2423
      ],
      [
       3.32,
       0.2483
      ],
      [
       3.34,
       0.2541
      ],
      [
       3.36,
       0.26
      ],
      [
       3.38,
       0.2656
      ],
      [
       3.4,
       0.2707
      ],
      [
       3.42,
       0.2754
      ],
      [
       3.44,
       0.2804
      ],
      [
       3.46,
       0.285
      ],
      [
       3.48,
       0.2898
      ],
      [
       3.5,
       0.2945
      ],
      [
       3.52,
       0.2997
      ],
      [
       3.54,
       0.3054
      ],
      [
       3.56,
       0.3114
      ],
      [
       3.58,
       0.3176
      ],
      [
       3.6,
       0.324
      ],
      [
       3.62,
       0.3307
      ],
      [
       3.64,
       0.3379
      ],
      [
       3.66,
       0.3465
      ],
      [
       3.68,
       0.356
      ],
      [
       3.7,
       0.3662
      ],
      [
       3.72,
       0.3771
      ],
      [
       3.74,
       0.3898
      ],
      [
       3.76,
       0.4038
      ],
      [
       3.78,
       0.4186
      ],
      [
       3.8,
       0.4344
      ],
      [
       3.82,
       0.4502
      ],
      [
       3.84,
       0.4657
      ],
      [
       3.86,
       0.4808
      ],
      [
       3.88,
       0.4953
      ],
      [
       3.9,
       0.5091
      ],
      [
       3.92,
       0.5219
      ],
      [
       3.94,
       0.5407
      ],
      [
       3.96,
       0.5606
      ],
      [
       3.98,
       0.5807
      ],
      [
       4.0,
       0.6009
      ],
      [
       4.02,
       0.6215
      ],
      [
       4.04,
       0.6411
      ],
      [
       4.06,
       0.6599
      ],
      [
       4.08,
       0.6789
      ],
      [
       4.1,
       0.698
      ],
      [
       4.12,
       0.7173
      ],
      [
       4.14,
       0.7371
      ],
      [
       4.16,
       0.7573
      ],
      [
       4.18,
       0.7778
      ],
      [
       4.2,
       0.7987
      ],
      [
       4.22,
       0.8198
      ],
      [
       4.24,
       0.841
      ],
      [
       4.26,
       0.8622
      ],
      [
       4.28,
       0.8835
      ],
      [
       4.3,
       0.9048
      ],
      [
       4.32,
       0.9259
      ],
      [
       4.34,
       0.9469
      ],
      [
       4.36,
       0.9676
      ],
      [
       4.38,
       0.9878
      ],
      [
       4.4,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "9e8a5096b903e64ed4f9989f08250224947f83821ad27d4c33a1604520d8d636",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.008581777093025893,
       "final_progress": 0.008581777093025893,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.02503133292925826,
       "final_progress": 0.02503133292925826,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.13910804741430727,
       "final_progress": 0.13910804741430727
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 220,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "black pouch"
      },
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    },
    "aloha": {
     "gym_id": "314cb26aeb6b-aloha",
     "video": "media/sim-314cb26aeb6b-aloha-s1.mp4",
     "poster": "media/sim-314cb26aeb6b-aloha-s1.jpg",
     "trajectory": "trajectories/314cb26aeb6b-aloha.json",
     "recipe": "recipes/314cb26aeb6b-aloha.json",
     "seed": 1,
     "steps": 246,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0004
      ],
      [
       0.04,
       0.0011
      ],
      [
       0.06,
       0.002
      ],
      [
       0.08,
       0.003
      ],
      [
       0.1,
       0.0041
      ],
      [
       0.12,
       0.0053
      ],
      [
       0.14,
       0.0065
      ],
      [
       0.16,
       0.0077
      ],
      [
       0.18,
       0.009
      ],
      [
       0.2,
       0.0104
      ],
      [
       0.22,
       0.0119
      ],
      [
       0.24,
       0.0134
      ],
      [
       0.26,
       0.015
      ],
      [
       0.28,
       0.0167
      ],
      [
       0.3,
       0.0185
      ],
      [
       0.32,
       0.0204
      ],
      [
       0.34,
       0.0224
      ],
      [
       0.36,
       0.0245
      ],
      [
       0.38,
       0.0267
      ],
      [
       0.4,
       0.029
      ],
      [
       0.42,
       0.0314
      ],
      [
       0.44,
       0.0339
      ],
      [
       0.46,
       0.0364
      ],
      [
       0.48,
       0.0388
      ],
      [
       0.5,
       0.0412
      ],
      [
       0.52,
       0.0434
      ],
      [
       0.54,
       0.0455
      ],
      [
       0.56,
       0.0474
      ],
      [
       0.58,
       0.0491
      ],
      [
       0.6,
       0.0507
      ],
      [
       0.62,
       0.0522
      ],
      [
       0.64,
       0.0535
      ],
      [
       0.66,
       0.0547
      ],
      [
       0.68,
       0.0559
      ],
      [
       0.7,
       0.057
      ],
      [
       0.72,
       0.0582
      ],
      [
       0.74,
       0.0595
      ],
      [
       0.76,
       0.0607
      ],
      [
       0.78,
       0.062
      ],
      [
       0.8,
       0.0632
      ],
      [
       0.82,
       0.0645
      ],
      [
       0.84,
       0.0657
      ],
      [
       0.86,
       0.067
      ],
      [
       0.88,
       0.0682
      ],
      [
       0.9,
       0.0693
      ],
      [
       0.92,
       0.0705
      ],
      [
       0.94,
       0.0715
      ],
      [
       0.96,
       0.0725
      ],
      [
       0.98,
       0.0734
      ],
      [
       1.0,
       0.0741
      ],
      [
       1.02,
       0.0748
      ],
      [
       1.04,
       0.0753
      ],
      [
       1.06,
       0.0757
      ],
      [
       1.08,
       0.076
      ],
      [
       1.1,
       0.0762
      ],
      [
       1.12,
       0.0762
      ],
      [
       1.14,
       0.076
      ],
      [
       1.16,
       0.0758
      ],
      [
       1.18,
       0.0754
      ],
      [
       1.2,
       0.0751
      ],
      [
       1.22,
       0.0747
      ],
      [
       1.24,
       0.0742
      ],
      [
       1.26,
       0.0739
      ],
      [
       1.28,
       0.0741
      ],
      [
       1.3,
       0.0748
      ],
      [
       1.32,
       0.0758
      ],
      [
       1.34,
       0.0768
      ],
      [
       1.36,
       0.0778
      ],
      [
       1.38,
       0.0788
      ],
      [
       1.4,
       0.0797
      ],
      [
       1.42,
       0.0807
      ],
      [
       1.44,
       0.0817
      ],
      [
       1.46,
       0.0827
      ],
      [
       1.48,
       0.0837
      ],
      [
       1.5,
       0.0847
      ],
      [
       1.52,
       0.0857
      ],
      [
       1.54,
       0.0867
      ],
      [
       1.56,
       0.0878
      ],
      [
       1.58,
       0.0888
      ],
      [
       1.6,
       0.0898
      ],
      [
       1.62,
       0.0909
      ],
      [
       1.64,
       0.0919
      ],
      [
       1.66,
       0.093
      ],
      [
       1.68,
       0.094
      ],
      [
       1.7,
       0.095
      ],
      [
       1.72,
       0.096
      ],
      [
       1.74,
       0.0969
      ],
      [
       1.76,
       0.0979
      ],
      [
       1.78,
       0.0988
      ],
      [
       1.8,
       0.0998
      ],
      [
       1.82,
       0.1007
      ],
      [
       1.84,
       0.1017
      ],
      [
       1.86,
       0.1026
      ],
      [
       1.88,
       0.1036
      ],
      [
       1.9,
       0.1045
      ],
      [
       1.92,
       0.1055
      ],
      [
       1.94,
       0.1065
      ],
      [
       1.96,
       0.1075
      ],
      [
       1.98,
       0.1085
      ],
      [
       2.0,
       0.1096
      ],
      [
       2.02,
       0.1106
      ],
      [
       2.04,
       0.1117
      ],
      [
       2.06,
       0.1127
      ],
      [
       2.08,
       0.1138
      ],
      [
       2.1,
       0.1149
      ],
      [
       2.12,
       0.1159
      ],
      [
       2.14,
       0.117
      ],
      [
       2.16,
       0.118
      ],
      [
       2.18,
       0.1189
      ],
      [
       2.2,
       0.1198
      ],
      [
       2.22,
       0.1206
      ],
      [
       2.24,
       0.1212
      ],
      [
       2.26,
       0.1217
      ],
      [
       2.28,
       0.1221
      ],
      [
       2.3,
       0.1224
      ],
      [
       2.32,
       0.1226
      ],
      [
       2.34,
       0.1228
      ],
      [
       2.36,
       0.1229
      ],
      [
       2.38,
       0.123
      ],
      [
       2.4,
       0.1231
      ],
      [
       2.42,
       0.1232
      ],
      [
       2.44,
       0.1234
      ],
      [
       2.46,
       0.1242
      ],
      [
       2.48,
       0.1245
      ],
      [
       2.5,
       0.1253
      ],
      [
       2.52,
       0.1256
      ],
      [
       2.54,
       0.1264
      ],
      [
       2.56,
       0.1267
      ],
      [
       2.58,
       0.1276
      ],
      [
       2.6,
       0.1281
      ],
      [
       2.62,
       0.1285
      ],
      [
       2.64,
       0.1292
      ],
      [
       2.66,
       0.13
      ],
      [
       2.68,
       0.1307
      ],
      [
       2.7,
       0.1312
      ],
      [
       2.72,
       0.1323
      ],
      [
       2.74,
       0.1326
      ],
      [
       2.76,
       0.1331
      ],
      [
       2.78,
       0.1346
      ],
      [
       2.8,
       0.135
      ],
      [
       2.82,
       0.1363
      ],
      [
       2.84,
       0.1371
      ],
      [
       2.86,
       0.138
      ],
      [
       2.88,
       0.1394
      ],
      [
       2.9,
       0.14
      ],
      [
       2.92,
       0.1401
      ],
      [
       2.94,
       0.1407
      ],
      [
       2.96,
       0.1413
      ],
      [
       2.98,
       0.1416
      ],
      [
       3.0,
       0.1424
      ],
      [
       3.02,
       0.1431
      ],
      [
       3.04,
       0.1435
      ],
      [
       3.06,
       0.1444
      ],
      [
       3.08,
       0.1447
      ],
      [
       3.1,
       0.1456
      ],
      [
       3.12,
       0.1461
      ],
      [
       3.14,
       0.1473
      ],
      [
       3.16,
       0.1486
      ],
      [
       3.18,
       0.1492
      ],
      [
       3.2,
       0.1507
      ],
      [
       3.22,
       0.1517
      ],
      [
       3.24,
       0.1531
      ],
      [
       3.26,
       0.1536
      ],
      [
       3.28,
       0.155
      ],
      [
       3.3,
       0.1566
      ],
      [
       3.32,
       0.1582
      ],
      [
       3.34,
       0.1589
      ],
      [
       3.36,
       0.1602
      ],
      [
       3.38,
       0.1615
      ],
      [
       3.4,
       0.163
      ],
      [
       3.42,
       0.1636
      ],
      [
       3.44,
       0.1641
      ],
      [
       3.46,
       0.1649
      ],
      [
       3.48,
       0.1654
      ],
      [
       3.5,
       0.166
      ],
      [
       3.52,
       0.1672
      ],
      [
       3.54,
       0.1677
      ],
      [
       3.56,
       0.1683
      ],
      [
       3.58,
       0.17
      ],
      [
       3.6,
       0.1731
      ],
      [
       3.62,
       0.1935
      ],
      [
       3.64,
       0.1978
      ],
      [
       3.66,
       0.2014
      ],
      [
       3.68,
       0.2068
      ],
      [
       3.7,
       0.2121
      ],
      [
       3.72,
       0.2162
      ],
      [
       3.74,
       0.2195
      ],
      [
       3.76,
       0.2249
      ],
      [
       3.78,
       0.2278
      ],
      [
       3.8,
       0.2319
      ],
      [
       3.82,
       0.2396
      ],
      [
       3.84,
       0.2485
      ],
      [
       3.86,
       0.2545
      ],
      [
       3.88,
       0.2591
      ],
      [
       3.9,
       0.268
      ],
      [
       3.92,
       0.2703
      ],
      [
       3.94,
       0.2816
      ],
      [
       3.96,
       0.2914
      ],
      [
       3.98,
       0.3045
      ],
      [
       4.0,
       0.3182
      ],
      [
       4.02,
       0.3245
      ],
      [
       4.04,
       0.3326
      ],
      [
       4.06,
       0.344
      ],
      [
       4.08,
       0.3593
      ],
      [
       4.1,
       0.3755
      ],
      [
       4.12,
       0.3871
      ],
      [
       4.14,
       0.3993
      ],
      [
       4.16,
       0.4154
      ],
      [
       4.18,
       0.4293
      ],
      [
       4.2,
       0.4408
      ],
      [
       4.22,
       0.4574
      ],
      [
       4.24,
       0.4675
      ],
      [
       4.26,
       0.4826
      ],
      [
       4.28,
       0.5011
      ],
      [
       4.3,
       0.5177
      ],
      [
       4.32,
       0.5366
      ],
      [
       4.34,
       0.5526
      ],
      [
       4.36,
       0.5705
      ],
      [
       4.38,
       0.5863
      ],
      [
       4.4,
       0.6061
      ],
      [
       4.42,
       0.6222
      ],
      [
       4.44,
       0.6424
      ],
      [
       4.46,
       0.6628
      ],
      [
       4.48,
       0.6779
      ],
      [
       4.5,
       0.6925
      ],
      [
       4.52,
       0.7116
      ],
      [
       4.54,
       0.7267
      ],
      [
       4.56,
       0.7468
      ],
      [
       4.58,
       0.7619
      ],
      [
       4.6,
       0.7763
      ],
      [
       4.62,
       0.7932
      ],
      [
       4.64,
       0.8062
      ],
      [
       4.66,
       0.8227
      ],
      [
       4.68,
       0.8376
      ],
      [
       4.7,
       0.856
      ],
      [
       4.72,
       0.8708
      ],
      [
       4.74,
       0.8906
      ],
      [
       4.76,
       0.9046
      ],
      [
       4.78,
       0.9283
      ],
      [
       4.8,
       0.9422
      ],
      [
       4.82,
       0.9546
      ],
      [
       4.84,
       0.9674
      ],
      [
       4.86,
       0.9754
      ],
      [
       4.88,
       0.9833
      ],
      [
       4.9,
       0.9925
      ],
      [
       4.92,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "04f9bd872d07a01289830283a36f49a71e7685f9908483609369a5cb9ead1afa",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0012081370866373286,
       "final_progress": 0.0012081370866373286,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 4.404571325722362e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.02494294198637065,
       "final_progress": 0.024942941986370638,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.41927575226641733,
       "final_progress": 0.7356280859024298
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 246,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "black pouch"
      },
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    }
   }
  },
  {
   "example_id": "076ba87d0375e6ad92648c43dff659dafac70d3eadfdbeda407670635a086049",
   "recording_id": 7021,
   "task_number": 3,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "turquoise patterned dining tabletop",
   "human_action": false,
   "description": "Grasp the paper cup from among the table clock and the black pouch, lift it clear and set it down on the white container on the turquoise patterned dining tabletop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the paper cup from among the table clock and the black pouch, lift it clear and set it down on the white container on the turquoise patterned dining tabletop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 7021,
    "contributor_id": 11,
    "video": "media/source-7021-fef94c956381.mp4",
    "poster": "media/source-7021.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7021,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7021_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.64,
      "original_end_s": 310.64,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8a948f1cf1528b41aebf45fd3b3827e2b0a60de3c2832807add7fad70642584a",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 1,
    "recording_observed": 5,
    "recording_added": 0,
    "surface": "turquoise patterned dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "076ba87d0375-panda",
     "video": "media/sim-076ba87d0375-panda-s1.mp4",
     "poster": "media/sim-076ba87d0375-panda-s1.jpg",
     "trajectory": "trajectories/076ba87d0375-panda.json",
     "recipe": "recipes/076ba87d0375-panda.json",
     "seed": 1,
     "steps": 389,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0031
      ],
      [
       0.72,
       0.0073
      ],
      [
       0.76,
       0.0121
      ],
      [
       0.8,
       0.0175
      ],
      [
       0.84,
       0.0234
      ],
      [
       0.88,
       0.0295
      ],
      [
       0.92,
       0.0342
      ],
      [
       0.96,
       0.0374
      ],
      [
       1.0,
       0.0403
      ],
      [
       1.04,
       0.0438
      ],
      [
       1.08,
       0.048
      ],
      [
       1.12,
       0.0523
      ],
      [
       1.16,
       0.0567
      ],
      [
       1.2,
       0.0613
      ],
      [
       1.24,
       0.066
      ],
      [
       1.28,
       0.0709
      ],
      [
       1.32,
       0.0758
      ],
      [
       1.36,
       0.0808
      ],
      [
       1.4,
       0.0859
      ],
      [
       1.44,
       0.091
      ],
      [
       1.48,
       0.0961
      ],
      [
       1.52,
       0.1011
      ],
      [
       1.56,
       0.1057
      ],
      [
       1.6,
       0.1099
      ],
      [
       1.64,
       0.1131
      ],
      [
       1.68,
       0.1156
      ],
      [
       1.72,
       0.118
      ],
      [
       1.76,
       0.1206
      ],
      [
       1.8,
       0.1232
      ],
      [
       1.84,
       0.1258
      ],
      [
       1.88,
       0.1284
      ],
      [
       1.92,
       0.1312
      ],
      [
       1.96,
       0.1341
      ],
      [
       2.0,
       0.1373
      ],
      [
       2.04,
       0.1408
      ],
      [
       2.08,
       0.1448
      ],
      [
       2.12,
       0.1496
      ],
      [
       2.16,
       0.1461
      ],
      [
       2.2,
       0.1462
      ],
      [
       2.24,
       0.1466
      ],
      [
       2.28,
       0.1471
      ],
      [
       2.32,
       0.1475
      ],
      [
       2.36,
       0.1477
      ],
      [
       2.4,
       0.1478
      ],
      [
       2.44,
       0.1478
      ],
      [
       2.48,
       0.1478
      ],
      [
       2.52,
       0.1479
      ],
      [
       2.56,
       0.1479
      ],
      [
       2.6,
       0.148
      ],
      [
       2.64,
       0.1479
      ],
      [
       2.68,
       0.1476
      ],
      [
       2.72,
       0.1474
      ],
      [
       2.76,
       0.1474
      ],
      [
       2.8,
       0.1474
      ],
      [
       2.84,
       0.1474
      ],
      [
       2.88,
       0.1474
      ],
      [
       2.92,
       0.1474
      ],
      [
       2.96,
       0.1474
      ],
      [
       3.0,
       0.1473
      ],
      [
       3.04,
       0.1473
      ],
      [
       3.08,
       0.1473
      ],
      [
       3.12,
       0.1473
      ],
      [
       3.16,
       0.1473
      ],
      [
       3.2,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.32,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4004
      ],
      [
       3.68,
       0.4047
      ],
      [
       3.72,
       0.4085
      ],
      [
       3.76,
       0.412
      ],
      [
       3.8,
       0.4151
      ],
      [
       3.84,
       0.4176
      ],
      [
       3.88,
       0.4192
      ],
      [
       3.92,
       0.4201
      ],
      [
       3.96,
       0.4199
      ],
      [
       4.0,
       0.4184
      ],
      [
       4.04,
       0.4149
      ],
      [
       4.08,
       0.4198
      ],
      [
       4.12,
       0.4374
      ],
      [
       4.16,
       0.4624
      ],
      [
       4.2,
       0.4904
      ],
      [
       4.24,
       0.5198
      ],
      [
       4.28,
       0.5509
      ],
      [
       4.32,
       0.5838
      ],
      [
       4.36,
       0.6184
      ],
      [
       4.4,
       0.6548
      ],
      [
       4.44,
       0.693
      ],
      [
       4.48,
       0.7332
      ],
      [
       4.52,
       0.7751
      ],
      [
       4.56,
       0.8185
      ],
      [
       4.6,
       0.8633
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.8971
      ],
      [
       4.84,
       0.8997
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.78,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "cf293b367b8b6414b37270b0f5f0ec220dce3bde9d65c392cec2655f2554724c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8901525611022062,
       "final_progress": 0.8901525611022062
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 389,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx37",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "goal_support",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black pouch"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    },
    "aloha": {
     "gym_id": "076ba87d0375-aloha",
     "video": "media/sim-076ba87d0375-aloha-s5.mp4",
     "poster": "media/sim-076ba87d0375-aloha-s5.jpg",
     "trajectory": "trajectories/076ba87d0375-aloha.json",
     "recipe": "recipes/076ba87d0375-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0102
      ],
      [
       0.28,
       0.0233
      ],
      [
       0.42,
       0.0347
      ],
      [
       0.56,
       0.0449
      ],
      [
       0.7,
       0.0555
      ],
      [
       0.84,
       0.0673
      ],
      [
       0.98,
       0.0794
      ],
      [
       1.12,
       0.0932
      ],
      [
       1.26,
       0.1082
      ],
      [
       1.4,
       0.1191
      ],
      [
       1.54,
       0.1371
      ],
      [
       1.68,
       0.1446
      ],
      [
       1.82,
       0.1449
      ],
      [
       1.96,
       0.1452
      ],
      [
       2.1,
       0.1448
      ],
      [
       2.24,
       0.1445
      ],
      [
       2.38,
       0.1438
      ],
      [
       2.52,
       0.1447
      ],
      [
       2.66,
       0.1448
      ],
      [
       2.8,
       0.1448
      ],
      [
       2.94,
       0.1448
      ],
      [
       3.08,
       0.1446
      ],
      [
       3.22,
       0.1445
      ],
      [
       3.36,
       0.4375
      ],
      [
       3.5,
       0.4319
      ],
      [
       3.64,
       0.4076
      ],
      [
       3.78,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       4.06,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.34,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.62,
       0.4
      ],
      [
       4.76,
       0.4
      ],
      [
       4.9,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.18,
       0.4
      ],
      [
       5.32,
       0.4009
      ],
      [
       5.46,
       0.4133
      ],
      [
       5.6,
       0.4535
      ],
      [
       5.74,
       0.5109
      ],
      [
       5.88,
       0.5903
      ],
      [
       6.02,
       0.6948
      ],
      [
       6.16,
       0.8239
      ],
      [
       6.3,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.58,
       0.8716
      ],
      [
       6.72,
       0.8338
      ],
      [
       6.86,
       0.8085
      ],
      [
       7.0,
       0.793
      ],
      [
       7.14,
       0.7878
      ],
      [
       7.28,
       0.7952
      ],
      [
       7.42,
       0.8122
      ],
      [
       7.56,
       0.8368
      ],
      [
       7.7,
       0.867
      ],
      [
       7.84,
       0.8977
      ],
      [
       7.98,
       0.9
      ],
      [
       8.12,
       0.9
      ],
      [
       8.26,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.54,
       0.9
      ],
      [
       8.68,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.96,
       0.9
      ],
      [
       9.1,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.38,
       0.9
      ],
      [
       9.52,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.8,
       0.9
      ],
      [
       9.94,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.22,
       0.9
      ],
      [
       10.36,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.78,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       11.06,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.34,
       0.9
      ],
      [
       11.48,
       0.9
      ],
      [
       11.62,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.9,
       0.9
      ],
      [
       12.04,
       0.9
      ],
      [
       12.18,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.46,
       0.9
      ],
      [
       12.6,
       0.9
      ],
      [
       12.74,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       13.02,
       0.9
      ],
      [
       13.16,
       0.9
      ],
      [
       13.3,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.58,
       0.9
      ],
      [
       13.72,
       0.9
      ],
      [
       13.86,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.14,
       0.9
      ],
      [
       14.28,
       0.9
      ],
      [
       14.42,
       0.9
      ],
      [
       14.56,
       0.9
      ],
      [
       14.7,
       0.9
      ],
      [
       14.84,
       0.9
      ],
      [
       14.98,
       0.9
      ],
      [
       15.12,
       0.8786
      ],
      [
       15.26,
       0.8606
      ],
      [
       15.4,
       0.8576
      ],
      [
       15.54,
       0.8583
      ],
      [
       15.68,
       0.8588
      ],
      [
       15.82,
       0.8588
      ],
      [
       15.96,
       0.8591
      ],
      [
       16.1,
       0.8587
      ],
      [
       16.24,
       0.8591
      ],
      [
       16.38,
       0.8586
      ],
      [
       16.52,
       0.8595
      ],
      [
       16.66,
       0.8593
      ],
      [
       16.8,
       0.8597
      ],
      [
       16.94,
       0.8597
      ],
      [
       17.08,
       0.8597
      ],
      [
       17.22,
       0.8595
      ],
      [
       17.36,
       0.8598
      ],
      [
       17.5,
       0.8601
      ],
      [
       17.64,
       0.8599
      ],
      [
       17.78,
       0.86
      ],
      [
       17.92,
       0.8602
      ],
      [
       18.06,
       0.8603
      ],
      [
       18.2,
       0.8604
      ],
      [
       18.34,
       0.8603
      ],
      [
       18.48,
       0.8604
      ],
      [
       18.62,
       0.8605
      ],
      [
       18.76,
       0.8604
      ],
      [
       18.9,
       0.8607
      ],
      [
       19.04,
       0.8608
      ],
      [
       19.18,
       0.8606
      ],
      [
       19.32,
       0.8607
      ],
      [
       19.46,
       0.8609
      ],
      [
       19.6,
       0.8615
      ],
      [
       19.74,
       0.861
      ],
      [
       19.88,
       0.8608
      ],
      [
       20.02,
       0.8611
      ],
      [
       20.16,
       0.8607
      ],
      [
       20.3,
       0.8613
      ],
      [
       20.44,
       0.8609
      ],
      [
       20.58,
       0.8611
      ],
      [
       20.72,
       0.8618
      ],
      [
       20.86,
       0.8619
      ],
      [
       21.0,
       0.8614
      ],
      [
       21.14,
       0.8615
      ],
      [
       21.28,
       0.8616
      ],
      [
       21.42,
       0.8623
      ],
      [
       21.56,
       0.8615
      ],
      [
       21.7,
       0.8625
      ],
      [
       21.84,
       0.8626
      ],
      [
       21.98,
       0.8625
      ],
      [
       22.12,
       0.8628
      ],
      [
       22.26,
       0.8629
      ],
      [
       22.4,
       0.8632
      ],
      [
       22.54,
       0.8631
      ],
      [
       22.68,
       0.8632
      ],
      [
       22.82,
       0.8633
      ],
      [
       22.96,
       0.863
      ],
      [
       23.1,
       0.8635
      ],
      [
       23.24,
       0.8637
      ],
      [
       23.38,
       0.8639
      ],
      [
       23.52,
       0.8642
      ],
      [
       23.66,
       0.864
      ],
      [
       23.8,
       0.864
      ],
      [
       23.94,
       0.8644
      ],
      [
       24.0,
       0.8645
      ]
     ],
     "total_reward": 0.8645,
     "initial_progress": 0.0,
     "final_progress": 0.8645,
     "physics_sha256": "f5115189d90b4977de2773084225f4f682c1d03f5c17c0067c7ce1670d373084",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011104469019408314,
       "final_progress": 0.0011104469019408314,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.06885011648042975,
       "final_progress": 0.06885011648042975,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.892675703774946,
       "final_progress": 0.892675703774946,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8223234618344356,
       "final_progress": 0.8223234618344356
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": -2.710505431213761e-20,
       "final_progress": 0.0
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9,
       "final_progress": 0.9
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8525149203411981,
       "final_progress": 0.8525149203411981
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 1.0,
       "final_progress": 1.0
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8644767845773659,
       "final_progress": 0.8644767845773659
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx37",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "goal_support",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black pouch"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    }
   }
  },
  {
   "example_id": "52896754da397dda8a37b0a365dbde4b2fead19fcbdb4d2bfbb6a7f180c6ae43",
   "recording_id": 7021,
   "task_number": 4,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "turquoise patterned dining tabletop",
   "human_action": false,
   "description": "Pick up the paper cup and balance it on top of the pudding box on the turquoise patterned dining tabletop among the table clock and the potted plant.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the paper cup and balance it on top of the pudding box on the turquoise patterned dining tabletop among the table clock and the potted plant.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 7021,
    "contributor_id": 11,
    "video": "media/source-7021-fef94c956381.mp4",
    "poster": "media/source-7021.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7021,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7021_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.64,
      "original_end_s": 310.64,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8a948f1cf1528b41aebf45fd3b3827e2b0a60de3c2832807add7fad70642584a",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "fef94c9563814416d4650c1238f2402c7c4c2fc779d20bc881ae8ba99e7ddc10",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 2,
    "recording_observed": 5,
    "recording_added": 0,
    "surface": "turquoise patterned dining tabletop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "52896754da39-panda",
     "video": "media/sim-52896754da39-panda-s0.mp4",
     "poster": "media/sim-52896754da39-panda-s0.jpg",
     "trajectory": "trajectories/52896754da39-panda.json",
     "recipe": "recipes/52896754da39-panda.json",
     "seed": 0,
     "steps": 381,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.32,
       0.0049
      ],
      [
       1.36,
       0.0112
      ],
      [
       1.4,
       0.0177
      ],
      [
       1.44,
       0.024
      ],
      [
       1.48,
       0.0297
      ],
      [
       1.52,
       0.0347
      ],
      [
       1.56,
       0.039
      ],
      [
       1.6,
       0.043
      ],
      [
       1.64,
       0.0465
      ],
      [
       1.68,
       0.0498
      ],
      [
       1.72,
       0.0528
      ],
      [
       1.76,
       0.0557
      ],
      [
       1.8,
       0.0584
      ],
      [
       1.84,
       0.0609
      ],
      [
       1.88,
       0.0632
      ],
      [
       1.92,
       0.0654
      ],
      [
       1.96,
       0.0675
      ],
      [
       2.0,
       0.0696
      ],
      [
       2.04,
       0.0715
      ],
      [
       2.08,
       0.0735
      ],
      [
       2.12,
       0.0754
      ],
      [
       2.16,
       0.0774
      ],
      [
       2.2,
       0.0795
      ],
      [
       2.24,
       0.0817
      ],
      [
       2.28,
       0.084
      ],
      [
       2.32,
       0.0865
      ],
      [
       2.36,
       0.0891
      ],
      [
       2.4,
       0.092
      ],
      [
       2.44,
       0.0952
      ],
      [
       2.48,
       0.0988
      ],
      [
       2.52,
       0.1028
      ],
      [
       2.56,
       0.1071
      ],
      [
       2.6,
       0.1104
      ],
      [
       2.64,
       0.1128
      ],
      [
       2.68,
       0.1148
      ],
      [
       2.72,
       0.1176
      ],
      [
       2.76,
       0.1208
      ],
      [
       2.8,
       0.1243
      ],
      [
       2.84,
       0.1279
      ],
      [
       2.88,
       0.1318
      ],
      [
       2.92,
       0.1361
      ],
      [
       2.96,
       0.1408
      ],
      [
       3.0,
       0.1452
      ],
      [
       3.04,
       0.1446
      ],
      [
       3.08,
       0.1435
      ],
      [
       3.12,
       0.144
      ],
      [
       3.16,
       0.1452
      ],
      [
       3.2,
       0.1462
      ],
      [
       3.24,
       0.147
      ],
      [
       3.28,
       0.1476
      ],
      [
       3.32,
       0.1479
      ],
      [
       3.36,
       0.148
      ],
      [
       3.4,
       0.1481
      ],
      [
       3.44,
       0.1482
      ],
      [
       3.48,
       0.1483
      ],
      [
       3.52,
       0.1484
      ],
      [
       3.56,
       0.1485
      ],
      [
       3.6,
       0.1486
      ],
      [
       3.64,
       0.1486
      ],
      [
       3.68,
       0.1487
      ],
      [
       3.72,
       0.1487
      ],
      [
       3.76,
       0.1487
      ],
      [
       3.8,
       0.1487
      ],
      [
       3.84,
       0.1487
      ],
      [
       3.88,
       0.1487
      ],
      [
       3.92,
       0.1487
      ],
      [
       3.96,
       0.1487
      ],
      [
       4.0,
       0.1487
      ],
      [
       4.04,
       0.1487
      ],
      [
       4.08,
       0.1487
      ],
      [
       4.12,
       0.1487
      ],
      [
       4.16,
       0.1487
      ],
      [
       4.2,
       0.1487
      ],
      [
       4.24,
       0.1487
      ],
      [
       4.28,
       0.1487
      ],
      [
       4.32,
       0.1487
      ],
      [
       4.36,
       0.1487
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.72,
       0.4
      ],
      [
       4.76,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.84,
       0.4
      ],
      [
       4.88,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.96,
       0.4
      ],
      [
       5.0,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.08,
       0.4
      ],
      [
       5.12,
       0.4
      ],
      [
       5.16,
       0.4
      ],
      [
       5.2,
       0.4
      ],
      [
       5.24,
       0.4
      ],
      [
       5.28,
       0.4
      ],
      [
       5.32,
       0.4
      ],
      [
       5.36,
       0.4191
      ],
      [
       5.4,
       0.4551
      ],
      [
       5.44,
       0.4963
      ],
      [
       5.48,
       0.5398
      ],
      [
       5.52,
       0.5861
      ],
      [
       5.56,
       0.6364
      ],
      [
       5.6,
       0.6904
      ],
      [
       5.64,
       0.7471
      ],
      [
       5.68,
       0.804
      ],
      [
       5.72,
       0.8557
      ],
      [
       5.76,
       0.8947
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.62,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ce8b3ef88d551939979aefc52d6b19ac6cbfad8c427fb3a8b0465e8d0353f55a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.5102859856298465,
       "final_progress": 0.5102859856298465,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 381,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx37",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "pudding_box_ctx37",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black pouch"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    },
    "aloha": {
     "gym_id": "52896754da39-aloha",
     "video": "media/sim-52896754da39-aloha-s0.mp4",
     "poster": "media/sim-52896754da39-aloha-s0.jpg",
     "trajectory": "trajectories/52896754da39-aloha.json",
     "recipe": "recipes/52896754da39-aloha.json",
     "seed": 0,
     "steps": 509,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0028
      ],
      [
       0.12,
       0.0085
      ],
      [
       0.18,
       0.0148
      ],
      [
       0.24,
       0.021
      ],
      [
       0.3,
       0.0268
      ],
      [
       0.36,
       0.032
      ],
      [
       0.42,
       0.0368
      ],
      [
       0.48,
       0.0412
      ],
      [
       0.54,
       0.0455
      ],
      [
       0.6,
       0.05
      ],
      [
       0.66,
       0.0545
      ],
      [
       0.72,
       0.0592
      ],
      [
       0.78,
       0.0643
      ],
      [
       0.84,
       0.069
      ],
      [
       0.9,
       0.0741
      ],
      [
       0.96,
       0.0795
      ],
      [
       1.02,
       0.0853
      ],
      [
       1.08,
       0.0914
      ],
      [
       1.14,
       0.0978
      ],
      [
       1.2,
       0.1044
      ],
      [
       1.26,
       0.1114
      ],
      [
       1.32,
       0.1187
      ],
      [
       1.38,
       0.1267
      ],
      [
       1.44,
       0.1297
      ],
      [
       1.5,
       0.1285
      ],
      [
       1.56,
       0.1279
      ],
      [
       1.62,
       0.1274
      ],
      [
       1.68,
       0.1275
      ],
      [
       1.74,
       0.1287
      ],
      [
       1.8,
       0.1309
      ],
      [
       1.86,
       0.1347
      ],
      [
       1.92,
       0.1406
      ],
      [
       1.98,
       0.1407
      ],
      [
       2.04,
       0.1413
      ],
      [
       2.1,
       0.1414
      ],
      [
       2.16,
       0.1415
      ],
      [
       2.22,
       0.1415
      ],
      [
       2.28,
       0.1416
      ],
      [
       2.34,
       0.1416
      ],
      [
       2.4,
       0.1415
      ],
      [
       2.46,
       0.1414
      ],
      [
       2.52,
       0.1412
      ],
      [
       2.58,
       0.1408
      ],
      [
       2.64,
       0.1409
      ],
      [
       2.7,
       0.1412
      ],
      [
       2.76,
       0.1413
      ],
      [
       2.82,
       0.1414
      ],
      [
       2.88,
       0.1414
      ],
      [
       2.94,
       0.1415
      ],
      [
       3.0,
       0.1416
      ],
      [
       3.06,
       0.1417
      ],
      [
       3.12,
       0.1418
      ],
      [
       3.18,
       0.1418
      ],
      [
       3.24,
       0.1419
      ],
      [
       3.3,
       0.142
      ],
      [
       3.36,
       0.1421
      ],
      [
       3.42,
       0.1421
      ],
      [
       3.48,
       0.1422
      ],
      [
       3.54,
       0.1423
      ],
      [
       3.6,
       0.1424
      ],
      [
       3.66,
       0.1425
      ],
      [
       3.72,
       0.1426
      ],
      [
       3.78,
       0.1427
      ],
      [
       3.84,
       0.1428
      ],
      [
       3.9,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.02,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.14,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.26,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.38,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.5,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.62,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.74,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.86,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.98,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.1,
       0.4
      ],
      [
       5.16,
       0.4
      ],
      [
       5.22,
       0.4
      ],
      [
       5.28,
       0.4
      ],
      [
       5.34,
       0.4
      ],
      [
       5.4,
       0.4
      ],
      [
       5.46,
       0.4
      ],
      [
       5.52,
       0.405
      ],
      [
       5.58,
       0.4223
      ],
      [
       5.64,
       0.4436
      ],
      [
       5.7,
       0.4683
      ],
      [
       5.76,
       0.4971
      ],
      [
       5.82,
       0.5303
      ],
      [
       5.88,
       0.5681
      ],
      [
       5.94,
       0.6098
      ],
      [
       6.0,
       0.6543
      ],
      [
       6.06,
       0.7011
      ],
      [
       6.12,
       0.75
      ],
      [
       6.18,
       0.8002
      ],
      [
       6.24,
       0.8509
      ],
      [
       6.3,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.42,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.54,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.66,
       0.899
      ],
      [
       6.72,
       0.8862
      ],
      [
       6.78,
       0.877
      ],
      [
       6.84,
       0.8716
      ],
      [
       6.9,
       0.87
      ],
      [
       6.96,
       0.8721
      ],
      [
       7.02,
       0.8785
      ],
      [
       7.08,
       0.889
      ],
      [
       7.14,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.26,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.38,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.5,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.62,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.74,
       0.9
      ],
      [
       7.8,
       0.9
      ],
      [
       7.86,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.9
      ],
      [
       8.34,
       0.9
      ],
      [
       8.4,
       1.0
      ],
      [
       8.46,
       1.0
      ],
      [
       8.52,
       1.0
      ],
      [
       8.58,
       1.0
      ],
      [
       8.64,
       1.0
      ],
      [
       8.7,
       1.0
      ],
      [
       8.76,
       1.0
      ],
      [
       8.82,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.94,
       0.9
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       0.9
      ],
      [
       9.36,
       1.0
      ],
      [
       9.42,
       1.0
      ],
      [
       9.48,
       0.9
      ],
      [
       9.54,
       0.9
      ],
      [
       9.6,
       1.0
      ],
      [
       9.66,
       0.9
      ],
      [
       9.72,
       1.0
      ],
      [
       9.78,
       1.0
      ],
      [
       9.84,
       1.0
      ],
      [
       9.9,
       1.0
      ],
      [
       9.96,
       1.0
      ],
      [
       10.02,
       1.0
      ],
      [
       10.08,
       1.0
      ],
      [
       10.14,
       1.0
      ],
      [
       10.18,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "09b902e34955d1817a6ebb4643b674373347d3d76671c34cb695d99a225db8d6",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011235450653344636,
       "final_progress": 0.0011235450653344636,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.08994935189735183,
       "final_progress": 0.08994935189735183,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 509,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx37",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "pudding_box_ctx37",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "white_container_0",
       "source": "primitive:food_container",
       "grounding": "observed",
       "role": "clutter",
       "label": "white container"
      },
      {
       "name": "potted_plant_0",
       "source": "primitive:plant_pot",
       "grounding": "observed",
       "role": "clutter",
       "label": "potted plant"
      },
      {
       "name": "white_mug_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug"
      },
      {
       "name": "black_pouch_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black pouch"
      },
      {
       "name": "table_clock_0",
       "source": "primitive:clock",
       "grounding": "observed",
       "role": "clutter",
       "label": "table clock"
      }
     ]
    }
   }
  },
  {
   "example_id": "1d788526299016652e4728c109ce4c69c2317bddac62a5b05a0a9dbb927993d4",
   "recording_id": 7474,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "black kitchen countertop",
   "human_action": true,
   "description": "In the footage: Wipe the visible black kitchen countertop with the tan wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d76 cm patch (turned 40\u00b0) on the black kitchen countertop among the clear glass and the green basin and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 7474,
    "contributor_id": 7,
    "video": "media/source-7474-f169f922df87.mp4",
    "poster": "media/source-7474.jpg",
    "source_sha256": null,
    "interval_s": [
     4.733333,
     8.266667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7474,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7474_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 13.8,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "b830521eceb84970085ad9e31e6bda9c62867ddf395510478d622b50c0f28219",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.73\u20138.27 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
      "duration_s": 3.52,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 1,
    "recording_observed": 5,
    "recording_added": 1,
    "surface": "black kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "1d7885262990-panda",
     "video": "media/sim-1d7885262990-panda-s0.mp4",
     "poster": "media/sim-1d7885262990-panda-s0.jpg",
     "trajectory": "trajectories/1d7885262990-panda.json",
     "recipe": "recipes/1d7885262990-panda.json",
     "seed": 0,
     "steps": 325,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.001
      ],
      [
       0.08,
       0.0039
      ],
      [
       0.12,
       0.0085
      ],
      [
       0.16,
       0.0137
      ],
      [
       0.2,
       0.0187
      ],
      [
       0.24,
       0.024
      ],
      [
       0.28,
       0.0296
      ],
      [
       0.32,
       0.0353
      ],
      [
       0.36,
       0.0412
      ],
      [
       0.4,
       0.0471
      ],
      [
       0.44,
       0.0532
      ],
      [
       0.48,
       0.0594
      ],
      [
       0.52,
       0.0658
      ],
      [
       0.56,
       0.0723
      ],
      [
       0.6,
       0.0789
      ],
      [
       0.64,
       0.0856
      ],
      [
       0.68,
       0.0923
      ],
      [
       0.72,
       0.0991
      ],
      [
       0.76,
       0.1059
      ],
      [
       0.8,
       0.1126
      ],
      [
       0.84,
       0.1194
      ],
      [
       0.88,
       0.1259
      ],
      [
       0.92,
       0.1322
      ],
      [
       0.96,
       0.1375
      ],
      [
       1.0,
       0.1424
      ],
      [
       1.04,
       0.1453
      ],
      [
       1.08,
       0.1457
      ],
      [
       1.12,
       0.1466
      ],
      [
       1.16,
       0.1457
      ],
      [
       1.2,
       0.1442
      ],
      [
       1.24,
       0.1426
      ],
      [
       1.28,
       0.141
      ],
      [
       1.32,
       0.1397
      ],
      [
       1.36,
       0.139
      ],
      [
       1.4,
       0.1391
      ],
      [
       1.44,
       0.1396
      ],
      [
       1.48,
       0.1401
      ],
      [
       1.52,
       0.1404
      ],
      [
       1.56,
       0.1406
      ],
      [
       1.6,
       0.141
      ],
      [
       1.64,
       0.1418
      ],
      [
       1.68,
       0.143
      ],
      [
       1.72,
       0.1443
      ],
      [
       1.76,
       0.1455
      ],
      [
       1.8,
       0.1466
      ],
      [
       1.84,
       0.1473
      ],
      [
       1.88,
       0.1479
      ],
      [
       1.92,
       0.1482
      ],
      [
       1.96,
       0.1486
      ],
      [
       2.0,
       0.1491
      ],
      [
       2.04,
       0.1496
      ],
      [
       2.08,
       0.15
      ],
      [
       2.12,
       0.15
      ],
      [
       2.16,
       0.15
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.3119
      ],
      [
       2.68,
       0.3119
      ],
      [
       2.72,
       0.3119
      ],
      [
       2.76,
       0.3119
      ],
      [
       2.8,
       0.3119
      ],
      [
       2.84,
       0.3119
      ],
      [
       2.88,
       0.3119
      ],
      [
       2.92,
       0.3119
      ],
      [
       2.96,
       0.3119
      ],
      [
       3.0,
       0.3119
      ],
      [
       3.04,
       0.3119
      ],
      [
       3.08,
       0.3119
      ],
      [
       3.12,
       0.3119
      ],
      [
       3.16,
       0.3119
      ],
      [
       3.2,
       0.3119
      ],
      [
       3.24,
       0.3119
      ],
      [
       3.28,
       0.3119
      ],
      [
       3.32,
       0.3119
      ],
      [
       3.36,
       0.3119
      ],
      [
       3.4,
       0.3119
      ],
      [
       3.44,
       0.3119
      ],
      [
       3.48,
       0.3119
      ],
      [
       3.52,
       0.3119
      ],
      [
       3.56,
       0.3119
      ],
      [
       3.6,
       0.3119
      ],
      [
       3.64,
       0.3119
      ],
      [
       3.68,
       0.3119
      ],
      [
       3.72,
       0.3119
      ],
      [
       3.76,
       0.3119
      ],
      [
       3.8,
       0.3119
      ],
      [
       3.84,
       0.3119
      ],
      [
       3.88,
       0.3119
      ],
      [
       3.92,
       0.3119
      ],
      [
       3.96,
       0.3119
      ],
      [
       4.0,
       0.3119
      ],
      [
       4.04,
       0.3119
      ],
      [
       4.08,
       0.3119
      ],
      [
       4.12,
       0.3119
      ],
      [
       4.16,
       0.3119
      ],
      [
       4.2,
       0.3119
      ],
      [
       4.24,
       0.3119
      ],
      [
       4.28,
       0.3119
      ],
      [
       4.32,
       0.3119
      ],
      [
       4.36,
       0.3119
      ],
      [
       4.4,
       0.3119
      ],
      [
       4.44,
       0.3119
      ],
      [
       4.48,
       0.3119
      ],
      [
       4.52,
       0.3119
      ],
      [
       4.56,
       0.3119
      ],
      [
       4.6,
       0.5143
      ],
      [
       4.64,
       0.5143
      ],
      [
       4.68,
       0.5143
      ],
      [
       4.72,
       0.5143
      ],
      [
       4.76,
       0.5548
      ],
      [
       4.8,
       0.5548
      ],
      [
       4.84,
       0.5548
      ],
      [
       4.88,
       0.5548
      ],
      [
       4.92,
       0.5548
      ],
      [
       4.96,
       0.5548
      ],
      [
       5.0,
       0.5952
      ],
      [
       5.04,
       0.5952
      ],
      [
       5.08,
       0.5952
      ],
      [
       5.12,
       0.5952
      ],
      [
       5.16,
       0.5952
      ],
      [
       5.2,
       0.5952
      ],
      [
       5.24,
       0.5952
      ],
      [
       5.28,
       0.5952
      ],
      [
       5.32,
       0.5952
      ],
      [
       5.36,
       0.5952
      ],
      [
       5.4,
       0.6357
      ],
      [
       5.44,
       0.6357
      ],
      [
       5.48,
       0.6357
      ],
      [
       5.52,
       0.6357
      ],
      [
       5.56,
       0.6357
      ],
      [
       5.6,
       0.6357
      ],
      [
       5.64,
       0.6762
      ],
      [
       5.68,
       0.6762
      ],
      [
       5.72,
       0.6762
      ],
      [
       5.76,
       0.7167
      ],
      [
       5.8,
       0.7167
      ],
      [
       5.84,
       0.7167
      ],
      [
       5.88,
       0.7167
      ],
      [
       5.92,
       0.7571
      ],
      [
       5.96,
       0.7571
      ],
      [
       6.0,
       0.7571
      ],
      [
       6.04,
       0.7571
      ],
      [
       6.08,
       0.7571
      ],
      [
       6.12,
       0.7571
      ],
      [
       6.16,
       0.7976
      ],
      [
       6.2,
       0.7976
      ],
      [
       6.24,
       0.7976
      ],
      [
       6.28,
       0.8381
      ],
      [
       6.32,
       0.8786
      ],
      [
       6.36,
       0.8786
      ],
      [
       6.4,
       0.8786
      ],
      [
       6.44,
       0.8786
      ],
      [
       6.48,
       0.8786
      ],
      [
       6.5,
       0.919
      ]
     ],
     "total_reward": 1.919,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "6bf0e992d2610c0fadb75ae4ae30d31af060404017350430e7a49e3e76236165",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.25,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3119047619047619,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 325,
       "return": 1.9190380375693565,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "1d7885262990-aloha",
     "video": "media/sim-1d7885262990-aloha-s1.mp4",
     "poster": "media/sim-1d7885262990-aloha-s1.jpg",
     "trajectory": "trajectories/1d7885262990-aloha.json",
     "recipe": "recipes/1d7885262990-aloha.json",
     "seed": 1,
     "steps": 528,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0012
      ],
      [
       0.12,
       0.0029
      ],
      [
       0.18,
       0.0049
      ],
      [
       0.24,
       0.0073
      ],
      [
       0.3,
       0.0101
      ],
      [
       0.36,
       0.0134
      ],
      [
       0.42,
       0.0172
      ],
      [
       0.48,
       0.0216
      ],
      [
       0.54,
       0.0265
      ],
      [
       0.6,
       0.0321
      ],
      [
       0.66,
       0.0381
      ],
      [
       0.72,
       0.0444
      ],
      [
       0.78,
       0.0508
      ],
      [
       0.84,
       0.057
      ],
      [
       0.9,
       0.063
      ],
      [
       0.96,
       0.0691
      ],
      [
       1.02,
       0.0755
      ],
      [
       1.08,
       0.0825
      ],
      [
       1.14,
       0.0901
      ],
      [
       1.2,
       0.0991
      ],
      [
       1.26,
       0.1104
      ],
      [
       1.32,
       0.1248
      ],
      [
       1.38,
       0.139
      ],
      [
       1.44,
       0.1459
      ],
      [
       1.5,
       0.1494
      ],
      [
       1.56,
       0.3524
      ],
      [
       1.62,
       0.3524
      ],
      [
       1.68,
       0.3524
      ],
      [
       1.74,
       0.3524
      ],
      [
       1.8,
       0.3524
      ],
      [
       1.86,
       0.4333
      ],
      [
       1.92,
       0.4738
      ],
      [
       1.98,
       0.4738
      ],
      [
       2.04,
       0.4738
      ],
      [
       2.1,
       0.4738
      ],
      [
       2.16,
       0.4738
      ],
      [
       2.22,
       0.4738
      ],
      [
       2.28,
       0.4717
      ],
      [
       2.34,
       0.4683
      ],
      [
       2.4,
       0.4652
      ],
      [
       2.46,
       0.4631
      ],
      [
       2.52,
       0.4619
      ],
      [
       2.58,
       0.4613
      ],
      [
       2.64,
       0.4609
      ],
      [
       2.7,
       0.4607
      ],
      [
       2.76,
       0.4605
      ],
      [
       2.82,
       0.4604
      ],
      [
       2.88,
       0.4604
      ],
      [
       2.94,
       0.4605
      ],
      [
       3.0,
       0.4606
      ],
      [
       3.06,
       0.4607
      ],
      [
       3.12,
       0.4608
      ],
      [
       3.18,
       0.4606
      ],
      [
       3.24,
       0.4603
      ],
      [
       3.3,
       0.4599
      ],
      [
       3.36,
       0.4595
      ],
      [
       3.42,
       0.459
      ],
      [
       3.48,
       0.4586
      ],
      [
       3.54,
       0.4583
      ],
      [
       3.6,
       0.4591
      ],
      [
       3.66,
       0.4613
      ],
      [
       3.72,
       0.465
      ],
      [
       3.78,
       0.4693
      ],
      [
       3.84,
       0.473
      ],
      [
       3.9,
       0.4738
      ],
      [
       3.96,
       0.4738
      ],
      [
       4.02,
       0.4738
      ],
      [
       4.08,
       0.4738
      ],
      [
       4.14,
       0.4738
      ],
      [
       4.2,
       0.4738
      ],
      [
       4.26,
       0.4738
      ],
      [
       4.32,
       0.4738
      ],
      [
       4.38,
       0.4738
      ],
      [
       4.44,
       0.4738
      ],
      [
       4.5,
       0.4738
      ],
      [
       4.56,
       0.4738
      ],
      [
       4.62,
       0.4738
      ],
      [
       4.68,
       0.4738
      ],
      [
       4.74,
       0.4738
      ],
      [
       4.8,
       0.4738
      ],
      [
       4.86,
       0.4738
      ],
      [
       4.92,
       0.4738
      ],
      [
       4.98,
       0.4738
      ],
      [
       5.04,
       0.4738
      ],
      [
       5.1,
       0.4738
      ],
      [
       5.16,
       0.4738
      ],
      [
       5.22,
       0.5143
      ],
      [
       5.28,
       0.5143
      ],
      [
       5.34,
       0.5143
      ],
      [
       5.4,
       0.5143
      ],
      [
       5.46,
       0.5143
      ],
      [
       5.52,
       0.5143
      ],
      [
       5.58,
       0.5143
      ],
      [
       5.64,
       0.5952
      ],
      [
       5.7,
       0.5952
      ],
      [
       5.76,
       0.5952
      ],
      [
       5.82,
       0.5952
      ],
      [
       5.88,
       0.6357
      ],
      [
       5.94,
       0.6357
      ],
      [
       6.0,
       0.6357
      ],
      [
       6.06,
       0.6357
      ],
      [
       6.12,
       0.6762
      ],
      [
       6.18,
       0.6762
      ],
      [
       6.24,
       0.6762
      ],
      [
       6.3,
       0.6762
      ],
      [
       6.36,
       0.7571
      ],
      [
       6.42,
       0.7564
      ],
      [
       6.48,
       0.7562
      ],
      [
       6.54,
       0.7564
      ],
      [
       6.6,
       0.7567
      ],
      [
       6.66,
       0.7568
      ],
      [
       6.72,
       0.7561
      ],
      [
       6.78,
       0.7552
      ],
      [
       6.84,
       0.7546
      ],
      [
       6.9,
       0.7541
      ],
      [
       6.96,
       0.7533
      ],
      [
       7.02,
       0.7533
      ],
      [
       7.08,
       0.7535
      ],
      [
       7.14,
       0.754
      ],
      [
       7.2,
       0.7545
      ],
      [
       7.26,
       0.7549
      ],
      [
       7.32,
       0.7554
      ],
      [
       7.38,
       0.7563
      ],
      [
       7.44,
       0.7571
      ],
      [
       7.5,
       0.7571
      ],
      [
       7.56,
       0.7571
      ],
      [
       7.62,
       0.7571
      ],
      [
       7.68,
       0.7571
      ],
      [
       7.74,
       0.7571
      ],
      [
       7.8,
       0.7571
      ],
      [
       7.86,
       0.7571
      ],
      [
       7.92,
       0.7571
      ],
      [
       7.98,
       0.7571
      ],
      [
       8.04,
       0.7571
      ],
      [
       8.1,
       0.7571
      ],
      [
       8.16,
       0.7571
      ],
      [
       8.22,
       0.7571
      ],
      [
       8.28,
       0.7571
      ],
      [
       8.34,
       0.7976
      ],
      [
       8.4,
       0.7976
      ],
      [
       8.46,
       0.7976
      ],
      [
       8.52,
       0.7976
      ],
      [
       8.58,
       0.7976
      ],
      [
       8.64,
       0.7976
      ],
      [
       8.7,
       0.7976
      ],
      [
       8.76,
       0.7976
      ],
      [
       8.82,
       0.7976
      ],
      [
       8.88,
       0.7976
      ],
      [
       8.94,
       0.7976
      ],
      [
       9.0,
       0.7976
      ],
      [
       9.06,
       0.7976
      ],
      [
       9.12,
       0.7976
      ],
      [
       9.18,
       0.7976
      ],
      [
       9.24,
       0.7976
      ],
      [
       9.3,
       0.7976
      ],
      [
       9.36,
       0.7976
      ],
      [
       9.42,
       0.7976
      ],
      [
       9.48,
       0.8381
      ],
      [
       9.54,
       0.8381
      ],
      [
       9.6,
       0.8381
      ],
      [
       9.66,
       0.8381
      ],
      [
       9.72,
       0.8786
      ],
      [
       9.78,
       0.8786
      ],
      [
       9.84,
       0.8786
      ],
      [
       9.9,
       0.8786
      ],
      [
       9.96,
       0.8786
      ],
      [
       10.02,
       0.8786
      ],
      [
       10.08,
       0.8786
      ],
      [
       10.14,
       0.8786
      ],
      [
       10.2,
       0.8786
      ],
      [
       10.26,
       0.8786
      ],
      [
       10.32,
       0.8786
      ],
      [
       10.38,
       0.8786
      ],
      [
       10.44,
       0.8786
      ],
      [
       10.5,
       0.8786
      ],
      [
       10.56,
       0.919
      ]
     ],
     "total_reward": 1.919,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "768bf1e42d30864562e39bb9b3132a99050ac3598665ae659e67ea6be110033d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011780903246990271,
       "final_progress": 0.0011780903246990271,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 2.710505431213761e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.4701596505045449,
       "final_progress": 0.4738095238095238,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8005273346407425,
       "final_progress": 0.8380952380952381
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 528,
       "return": 1.919047619047619,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "3d19bffdb66532fbc5290ff60c58652b89b6c455b2e83d664acf3b9330c62050",
   "recording_id": 7474,
   "task_number": 2,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "black kitchen countertop",
   "human_action": false,
   "description": "Lift the paper cup off the red spot on the black kitchen countertop, set it aside among the green basin and the water bottle, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the paper cup off the red spot on the black kitchen countertop, set it aside among the green basin and the water bottle, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 7474,
    "contributor_id": 7,
    "video": "media/source-7474-f169f922df87.mp4",
    "poster": "media/source-7474.jpg",
    "source_sha256": null,
    "interval_s": [
     4.733333,
     8.266667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7474,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7474_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 13.8,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "b830521eceb84970085ad9e31e6bda9c62867ddf395510478d622b50c0f28219",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.73\u20138.27 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
      "duration_s": 3.52,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 2,
    "recording_observed": 5,
    "recording_added": 1,
    "surface": "black kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "3d19bffdb665-panda",
     "video": "media/sim-3d19bffdb665-panda-s0.mp4",
     "poster": "media/sim-3d19bffdb665-panda-s0.jpg",
     "trajectory": "trajectories/3d19bffdb665-panda.json",
     "recipe": "recipes/3d19bffdb665-panda.json",
     "seed": 0,
     "steps": 521,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0021
      ],
      [
       0.24,
       0.0032
      ],
      [
       0.3,
       0.0046
      ],
      [
       0.36,
       0.0065
      ],
      [
       0.42,
       0.0084
      ],
      [
       0.48,
       0.0105
      ],
      [
       0.54,
       0.0129
      ],
      [
       0.6,
       0.0154
      ],
      [
       0.66,
       0.0182
      ],
      [
       0.72,
       0.0213
      ],
      [
       0.78,
       0.0245
      ],
      [
       0.84,
       0.028
      ],
      [
       0.9,
       0.0318
      ],
      [
       0.96,
       0.0358
      ],
      [
       1.02,
       0.0401
      ],
      [
       1.08,
       0.0445
      ],
      [
       1.14,
       0.0492
      ],
      [
       1.2,
       0.0539
      ],
      [
       1.26,
       0.0587
      ],
      [
       1.32,
       0.0633
      ],
      [
       1.38,
       0.0678
      ],
      [
       1.44,
       0.0711
      ],
      [
       1.5,
       0.074
      ],
      [
       1.56,
       0.077
      ],
      [
       1.62,
       0.08
      ],
      [
       1.68,
       0.0831
      ],
      [
       1.74,
       0.0865
      ],
      [
       1.8,
       0.0902
      ],
      [
       1.86,
       0.0945
      ],
      [
       1.92,
       0.0993
      ],
      [
       1.98,
       0.0974
      ],
      [
       2.04,
       0.0979
      ],
      [
       2.1,
       0.0983
      ],
      [
       2.16,
       0.0985
      ],
      [
       2.22,
       0.0986
      ],
      [
       2.28,
       0.0987
      ],
      [
       2.34,
       0.0987
      ],
      [
       2.4,
       0.0988
      ],
      [
       2.46,
       0.0988
      ],
      [
       2.52,
       0.0989
      ],
      [
       2.58,
       0.0989
      ],
      [
       2.64,
       0.0988
      ],
      [
       2.7,
       0.0988
      ],
      [
       2.76,
       0.0987
      ],
      [
       2.82,
       0.0987
      ],
      [
       2.88,
       0.0987
      ],
      [
       2.94,
       0.6
      ],
      [
       3.0,
       0.6
      ],
      [
       3.06,
       0.5922
      ],
      [
       3.12,
       0.5722
      ],
      [
       3.18,
       0.5489
      ],
      [
       3.24,
       0.5253
      ],
      [
       3.3,
       0.5001
      ],
      [
       3.36,
       0.4728
      ],
      [
       3.42,
       0.4449
      ],
      [
       3.48,
       0.4143
      ],
      [
       3.54,
       0.3741
      ],
      [
       3.6,
       0.3141
      ],
      [
       3.66,
       0.3953
      ],
      [
       3.72,
       0.5081
      ],
      [
       3.78,
       0.6
      ],
      [
       3.84,
       0.6
      ],
      [
       3.9,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.02,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.14,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.26,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.38,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.5,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.62,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.74,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.86,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.98,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.1,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.22,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.34,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.46,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.36,
       0.6267
      ],
      [
       9.42,
       0.6267
      ],
      [
       9.48,
       0.7067
      ],
      [
       9.54,
       0.6267
      ],
      [
       9.6,
       0.7067
      ],
      [
       9.66,
       0.6267
      ],
      [
       9.72,
       0.6267
      ],
      [
       9.78,
       0.6
      ],
      [
       9.84,
       0.6267
      ],
      [
       9.9,
       0.6267
      ],
      [
       9.96,
       0.7067
      ],
      [
       10.02,
       0.6
      ],
      [
       10.08,
       0.68
      ],
      [
       10.14,
       0.6267
      ],
      [
       10.2,
       0.7067
      ],
      [
       10.26,
       0.7867
      ],
      [
       10.32,
       0.8667
      ],
      [
       10.38,
       0.9467
      ],
      [
       10.42,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8ffa85f665e24e03852d7aaaf53a1f0e0939d141826ff93d03a2a901e280dc8e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -4.336808689942018e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07005181065990118,
       "final_progress": 0.07005181065990118,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 521,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx5",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "3d19bffdb665-aloha",
     "video": "media/sim-3d19bffdb665-aloha-s0.mp4",
     "poster": "media/sim-3d19bffdb665-aloha-s0.jpg",
     "trajectory": "trajectories/3d19bffdb665-aloha.json",
     "recipe": "recipes/3d19bffdb665-aloha.json",
     "seed": 0,
     "steps": 809,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0013
      ],
      [
       0.2,
       0.0034
      ],
      [
       0.3,
       0.006
      ],
      [
       0.4,
       0.009
      ],
      [
       0.5,
       0.0125
      ],
      [
       0.6,
       0.0164
      ],
      [
       0.7,
       0.0207
      ],
      [
       0.8,
       0.0254
      ],
      [
       0.9,
       0.0306
      ],
      [
       1.0,
       0.0362
      ],
      [
       1.1,
       0.0424
      ],
      [
       1.2,
       0.0492
      ],
      [
       1.3,
       0.0575
      ],
      [
       1.4,
       0.0633
      ],
      [
       1.5,
       0.0662
      ],
      [
       1.6,
       0.0685
      ],
      [
       1.7,
       0.0698
      ],
      [
       1.8,
       0.0702
      ],
      [
       1.9,
       0.0703
      ],
      [
       2.0,
       0.0703
      ],
      [
       2.1,
       0.07
      ],
      [
       2.2,
       0.069
      ],
      [
       2.3,
       0.0674
      ],
      [
       2.4,
       0.0655
      ],
      [
       2.5,
       0.0635
      ],
      [
       2.6,
       0.0607
      ],
      [
       2.7,
       0.0596
      ],
      [
       2.8,
       0.0599
      ],
      [
       2.9,
       0.0618
      ],
      [
       3.0,
       0.0654
      ],
      [
       3.1,
       0.0705
      ],
      [
       3.2,
       0.076
      ],
      [
       3.3,
       0.081
      ],
      [
       3.4,
       0.0854
      ],
      [
       3.5,
       0.0891
      ],
      [
       3.6,
       0.0928
      ],
      [
       3.7,
       0.0941
      ],
      [
       3.8,
       0.0944
      ],
      [
       3.9,
       0.0948
      ],
      [
       4.0,
       0.095
      ],
      [
       4.1,
       0.0951
      ],
      [
       4.2,
       0.0953
      ],
      [
       4.3,
       0.0955
      ],
      [
       4.4,
       0.0956
      ],
      [
       4.5,
       0.0957
      ],
      [
       4.6,
       0.0958
      ],
      [
       4.7,
       0.0959
      ],
      [
       4.8,
       0.0959
      ],
      [
       4.9,
       0.0959
      ],
      [
       5.0,
       0.0958
      ],
      [
       5.1,
       0.0957
      ],
      [
       5.2,
       0.0956
      ],
      [
       5.3,
       0.0956
      ],
      [
       5.4,
       0.0955
      ],
      [
       5.5,
       0.0955
      ],
      [
       5.6,
       0.0954
      ],
      [
       5.7,
       0.0953
      ],
      [
       5.8,
       0.0952
      ],
      [
       5.9,
       0.0952
      ],
      [
       6.0,
       0.0951
      ],
      [
       6.1,
       0.0951
      ],
      [
       6.2,
       0.0951
      ],
      [
       6.3,
       0.0951
      ],
      [
       6.4,
       0.0952
      ],
      [
       6.5,
       0.0952
      ],
      [
       6.6,
       0.0951
      ],
      [
       6.7,
       0.0951
      ],
      [
       6.8,
       0.0951
      ],
      [
       6.9,
       0.0951
      ],
      [
       7.0,
       0.0951
      ],
      [
       7.1,
       0.0951
      ],
      [
       7.2,
       0.0951
      ],
      [
       7.3,
       0.0951
      ],
      [
       7.4,
       0.0951
      ],
      [
       7.5,
       0.0951
      ],
      [
       7.6,
       0.0951
      ],
      [
       7.7,
       0.0951
      ],
      [
       7.8,
       0.0951
      ],
      [
       7.9,
       0.0952
      ],
      [
       8.0,
       0.0953
      ],
      [
       8.1,
       0.0953
      ],
      [
       8.2,
       0.0954
      ],
      [
       8.3,
       0.0955
      ],
      [
       8.4,
       0.0956
      ],
      [
       8.5,
       0.0957
      ],
      [
       8.6,
       0.0958
      ],
      [
       8.7,
       0.0958
      ],
      [
       8.8,
       0.0959
      ],
      [
       8.9,
       0.0959
      ],
      [
       9.0,
       0.096
      ],
      [
       9.1,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.4,
       0.6
      ],
      [
       9.5,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.7,
       0.6
      ],
      [
       9.8,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.7333
      ],
      [
       15.9,
       0.6267
      ],
      [
       16.0,
       0.76
      ],
      [
       16.1,
       0.8933
      ],
      [
       16.18,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "839ca17d716835ee6038414bbacef12a154f1c552c36fa56c9b62684026b0879",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.00039191961361975116,
       "final_progress": 0.00039191961361975116,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.04253700598224761,
       "final_progress": 0.04253700598224761,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07074823984000815,
       "final_progress": 0.07074823984000815,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 809,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx5",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "492ec32fd8babf0b2c6e1677ddd7ec37565c318873452505e623480583a15884",
   "recording_id": 7474,
   "task_number": 3,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "black kitchen countertop",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the black kitchen countertop among the green basin and the water bottle and pull the drawer 8 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the black kitchen countertop among the green basin and the water bottle and pull the drawer 8 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22658 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 7474,
    "contributor_id": 7,
    "video": "media/source-7474-f169f922df87.mp4",
    "poster": "media/source-7474.jpg",
    "source_sha256": null,
    "interval_s": [
     4.733333,
     8.266667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7474,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7474_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 13.8,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "b830521eceb84970085ad9e31e6bda9c62867ddf395510478d622b50c0f28219",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.73\u20138.27 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
      "duration_s": 3.52,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 2,
    "recording_observed": 5,
    "recording_added": 1,
    "surface": "black kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "492ec32fd8ba-panda",
     "video": "media/sim-492ec32fd8ba-panda-s2.mp4",
     "poster": "media/sim-492ec32fd8ba-panda-s2.jpg",
     "trajectory": "trajectories/492ec32fd8ba-panda.json",
     "recipe": "recipes/492ec32fd8ba-panda.json",
     "seed": 2,
     "steps": 235,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0014
      ],
      [
       1.14,
       0.0036
      ],
      [
       1.16,
       0.006
      ],
      [
       1.18,
       0.0084
      ],
      [
       1.2,
       0.0111
      ],
      [
       1.22,
       0.0139
      ],
      [
       1.24,
       0.0169
      ],
      [
       1.26,
       0.02
      ],
      [
       1.28,
       0.0233
      ],
      [
       1.3,
       0.0266
      ],
      [
       1.32,
       0.0298
      ],
      [
       1.34,
       0.0329
      ],
      [
       1.36,
       0.0358
      ],
      [
       1.38,
       0.0385
      ],
      [
       1.4,
       0.0408
      ],
      [
       1.42,
       0.0429
      ],
      [
       1.44,
       0.0449
      ],
      [
       1.46,
       0.0468
      ],
      [
       1.48,
       0.0486
      ],
      [
       1.5,
       0.0505
      ],
      [
       1.52,
       0.0525
      ],
      [
       1.54,
       0.0546
      ],
      [
       1.56,
       0.0566
      ],
      [
       1.58,
       0.0587
      ],
      [
       1.6,
       0.0608
      ],
      [
       1.62,
       0.0628
      ],
      [
       1.64,
       0.0648
      ],
      [
       1.66,
       0.0667
      ],
      [
       1.68,
       0.0685
      ],
      [
       1.7,
       0.0703
      ],
      [
       1.72,
       0.0721
      ],
      [
       1.74,
       0.0737
      ],
      [
       1.76,
       0.0754
      ],
      [
       1.78,
       0.0769
      ],
      [
       1.8,
       0.0784
      ],
      [
       1.82,
       0.0799
      ],
      [
       1.84,
       0.0813
      ],
      [
       1.86,
       0.0826
      ],
      [
       1.88,
       0.0838
      ],
      [
       1.9,
       0.0851
      ],
      [
       1.92,
       0.0862
      ],
      [
       1.94,
       0.0874
      ],
      [
       1.96,
       0.0885
      ],
      [
       1.98,
       0.0895
      ],
      [
       2.0,
       0.0906
      ],
      [
       2.02,
       0.0916
      ],
      [
       2.04,
       0.0926
      ],
      [
       2.06,
       0.0936
      ],
      [
       2.08,
       0.0945
      ],
      [
       2.1,
       0.0955
      ],
      [
       2.12,
       0.0965
      ],
      [
       2.14,
       0.0975
      ],
      [
       2.16,
       0.0985
      ],
      [
       2.18,
       0.0996
      ],
      [
       2.2,
       0.1006
      ],
      [
       2.22,
       0.1017
      ],
      [
       2.24,
       0.1029
      ],
      [
       2.26,
       0.1041
      ],
      [
       2.28,
       0.1054
      ],
      [
       2.3,
       0.1067
      ],
      [
       2.32,
       0.1081
      ],
      [
       2.34,
       0.1097
      ],
      [
       2.36,
       0.1114
      ],
      [
       2.38,
       0.1132
      ],
      [
       2.4,
       0.1148
      ],
      [
       2.42,
       0.1163
      ],
      [
       2.44,
       0.1175
      ],
      [
       2.46,
       0.1187
      ],
      [
       2.48,
       0.1197
      ],
      [
       2.5,
       0.1206
      ],
      [
       2.52,
       0.1213
      ],
      [
       2.54,
       0.122
      ],
      [
       2.56,
       0.1227
      ],
      [
       2.58,
       0.1237
      ],
      [
       2.6,
       0.1248
      ],
      [
       2.62,
       0.1261
      ],
      [
       2.64,
       0.1274
      ],
      [
       2.66,
       0.1287
      ],
      [
       2.68,
       0.1301
      ],
      [
       2.7,
       0.1315
      ],
      [
       2.72,
       0.133
      ],
      [
       2.74,
       0.1345
      ],
      [
       2.76,
       0.1361
      ],
      [
       2.78,
       0.1379
      ],
      [
       2.8,
       0.1397
      ],
      [
       2.82,
       0.1417
      ],
      [
       2.84,
       0.1437
      ],
      [
       2.86,
       0.146
      ],
      [
       2.88,
       0.1478
      ],
      [
       2.9,
       0.1573
      ],
      [
       2.92,
       0.1596
      ],
      [
       2.94,
       0.1528
      ],
      [
       2.96,
       0.1472
      ],
      [
       2.98,
       0.1473
      ],
      [
       3.0,
       0.1473
      ],
      [
       3.02,
       0.1473
      ],
      [
       3.04,
       0.1473
      ],
      [
       3.06,
       0.1473
      ],
      [
       3.08,
       0.1473
      ],
      [
       3.1,
       0.1473
      ],
      [
       3.12,
       0.1473
      ],
      [
       3.14,
       0.1473
      ],
      [
       3.16,
       0.1473
      ],
      [
       3.18,
       0.1474
      ],
      [
       3.2,
       0.1474
      ],
      [
       3.22,
       0.1474
      ],
      [
       3.24,
       0.1489
      ],
      [
       3.26,
       0.1518
      ],
      [
       3.28,
       0.1555
      ],
      [
       3.3,
       0.1596
      ],
      [
       3.32,
       0.1643
      ],
      [
       3.34,
       0.1695
      ],
      [
       3.36,
       0.175
      ],
      [
       3.38,
       0.1812
      ],
      [
       3.4,
       0.1878
      ],
      [
       3.42,
       0.1919
      ],
      [
       3.44,
       0.1947
      ],
      [
       3.46,
       0.1974
      ],
      [
       3.48,
       0.2003
      ],
      [
       3.5,
       0.2039
      ],
      [
       3.52,
       0.2078
      ],
      [
       3.54,
       0.2122
      ],
      [
       3.56,
       0.2171
      ],
      [
       3.58,
       0.2235
      ],
      [
       3.6,
       0.2322
      ],
      [
       3.62,
       0.243
      ],
      [
       3.64,
       0.2578
      ],
      [
       3.66,
       0.2706
      ],
      [
       3.68,
       0.2839
      ],
      [
       3.7,
       0.2973
      ],
      [
       3.72,
       0.311
      ],
      [
       3.74,
       0.3251
      ],
      [
       3.76,
       0.3395
      ],
      [
       3.78,
       0.3545
      ],
      [
       3.8,
       0.3699
      ],
      [
       3.82,
       0.3858
      ],
      [
       3.84,
       0.4022
      ],
      [
       3.86,
       0.419
      ],
      [
       3.88,
       0.4362
      ],
      [
       3.9,
       0.4539
      ],
      [
       3.92,
       0.4719
      ],
      [
       3.94,
       0.4904
      ],
      [
       3.96,
       0.5093
      ],
      [
       3.98,
       0.5286
      ],
      [
       4.0,
       0.5482
      ],
      [
       4.02,
       0.5683
      ],
      [
       4.04,
       0.5886
      ],
      [
       4.06,
       0.6093
      ],
      [
       4.08,
       0.6304
      ],
      [
       4.1,
       0.6517
      ],
      [
       4.12,
       0.6734
      ],
      [
       4.14,
       0.6954
      ],
      [
       4.16,
       0.7176
      ],
      [
       4.18,
       0.7401
      ],
      [
       4.2,
       0.7627
      ],
      [
       4.22,
       0.7855
      ],
      [
       4.24,
       0.8085
      ],
      [
       4.26,
       0.8315
      ],
      [
       4.28,
       0.8545
      ],
      [
       4.3,
       0.8776
      ],
      [
       4.32,
       0.9006
      ],
      [
       4.34,
       0.9233
      ],
      [
       4.36,
       0.9454
      ],
      [
       4.38,
       0.9668
      ],
      [
       4.4,
       0.9883
      ],
      [
       4.42,
       1.0
      ],
      [
       4.44,
       1.0
      ],
      [
       4.46,
       1.0
      ],
      [
       4.48,
       1.0
      ],
      [
       4.5,
       1.0
      ],
      [
       4.52,
       1.0
      ],
      [
       4.54,
       1.0
      ],
      [
       4.56,
       1.0
      ],
      [
       4.58,
       1.0
      ],
      [
       4.6,
       1.0
      ],
      [
       4.62,
       1.0
      ],
      [
       4.64,
       1.0
      ],
      [
       4.66,
       1.0
      ],
      [
       4.68,
       1.0
      ],
      [
       4.7,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "9c23e639e323cd2b4e3c9114abd36c1805d99be6513e8c43b978ff240457b97d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 4.932914417586841e-05,
       "final_progress": 5.343353106062153e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.05911433469881805,
       "final_progress": 0.16198002161134556,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.06741254609758958,
       "final_progress": 0.06741665048447433,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.95859531138497,
       "final_progress": 0.9585992911774383
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9171084020379472,
       "final_progress": 0.9171123818304154
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 235,
       "return": 1.9999958956131154,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx5",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "492ec32fd8ba-aloha",
     "video": "media/sim-492ec32fd8ba-aloha-s5.mp4",
     "poster": "media/sim-492ec32fd8ba-aloha-s5.jpg",
     "trajectory": "trajectories/492ec32fd8ba-aloha.json",
     "recipe": "recipes/492ec32fd8ba-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0086
      ],
      [
       0.28,
       0.0201
      ],
      [
       0.42,
       0.0323
      ],
      [
       0.56,
       0.0443
      ],
      [
       0.7,
       0.0555
      ],
      [
       0.84,
       0.0654
      ],
      [
       0.98,
       0.0688
      ],
      [
       1.12,
       0.0713
      ],
      [
       1.26,
       0.0736
      ],
      [
       1.4,
       0.0751
      ],
      [
       1.54,
       0.0772
      ],
      [
       1.68,
       0.079
      ],
      [
       1.82,
       0.0779
      ],
      [
       1.96,
       0.0787
      ],
      [
       2.1,
       0.0825
      ],
      [
       2.24,
       0.0865
      ],
      [
       2.38,
       0.0881
      ],
      [
       2.52,
       0.0877
      ],
      [
       2.66,
       0.0864
      ],
      [
       2.8,
       0.0825
      ],
      [
       2.94,
       0.0771
      ],
      [
       3.08,
       0.0736
      ],
      [
       3.22,
       0.0761
      ],
      [
       3.36,
       0.0793
      ],
      [
       3.5,
       0.0819
      ],
      [
       3.64,
       0.0841
      ],
      [
       3.78,
       0.0875
      ],
      [
       3.92,
       0.0926
      ],
      [
       4.06,
       0.0991
      ],
      [
       4.2,
       0.1041
      ],
      [
       4.34,
       0.1079
      ],
      [
       4.48,
       0.1098
      ],
      [
       4.62,
       0.11
      ],
      [
       4.76,
       0.1072
      ],
      [
       4.9,
       0.1037
      ],
      [
       5.04,
       0.1001
      ],
      [
       5.18,
       0.0967
      ],
      [
       5.32,
       0.0939
      ],
      [
       5.46,
       0.0919
      ],
      [
       5.6,
       0.0906
      ],
      [
       5.74,
       0.0895
      ],
      [
       5.88,
       0.0885
      ],
      [
       6.02,
       0.088
      ],
      [
       6.16,
       0.0879
      ],
      [
       6.3,
       0.0879
      ],
      [
       6.44,
       0.0887
      ],
      [
       6.58,
       0.0898
      ],
      [
       6.72,
       0.0905
      ],
      [
       6.86,
       0.0917
      ],
      [
       7.0,
       0.0932
      ],
      [
       7.14,
       0.0951
      ],
      [
       7.28,
       0.0975
      ],
      [
       7.42,
       0.0997
      ],
      [
       7.56,
       0.0987
      ],
      [
       7.7,
       0.1024
      ],
      [
       7.84,
       0.1061
      ],
      [
       7.98,
       0.1071
      ],
      [
       8.12,
       0.1034
      ],
      [
       8.26,
       0.0223
      ],
      [
       8.4,
       0.005
      ],
      [
       8.54,
       0.0
      ],
      [
       8.68,
       0.0
      ],
      [
       8.82,
       0.0
      ],
      [
       8.96,
       0.0
      ],
      [
       9.1,
       0.0
      ],
      [
       9.24,
       0.0
      ],
      [
       9.38,
       0.0
      ],
      [
       9.52,
       0.0
      ],
      [
       9.66,
       0.0
      ],
      [
       9.8,
       0.0
      ],
      [
       9.94,
       0.0
      ],
      [
       10.08,
       0.0
      ],
      [
       10.22,
       0.0
      ],
      [
       10.36,
       0.0
      ],
      [
       10.5,
       0.0
      ],
      [
       10.64,
       0.0
      ],
      [
       10.78,
       0.0
      ],
      [
       10.92,
       0.0
      ],
      [
       11.06,
       0.0
      ],
      [
       11.2,
       0.0
      ],
      [
       11.34,
       0.0
      ],
      [
       11.48,
       0.0
      ],
      [
       11.62,
       0.0
      ],
      [
       11.76,
       0.0
      ],
      [
       11.9,
       0.0
      ],
      [
       12.04,
       0.0
      ],
      [
       12.18,
       0.0
      ],
      [
       12.32,
       0.0
      ],
      [
       12.46,
       0.0
      ],
      [
       12.6,
       0.0
      ],
      [
       12.74,
       0.0
      ],
      [
       12.88,
       0.0
      ],
      [
       13.02,
       0.0
      ],
      [
       13.16,
       0.0
      ],
      [
       13.3,
       0.0
      ],
      [
       13.44,
       0.0
      ],
      [
       13.58,
       0.0
      ],
      [
       13.72,
       0.0
      ],
      [
       13.86,
       0.0
      ],
      [
       14.0,
       0.0
      ],
      [
       14.14,
       0.0
      ],
      [
       14.28,
       0.0
      ],
      [
       14.42,
       0.0
      ],
      [
       14.56,
       0.0
      ],
      [
       14.7,
       0.0
      ],
      [
       14.84,
       0.0
      ],
      [
       14.98,
       0.0
      ],
      [
       15.12,
       0.0
      ],
      [
       15.26,
       0.0
      ],
      [
       15.4,
       0.0
      ],
      [
       15.54,
       0.0
      ],
      [
       15.68,
       0.0
      ],
      [
       15.82,
       0.0
      ],
      [
       15.96,
       0.0
      ],
      [
       16.1,
       0.0
      ],
      [
       16.24,
       0.0
      ],
      [
       16.38,
       0.0
      ],
      [
       16.52,
       0.0
      ],
      [
       16.66,
       0.0
      ],
      [
       16.8,
       0.0
      ],
      [
       16.94,
       0.0
      ],
      [
       17.08,
       0.0
      ],
      [
       17.22,
       0.0
      ],
      [
       17.36,
       0.0
      ],
      [
       17.5,
       0.0
      ],
      [
       17.64,
       0.0
      ],
      [
       17.78,
       0.0
      ],
      [
       17.92,
       0.0
      ],
      [
       18.06,
       0.0
      ],
      [
       18.2,
       0.0
      ],
      [
       18.34,
       0.0
      ],
      [
       18.48,
       0.0
      ],
      [
       18.62,
       0.0
      ],
      [
       18.76,
       0.0
      ],
      [
       18.9,
       0.0
      ],
      [
       19.04,
       0.0
      ],
      [
       19.18,
       0.0
      ],
      [
       19.32,
       0.0
      ],
      [
       19.46,
       0.0
      ],
      [
       19.6,
       0.0
      ],
      [
       19.74,
       0.0
      ],
      [
       19.88,
       0.0
      ],
      [
       20.02,
       0.0
      ],
      [
       20.16,
       0.0
      ],
      [
       20.3,
       0.0
      ],
      [
       20.44,
       0.0
      ],
      [
       20.58,
       0.0
      ],
      [
       20.72,
       0.0
      ],
      [
       20.86,
       0.0
      ],
      [
       21.0,
       0.0
      ],
      [
       21.14,
       0.0
      ],
      [
       21.28,
       0.0
      ],
      [
       21.42,
       0.0
      ],
      [
       21.56,
       0.0
      ],
      [
       21.7,
       0.0
      ],
      [
       21.84,
       0.0
      ],
      [
       21.98,
       0.0
      ],
      [
       22.12,
       0.0
      ],
      [
       22.26,
       0.0
      ],
      [
       22.4,
       0.0
      ],
      [
       22.54,
       0.0
      ],
      [
       22.68,
       0.0
      ],
      [
       22.82,
       0.0
      ],
      [
       22.96,
       0.0
      ],
      [
       23.1,
       0.0
      ],
      [
       23.24,
       0.0
      ],
      [
       23.38,
       0.0
      ],
      [
       23.52,
       0.0
      ],
      [
       23.66,
       0.0
      ],
      [
       23.8,
       0.0
      ],
      [
       23.94,
       0.0
      ],
      [
       24.0,
       0.0
      ]
     ],
     "total_reward": -1.0,
     "initial_progress": 0.0,
     "final_progress": 0.0,
     "physics_sha256": "7c874de7434943ebdbfb6e048813eb216ffa139853e43e499365c820b0793d14",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001441385877147166,
       "final_progress": 0.001442207425328153,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.08500091762550002,
       "final_progress": 0.09786065247402236,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 9.869535150609963e-06,
       "final_progress": 1.0691083331594752e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7747727346781869,
       "final_progress": 0.774773556226368
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.06250585211628795,
       "final_progress": 0.06250667366446792
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.057676319264506545,
       "final_progress": 0.057677115703702916
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5950793211162024,
       "final_progress": 0.5950801426643834
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.01242258560403293,
       "final_progress": 0.012423407152213928
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": -1.000000821548181,
       "final_progress": 0.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx5",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "9b17cd19d0977834ea67769011e7f40d7765ee7bc22dc206638d26a5f4aca955",
   "recording_id": 7474,
   "task_number": 4,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "black kitchen countertop",
   "human_action": false,
   "description": "Grasp the paper cup from among the clear glass and the white dish stand, lift it clear and set it down on the green basin on the black kitchen countertop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the paper cup from among the clear glass and the white dish stand, lift it clear and set it down on the green basin on the black kitchen countertop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 7474,
    "contributor_id": 7,
    "video": "media/source-7474-f169f922df87.mp4",
    "poster": "media/source-7474.jpg",
    "source_sha256": null,
    "interval_s": [
     4.733333,
     8.266667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 7474,
     "contributor_id": 7,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/007/7474_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 0.0,
      "original_end_s": 13.8,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "b830521eceb84970085ad9e31e6bda9c62867ddf395510478d622b50c0f28219",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 4.73\u20138.27 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
      "duration_s": 3.52,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f169f922df8780bc4490611ee9395cd2fcb9a6b4b65178910b0f49f2b6864e0e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 5,
    "added_context": 2,
    "recording_observed": 5,
    "recording_added": 1,
    "surface": "black kitchen countertop",
    "lighting": "dim"
   },
   "variants": {
    "panda": {
     "gym_id": "9b17cd19d097-panda",
     "video": "media/sim-9b17cd19d097-panda-s0.mp4",
     "poster": "media/sim-9b17cd19d097-panda-s0.jpg",
     "trajectory": "trajectories/9b17cd19d097-panda.json",
     "recipe": "recipes/9b17cd19d097-panda.json",
     "seed": 0,
     "steps": 406,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0003
      ],
      [
       0.2,
       0.0005
      ],
      [
       0.24,
       0.0005
      ],
      [
       0.28,
       0.0007
      ],
      [
       0.32,
       0.0008
      ],
      [
       0.36,
       0.0008
      ],
      [
       0.4,
       0.0009
      ],
      [
       0.44,
       0.001
      ],
      [
       0.48,
       0.0013
      ],
      [
       0.52,
       0.0016
      ],
      [
       0.56,
       0.0021
      ],
      [
       0.6,
       0.0027
      ],
      [
       0.64,
       0.0034
      ],
      [
       0.68,
       0.0042
      ],
      [
       0.72,
       0.0052
      ],
      [
       0.76,
       0.0064
      ],
      [
       0.8,
       0.0077
      ],
      [
       0.84,
       0.0092
      ],
      [
       0.88,
       0.0109
      ],
      [
       0.92,
       0.0128
      ],
      [
       0.96,
       0.0148
      ],
      [
       1.0,
       0.0171
      ],
      [
       1.04,
       0.0196
      ],
      [
       1.08,
       0.0223
      ],
      [
       1.12,
       0.0252
      ],
      [
       1.16,
       0.0283
      ],
      [
       1.2,
       0.0316
      ],
      [
       1.24,
       0.0352
      ],
      [
       1.28,
       0.039
      ],
      [
       1.32,
       0.043
      ],
      [
       1.36,
       0.0473
      ],
      [
       1.4,
       0.0517
      ],
      [
       1.44,
       0.0565
      ],
      [
       1.48,
       0.0614
      ],
      [
       1.52,
       0.0665
      ],
      [
       1.56,
       0.0716
      ],
      [
       1.6,
       0.0768
      ],
      [
       1.64,
       0.0819
      ],
      [
       1.68,
       0.0871
      ],
      [
       1.72,
       0.0922
      ],
      [
       1.76,
       0.0971
      ],
      [
       1.8,
       0.1015
      ],
      [
       1.84,
       0.1053
      ],
      [
       1.88,
       0.1083
      ],
      [
       1.92,
       0.1106
      ],
      [
       1.96,
       0.1122
      ],
      [
       2.0,
       0.1139
      ],
      [
       2.04,
       0.1161
      ],
      [
       2.08,
       0.1184
      ],
      [
       2.12,
       0.1206
      ],
      [
       2.16,
       0.1227
      ],
      [
       2.2,
       0.1249
      ],
      [
       2.24,
       0.1273
      ],
      [
       2.28,
       0.13
      ],
      [
       2.32,
       0.133
      ],
      [
       2.36,
       0.1349
      ],
      [
       2.4,
       0.1376
      ],
      [
       2.44,
       0.1432
      ],
      [
       2.48,
       0.1472
      ],
      [
       2.52,
       0.1482
      ],
      [
       2.56,
       0.1474
      ],
      [
       2.6,
       0.1469
      ],
      [
       2.64,
       0.147
      ],
      [
       2.68,
       0.1471
      ],
      [
       2.72,
       0.1472
      ],
      [
       2.76,
       0.1473
      ],
      [
       2.8,
       0.1474
      ],
      [
       2.84,
       0.1475
      ],
      [
       2.88,
       0.1476
      ],
      [
       2.92,
       0.1477
      ],
      [
       2.96,
       0.1477
      ],
      [
       3.0,
       0.1478
      ],
      [
       3.04,
       0.1478
      ],
      [
       3.08,
       0.1478
      ],
      [
       3.12,
       0.1479
      ],
      [
       3.16,
       0.148
      ],
      [
       3.2,
       0.148
      ],
      [
       3.24,
       0.1481
      ],
      [
       3.28,
       0.1481
      ],
      [
       3.32,
       0.1481
      ],
      [
       3.36,
       0.1482
      ],
      [
       3.4,
       0.1482
      ],
      [
       3.44,
       0.1483
      ],
      [
       3.48,
       0.1483
      ],
      [
       3.52,
       0.1483
      ],
      [
       3.56,
       0.1483
      ],
      [
       3.6,
       0.1484
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4249
      ],
      [
       4.68,
       0.4569
      ],
      [
       4.72,
       0.4908
      ],
      [
       4.76,
       0.5237
      ],
      [
       4.8,
       0.5561
      ],
      [
       4.84,
       0.5889
      ],
      [
       4.88,
       0.6221
      ],
      [
       4.92,
       0.6552
      ],
      [
       4.96,
       0.6881
      ],
      [
       5.0,
       0.7207
      ],
      [
       5.04,
       0.7528
      ],
      [
       5.08,
       0.7845
      ],
      [
       5.12,
       0.8156
      ],
      [
       5.16,
       0.8461
      ],
      [
       5.2,
       0.8754
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       0.9
      ],
      [
       7.6,
       0.9
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ],
      [
       7.96,
       1.0
      ],
      [
       8.0,
       1.0
      ],
      [
       8.04,
       1.0
      ],
      [
       8.08,
       1.0
      ],
      [
       8.12,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c907dfe87c3c81004c547c64e14611d943b035e1f75a9321601d43244fd000cb",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.6517180202740356,
       "final_progress": 0.6517180202740356,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 406,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx5",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "goal_support",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "9b17cd19d097-aloha",
     "video": "media/sim-9b17cd19d097-aloha-s0.mp4",
     "poster": "media/sim-9b17cd19d097-aloha-s0.jpg",
     "trajectory": "trajectories/9b17cd19d097-aloha.json",
     "recipe": "recipes/9b17cd19d097-aloha.json",
     "seed": 0,
     "steps": 619,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.003
      ],
      [
       0.12,
       0.0089
      ],
      [
       0.18,
       0.0157
      ],
      [
       0.24,
       0.0228
      ],
      [
       0.3,
       0.0296
      ],
      [
       0.36,
       0.0358
      ],
      [
       0.42,
       0.0411
      ],
      [
       0.48,
       0.0458
      ],
      [
       0.54,
       0.0501
      ],
      [
       0.6,
       0.0546
      ],
      [
       0.66,
       0.0594
      ],
      [
       0.72,
       0.0644
      ],
      [
       0.78,
       0.069
      ],
      [
       0.84,
       0.0738
      ],
      [
       0.9,
       0.0789
      ],
      [
       0.96,
       0.0843
      ],
      [
       1.02,
       0.0901
      ],
      [
       1.08,
       0.0962
      ],
      [
       1.14,
       0.1025
      ],
      [
       1.2,
       0.109
      ],
      [
       1.26,
       0.1157
      ],
      [
       1.32,
       0.1221
      ],
      [
       1.38,
       0.1296
      ],
      [
       1.44,
       0.1286
      ],
      [
       1.5,
       0.1277
      ],
      [
       1.56,
       0.127
      ],
      [
       1.62,
       0.1267
      ],
      [
       1.68,
       0.1268
      ],
      [
       1.74,
       0.128
      ],
      [
       1.8,
       0.1299
      ],
      [
       1.86,
       0.1331
      ],
      [
       1.92,
       0.1388
      ],
      [
       1.98,
       0.1428
      ],
      [
       2.04,
       0.1435
      ],
      [
       2.1,
       0.1435
      ],
      [
       2.16,
       0.1434
      ],
      [
       2.22,
       0.1434
      ],
      [
       2.28,
       0.1433
      ],
      [
       2.34,
       0.1432
      ],
      [
       2.4,
       0.1431
      ],
      [
       2.46,
       0.1429
      ],
      [
       2.52,
       0.1425
      ],
      [
       2.58,
       0.142
      ],
      [
       2.64,
       0.1416
      ],
      [
       2.7,
       0.1414
      ],
      [
       2.76,
       0.1415
      ],
      [
       2.82,
       0.1416
      ],
      [
       2.88,
       0.1417
      ],
      [
       2.94,
       0.1419
      ],
      [
       3.0,
       0.142
      ],
      [
       3.06,
       0.1421
      ],
      [
       3.12,
       0.1422
      ],
      [
       3.18,
       0.1423
      ],
      [
       3.24,
       0.1424
      ],
      [
       3.3,
       0.1424
      ],
      [
       3.36,
       0.1425
      ],
      [
       3.42,
       0.1425
      ],
      [
       3.48,
       0.1425
      ],
      [
       3.54,
       0.1426
      ],
      [
       3.6,
       0.1426
      ],
      [
       3.66,
       0.1427
      ],
      [
       3.72,
       0.1428
      ],
      [
       3.78,
       0.1429
      ],
      [
       3.84,
       0.1429
      ],
      [
       3.9,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.02,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.14,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.26,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.38,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.5,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.62,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.74,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.86,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.98,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.1,
       0.4
      ],
      [
       5.16,
       0.4
      ],
      [
       5.22,
       0.4
      ],
      [
       5.28,
       0.4
      ],
      [
       5.34,
       0.4
      ],
      [
       5.4,
       0.4
      ],
      [
       5.46,
       0.4
      ],
      [
       5.52,
       0.4
      ],
      [
       5.58,
       0.4
      ],
      [
       5.64,
       0.4
      ],
      [
       5.7,
       0.4
      ],
      [
       5.76,
       0.4066
      ],
      [
       5.82,
       0.4275
      ],
      [
       5.88,
       0.4572
      ],
      [
       5.94,
       0.4921
      ],
      [
       6.0,
       0.5319
      ],
      [
       6.06,
       0.5767
      ],
      [
       6.12,
       0.6267
      ],
      [
       6.18,
       0.6815
      ],
      [
       6.24,
       0.7399
      ],
      [
       6.3,
       0.8008
      ],
      [
       6.36,
       0.8636
      ],
      [
       6.42,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.54,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.66,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.78,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.9,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.02,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.14,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.26,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.38,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.5,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.62,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.74,
       0.9
      ],
      [
       7.8,
       0.9
      ],
      [
       7.86,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.9
      ],
      [
       8.34,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.46,
       0.9
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       1.0
      ],
      [
       8.76,
       1.0
      ],
      [
       8.82,
       1.0
      ],
      [
       8.88,
       1.0
      ],
      [
       8.94,
       1.0
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       1.0
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       0.9
      ],
      [
       9.36,
       0.9
      ],
      [
       9.42,
       0.9
      ],
      [
       9.48,
       1.0
      ],
      [
       9.54,
       1.0
      ],
      [
       9.6,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.72,
       0.9
      ],
      [
       9.78,
       0.9
      ],
      [
       9.84,
       0.9
      ],
      [
       9.9,
       1.0
      ],
      [
       9.96,
       1.0
      ],
      [
       10.02,
       1.0
      ],
      [
       10.08,
       1.0
      ],
      [
       10.14,
       1.0
      ],
      [
       10.2,
       1.0
      ],
      [
       10.26,
       1.0
      ],
      [
       10.32,
       1.0
      ],
      [
       10.38,
       1.0
      ],
      [
       10.44,
       1.0
      ],
      [
       10.5,
       1.0
      ],
      [
       10.56,
       1.0
      ],
      [
       10.62,
       1.0
      ],
      [
       10.68,
       1.0
      ],
      [
       10.74,
       1.0
      ],
      [
       10.8,
       1.0
      ],
      [
       10.86,
       1.0
      ],
      [
       10.92,
       1.0
      ],
      [
       10.98,
       1.0
      ],
      [
       11.04,
       1.0
      ],
      [
       11.1,
       1.0
      ],
      [
       11.16,
       1.0
      ],
      [
       11.22,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.34,
       1.0
      ],
      [
       11.4,
       1.0
      ],
      [
       11.46,
       1.0
      ],
      [
       11.52,
       0.9
      ],
      [
       11.58,
       1.0
      ],
      [
       11.64,
       0.9
      ],
      [
       11.7,
       1.0
      ],
      [
       11.76,
       1.0
      ],
      [
       11.82,
       1.0
      ],
      [
       11.88,
       0.9
      ],
      [
       11.94,
       1.0
      ],
      [
       12.0,
       1.0
      ],
      [
       12.06,
       1.0
      ],
      [
       12.12,
       1.0
      ],
      [
       12.18,
       1.0
      ],
      [
       12.24,
       1.0
      ],
      [
       12.3,
       1.0
      ],
      [
       12.36,
       1.0
      ],
      [
       12.38,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "d6de1454ebe6e1117a1437749547ce356e069fbce28f930cdc429e76d52cc0ce",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011447340604948063,
       "final_progress": 0.0011447340604948063,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.08920439587891545,
       "final_progress": 0.08920439587891545,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": true,
       "return": 2.0,
       "final_progress": 1.0,
       "steps": 446,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 619,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx5",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "green_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "goal_support",
       "label": "green basin"
      },
      {
       "name": "white_dish_stand_0",
       "source": "primitive:wire_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "white dish stand"
      },
      {
       "name": "dish_sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish sponge"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "water_bottle_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "water bottle"
      },
      {
       "name": "clear_glass_0",
       "source": "primitive:glass",
       "grounding": "observed",
       "role": "clutter",
       "label": "clear glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "b70db57a15af5cffbfa4429a814f46b9bb6157573658e4e9d340166343920c0a",
   "recording_id": 8087,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "blue worktable",
   "human_action": true,
   "description": "In the footage: Wipe the visible blue worktable with the pale green wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d76 cm patch (turned 20\u00b0) on the blue worktable among the sponge and the spray bottle and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 8087,
    "contributor_id": 11,
    "video": "media/source-8087-e72dcf48d511.mp4",
    "poster": "media/source-8087.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8087,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8087_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.555,
      "original_end_s": 310.555,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "464bae3697cadf7ed2b837412423f1811849b832abe366ff77185f40ab1d82b4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "b70db57a15af-panda",
     "video": "media/sim-b70db57a15af-panda-s0.mp4",
     "poster": "media/sim-b70db57a15af-panda-s0.jpg",
     "trajectory": "trajectories/b70db57a15af-panda.json",
     "recipe": "recipes/b70db57a15af-panda.json",
     "seed": 0,
     "steps": 424,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0008
      ],
      [
       0.12,
       0.0029
      ],
      [
       0.16,
       0.0053
      ],
      [
       0.2,
       0.0074
      ],
      [
       0.24,
       0.0095
      ],
      [
       0.28,
       0.012
      ],
      [
       0.32,
       0.0147
      ],
      [
       0.36,
       0.0176
      ],
      [
       0.4,
       0.0205
      ],
      [
       0.44,
       0.0237
      ],
      [
       0.48,
       0.027
      ],
      [
       0.52,
       0.0305
      ],
      [
       0.56,
       0.0341
      ],
      [
       0.6,
       0.0379
      ],
      [
       0.64,
       0.0419
      ],
      [
       0.68,
       0.046
      ],
      [
       0.72,
       0.0503
      ],
      [
       0.76,
       0.0546
      ],
      [
       0.8,
       0.0591
      ],
      [
       0.84,
       0.0636
      ],
      [
       0.88,
       0.0683
      ],
      [
       0.92,
       0.0732
      ],
      [
       0.96,
       0.0783
      ],
      [
       1.0,
       0.0837
      ],
      [
       1.04,
       0.0893
      ],
      [
       1.08,
       0.0951
      ],
      [
       1.12,
       0.1011
      ],
      [
       1.16,
       0.1072
      ],
      [
       1.2,
       0.1136
      ],
      [
       1.24,
       0.1202
      ],
      [
       1.28,
       0.1268
      ],
      [
       1.32,
       0.1333
      ],
      [
       1.36,
       0.1395
      ],
      [
       1.4,
       0.1434
      ],
      [
       1.44,
       0.1401
      ],
      [
       1.48,
       0.1406
      ],
      [
       1.52,
       0.1431
      ],
      [
       1.56,
       0.1437
      ],
      [
       1.6,
       0.1436
      ],
      [
       1.64,
       0.1437
      ],
      [
       1.68,
       0.1434
      ],
      [
       1.72,
       0.1421
      ],
      [
       1.76,
       0.1408
      ],
      [
       1.8,
       0.14
      ],
      [
       1.84,
       0.1399
      ],
      [
       1.88,
       0.1402
      ],
      [
       1.92,
       0.1407
      ],
      [
       1.96,
       0.141
      ],
      [
       2.0,
       0.1411
      ],
      [
       2.04,
       0.1413
      ],
      [
       2.08,
       0.1418
      ],
      [
       2.12,
       0.1428
      ],
      [
       2.16,
       0.1439
      ],
      [
       2.2,
       0.1451
      ],
      [
       2.24,
       0.1461
      ],
      [
       2.28,
       0.1468
      ],
      [
       2.32,
       0.1474
      ],
      [
       2.36,
       0.1477
      ],
      [
       2.4,
       0.1481
      ],
      [
       2.44,
       0.1485
      ],
      [
       2.48,
       0.149
      ],
      [
       2.52,
       0.1495
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.04,
       0.15
      ],
      [
       3.08,
       0.15
      ],
      [
       3.12,
       0.15
      ],
      [
       3.16,
       0.3119
      ],
      [
       3.2,
       0.3119
      ],
      [
       3.24,
       0.3119
      ],
      [
       3.28,
       0.3119
      ],
      [
       3.32,
       0.3119
      ],
      [
       3.36,
       0.3119
      ],
      [
       3.4,
       0.3119
      ],
      [
       3.44,
       0.3119
      ],
      [
       3.48,
       0.3119
      ],
      [
       3.52,
       0.3119
      ],
      [
       3.56,
       0.3119
      ],
      [
       3.6,
       0.3119
      ],
      [
       3.64,
       0.3119
      ],
      [
       3.68,
       0.3119
      ],
      [
       3.72,
       0.3119
      ],
      [
       3.76,
       0.3119
      ],
      [
       3.8,
       0.3119
      ],
      [
       3.84,
       0.3119
      ],
      [
       3.88,
       0.3119
      ],
      [
       3.92,
       0.3119
      ],
      [
       3.96,
       0.3119
      ],
      [
       4.0,
       0.3119
      ],
      [
       4.04,
       0.3119
      ],
      [
       4.08,
       0.3119
      ],
      [
       4.12,
       0.3119
      ],
      [
       4.16,
       0.3119
      ],
      [
       4.2,
       0.3119
      ],
      [
       4.24,
       0.3119
      ],
      [
       4.28,
       0.3119
      ],
      [
       4.32,
       0.3119
      ],
      [
       4.36,
       0.3119
      ],
      [
       4.4,
       0.3119
      ],
      [
       4.44,
       0.3119
      ],
      [
       4.48,
       0.3119
      ],
      [
       4.52,
       0.3119
      ],
      [
       4.56,
       0.3119
      ],
      [
       4.6,
       0.3119
      ],
      [
       4.64,
       0.3119
      ],
      [
       4.68,
       0.3119
      ],
      [
       4.72,
       0.3119
      ],
      [
       4.76,
       0.3119
      ],
      [
       4.8,
       0.3119
      ],
      [
       4.84,
       0.3119
      ],
      [
       4.88,
       0.3119
      ],
      [
       4.92,
       0.3119
      ],
      [
       4.96,
       0.3119
      ],
      [
       5.0,
       0.3119
      ],
      [
       5.04,
       0.3119
      ],
      [
       5.08,
       0.3119
      ],
      [
       5.12,
       0.3119
      ],
      [
       5.16,
       0.3119
      ],
      [
       5.2,
       0.3119
      ],
      [
       5.24,
       0.3119
      ],
      [
       5.28,
       0.3119
      ],
      [
       5.32,
       0.3119
      ],
      [
       5.36,
       0.5548
      ],
      [
       5.4,
       0.5548
      ],
      [
       5.44,
       0.5548
      ],
      [
       5.48,
       0.5548
      ],
      [
       5.52,
       0.5548
      ],
      [
       5.56,
       0.5548
      ],
      [
       5.6,
       0.5548
      ],
      [
       5.64,
       0.5548
      ],
      [
       5.68,
       0.5952
      ],
      [
       5.72,
       0.5952
      ],
      [
       5.76,
       0.5952
      ],
      [
       5.8,
       0.5952
      ],
      [
       5.84,
       0.5952
      ],
      [
       5.88,
       0.6357
      ],
      [
       5.92,
       0.6357
      ],
      [
       5.96,
       0.6357
      ],
      [
       6.0,
       0.6357
      ],
      [
       6.04,
       0.6357
      ],
      [
       6.08,
       0.6357
      ],
      [
       6.12,
       0.6357
      ],
      [
       6.16,
       0.6762
      ],
      [
       6.2,
       0.6762
      ],
      [
       6.24,
       0.6762
      ],
      [
       6.28,
       0.6762
      ],
      [
       6.32,
       0.7167
      ],
      [
       6.36,
       0.7167
      ],
      [
       6.4,
       0.7167
      ],
      [
       6.44,
       0.7167
      ],
      [
       6.48,
       0.7167
      ],
      [
       6.52,
       0.7167
      ],
      [
       6.56,
       0.7571
      ],
      [
       6.6,
       0.7571
      ],
      [
       6.64,
       0.7571
      ],
      [
       6.68,
       0.7976
      ],
      [
       6.72,
       0.7976
      ],
      [
       6.76,
       0.7976
      ],
      [
       6.8,
       0.7976
      ],
      [
       6.84,
       0.7976
      ],
      [
       6.88,
       0.7976
      ],
      [
       6.92,
       0.7976
      ],
      [
       6.96,
       0.8381
      ],
      [
       7.0,
       0.8381
      ],
      [
       7.04,
       0.8381
      ],
      [
       7.08,
       0.8381
      ],
      [
       7.12,
       0.8381
      ],
      [
       7.16,
       0.8381
      ],
      [
       7.2,
       0.8381
      ],
      [
       7.24,
       0.8381
      ],
      [
       7.28,
       0.8381
      ],
      [
       7.32,
       0.8786
      ],
      [
       7.36,
       0.8786
      ],
      [
       7.4,
       0.8786
      ],
      [
       7.44,
       0.8786
      ],
      [
       7.48,
       0.8786
      ],
      [
       7.52,
       0.8786
      ],
      [
       7.56,
       0.8786
      ],
      [
       7.6,
       0.8786
      ],
      [
       7.64,
       0.8786
      ],
      [
       7.68,
       0.8786
      ],
      [
       7.72,
       0.8786
      ],
      [
       7.76,
       0.8786
      ],
      [
       7.8,
       0.8786
      ],
      [
       7.84,
       0.8786
      ],
      [
       7.88,
       0.8786
      ],
      [
       7.92,
       0.8786
      ],
      [
       7.96,
       0.8786
      ],
      [
       8.0,
       0.8786
      ],
      [
       8.04,
       0.8786
      ],
      [
       8.08,
       0.8786
      ],
      [
       8.12,
       0.8786
      ],
      [
       8.16,
       0.8786
      ],
      [
       8.2,
       0.8786
      ],
      [
       8.24,
       0.8786
      ],
      [
       8.28,
       0.8786
      ],
      [
       8.32,
       0.8786
      ],
      [
       8.36,
       0.8786
      ],
      [
       8.4,
       0.8786
      ],
      [
       8.44,
       0.8786
      ],
      [
       8.48,
       0.9595
      ]
     ],
     "total_reward": 1.9149,
     "initial_progress": 0.0,
     "final_progress": 0.9595,
     "physics_sha256": "0873e63aa1ed733dab103def01a277030c5dbfe3804fe2253c8421b837149cb1",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0738095238095238,
       "final_progress": 0.32380952380952377,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3119047619047619,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 424,
       "return": 1.9148606636061483,
       "final_progress": 0.9595238095238094
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "b70db57a15af-aloha",
     "video": "media/sim-b70db57a15af-aloha-s4.mp4",
     "poster": "media/sim-b70db57a15af-aloha-s4.jpg",
     "trajectory": "trajectories/b70db57a15af-aloha.json",
     "recipe": "recipes/b70db57a15af-aloha.json",
     "seed": 4,
     "steps": 528,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0013
      ],
      [
       0.12,
       0.004
      ],
      [
       0.18,
       0.0073
      ],
      [
       0.24,
       0.011
      ],
      [
       0.3,
       0.0152
      ],
      [
       0.36,
       0.0198
      ],
      [
       0.42,
       0.0249
      ],
      [
       0.48,
       0.0306
      ],
      [
       0.54,
       0.0369
      ],
      [
       0.6,
       0.0438
      ],
      [
       0.66,
       0.0514
      ],
      [
       0.72,
       0.0594
      ],
      [
       0.78,
       0.0679
      ],
      [
       0.84,
       0.077
      ],
      [
       0.9,
       0.0868
      ],
      [
       0.96,
       0.0975
      ],
      [
       1.02,
       0.1094
      ],
      [
       1.08,
       0.1228
      ],
      [
       1.14,
       0.1343
      ],
      [
       1.2,
       0.1381
      ],
      [
       1.26,
       0.1392
      ],
      [
       1.32,
       0.1403
      ],
      [
       1.38,
       0.1412
      ],
      [
       1.44,
       0.1421
      ],
      [
       1.5,
       0.1428
      ],
      [
       1.56,
       0.1433
      ],
      [
       1.62,
       0.1434
      ],
      [
       1.68,
       0.1427
      ],
      [
       1.74,
       0.1411
      ],
      [
       1.8,
       0.1388
      ],
      [
       1.86,
       0.1361
      ],
      [
       1.92,
       0.1349
      ],
      [
       1.98,
       0.1359
      ],
      [
       2.04,
       0.1371
      ],
      [
       2.1,
       0.1385
      ],
      [
       2.16,
       0.1398
      ],
      [
       2.22,
       0.1402
      ],
      [
       2.28,
       0.1397
      ],
      [
       2.34,
       0.1389
      ],
      [
       2.4,
       0.1383
      ],
      [
       2.46,
       0.1378
      ],
      [
       2.52,
       0.1375
      ],
      [
       2.58,
       0.1374
      ],
      [
       2.64,
       0.1373
      ],
      [
       2.7,
       0.1373
      ],
      [
       2.76,
       0.1372
      ],
      [
       2.82,
       0.1371
      ],
      [
       2.88,
       0.1368
      ],
      [
       2.94,
       0.1363
      ],
      [
       3.0,
       0.1358
      ],
      [
       3.06,
       0.1354
      ],
      [
       3.12,
       0.1351
      ],
      [
       3.18,
       0.1349
      ],
      [
       3.24,
       0.1346
      ],
      [
       3.3,
       0.1343
      ],
      [
       3.36,
       0.134
      ],
      [
       3.42,
       0.1336
      ],
      [
       3.48,
       0.1336
      ],
      [
       3.54,
       0.1344
      ],
      [
       3.6,
       0.1366
      ],
      [
       3.66,
       0.1403
      ],
      [
       3.72,
       0.1454
      ],
      [
       3.78,
       0.15
      ],
      [
       3.84,
       0.15
      ],
      [
       3.9,
       0.15
      ],
      [
       3.96,
       0.15
      ],
      [
       4.02,
       0.15
      ],
      [
       4.08,
       0.15
      ],
      [
       4.14,
       0.15
      ],
      [
       4.2,
       0.15
      ],
      [
       4.26,
       0.15
      ],
      [
       4.32,
       0.15
      ],
      [
       4.38,
       0.3119
      ],
      [
       4.44,
       0.3119
      ],
      [
       4.5,
       0.3119
      ],
      [
       4.56,
       0.3119
      ],
      [
       4.62,
       0.3119
      ],
      [
       4.68,
       0.3119
      ],
      [
       4.74,
       0.3119
      ],
      [
       4.8,
       0.3119
      ],
      [
       4.86,
       0.3524
      ],
      [
       4.92,
       0.3524
      ],
      [
       4.98,
       0.3524
      ],
      [
       5.04,
       0.3524
      ],
      [
       5.1,
       0.3524
      ],
      [
       5.16,
       0.3524
      ],
      [
       5.22,
       0.3524
      ],
      [
       5.28,
       0.3524
      ],
      [
       5.34,
       0.3929
      ],
      [
       5.4,
       0.3929
      ],
      [
       5.46,
       0.3929
      ],
      [
       5.52,
       0.3929
      ],
      [
       5.58,
       0.3929
      ],
      [
       5.64,
       0.3929
      ],
      [
       5.7,
       0.4738
      ],
      [
       5.76,
       0.4738
      ],
      [
       5.82,
       0.4738
      ],
      [
       5.88,
       0.4738
      ],
      [
       5.94,
       0.4738
      ],
      [
       6.0,
       0.4738
      ],
      [
       6.06,
       0.4738
      ],
      [
       6.12,
       0.4738
      ],
      [
       6.18,
       0.5143
      ],
      [
       6.24,
       0.5143
      ],
      [
       6.3,
       0.5143
      ],
      [
       6.36,
       0.5143
      ],
      [
       6.42,
       0.5143
      ],
      [
       6.48,
       0.5143
      ],
      [
       6.54,
       0.5143
      ],
      [
       6.6,
       0.5548
      ],
      [
       6.66,
       0.5548
      ],
      [
       6.72,
       0.5548
      ],
      [
       6.78,
       0.5548
      ],
      [
       6.84,
       0.5548
      ],
      [
       6.9,
       0.5952
      ],
      [
       6.96,
       0.5952
      ],
      [
       7.02,
       0.5952
      ],
      [
       7.08,
       0.6357
      ],
      [
       7.14,
       0.6357
      ],
      [
       7.2,
       0.6357
      ],
      [
       7.26,
       0.6357
      ],
      [
       7.32,
       0.6357
      ],
      [
       7.38,
       0.6357
      ],
      [
       7.44,
       0.6357
      ],
      [
       7.5,
       0.6357
      ],
      [
       7.56,
       0.6762
      ],
      [
       7.62,
       0.6762
      ],
      [
       7.68,
       0.6762
      ],
      [
       7.74,
       0.6762
      ],
      [
       7.8,
       0.6762
      ],
      [
       7.86,
       0.7167
      ],
      [
       7.92,
       0.7167
      ],
      [
       7.98,
       0.7167
      ],
      [
       8.04,
       0.7167
      ],
      [
       8.1,
       0.7167
      ],
      [
       8.16,
       0.7167
      ],
      [
       8.22,
       0.7167
      ],
      [
       8.28,
       0.7167
      ],
      [
       8.34,
       0.7167
      ],
      [
       8.4,
       0.7167
      ],
      [
       8.46,
       0.7167
      ],
      [
       8.52,
       0.7167
      ],
      [
       8.58,
       0.7167
      ],
      [
       8.64,
       0.7167
      ],
      [
       8.7,
       0.7571
      ],
      [
       8.76,
       0.7571
      ],
      [
       8.82,
       0.7976
      ],
      [
       8.88,
       0.7976
      ],
      [
       8.94,
       0.7976
      ],
      [
       9.0,
       0.7976
      ],
      [
       9.06,
       0.7976
      ],
      [
       9.12,
       0.7976
      ],
      [
       9.18,
       0.7976
      ],
      [
       9.24,
       0.7976
      ],
      [
       9.3,
       0.7976
      ],
      [
       9.36,
       0.7976
      ],
      [
       9.42,
       0.7976
      ],
      [
       9.48,
       0.7976
      ],
      [
       9.54,
       0.8381
      ],
      [
       9.6,
       0.8381
      ],
      [
       9.66,
       0.8381
      ],
      [
       9.72,
       0.8381
      ],
      [
       9.78,
       0.8381
      ],
      [
       9.84,
       0.8381
      ],
      [
       9.9,
       0.8381
      ],
      [
       9.96,
       0.8381
      ],
      [
       10.02,
       0.8381
      ],
      [
       10.08,
       0.8786
      ],
      [
       10.14,
       0.8786
      ],
      [
       10.2,
       0.8786
      ],
      [
       10.26,
       0.8786
      ],
      [
       10.32,
       0.8786
      ],
      [
       10.38,
       0.8786
      ],
      [
       10.44,
       0.8786
      ],
      [
       10.5,
       0.8786
      ],
      [
       10.56,
       0.919
      ]
     ],
     "total_reward": 1.9022,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "ab4731ab646d6dbff8e566187acd6c627d976a0111d1b01aabdd9fb09e3be93a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013049053067418547,
       "final_progress": 0.0013049053067418547,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 5.421010862427522e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.2876714603506955,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.2568084744089993,
       "final_progress": 0.3119047619047619
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.14139321766948945,
       "final_progress": 0.14139321766948945
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7898825708853432,
       "final_progress": 0.8785714285714286
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.22300650645753245,
       "final_progress": 0.2714285714285714
      },
      {
       "layout_seed": 4,
       "outcome": "success",
       "steps": 528,
       "return": 1.9022142767553527,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "68bed8def6f7a76c7221568dbf1ea1272769d8fcfb9681e7dcb6ab98dffa6189",
   "recording_id": 8087,
   "task_number": 2,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "blue worktable",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the blue worktable among the tool tray and the phone and pull the drawer 10 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the blue worktable among the tool tray and the phone and pull the drawer 10 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u226510 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 8087,
    "contributor_id": 11,
    "video": "media/source-8087-e72dcf48d511.mp4",
    "poster": "media/source-8087.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8087,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8087_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.555,
      "original_end_s": 310.555,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "464bae3697cadf7ed2b837412423f1811849b832abe366ff77185f40ab1d82b4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "68bed8def6f7-panda",
     "video": "media/sim-68bed8def6f7-panda-s0.mp4",
     "poster": "media/sim-68bed8def6f7-panda-s0.jpg",
     "trajectory": "trajectories/68bed8def6f7-panda.json",
     "recipe": "recipes/68bed8def6f7-panda.json",
     "seed": 0,
     "steps": 266,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0
      ],
      [
       1.32,
       0.0
      ],
      [
       1.34,
       0.0
      ],
      [
       1.36,
       0.0
      ],
      [
       1.38,
       0.0016
      ],
      [
       1.4,
       0.0041
      ],
      [
       1.42,
       0.0067
      ],
      [
       1.44,
       0.0094
      ],
      [
       1.46,
       0.0123
      ],
      [
       1.48,
       0.0154
      ],
      [
       1.5,
       0.0186
      ],
      [
       1.52,
       0.0219
      ],
      [
       1.54,
       0.0252
      ],
      [
       1.56,
       0.0285
      ],
      [
       1.58,
       0.0318
      ],
      [
       1.6,
       0.0349
      ],
      [
       1.62,
       0.0379
      ],
      [
       1.64,
       0.0407
      ],
      [
       1.66,
       0.0434
      ],
      [
       1.68,
       0.0458
      ],
      [
       1.7,
       0.0479
      ],
      [
       1.72,
       0.0499
      ],
      [
       1.74,
       0.0517
      ],
      [
       1.76,
       0.0533
      ],
      [
       1.78,
       0.0548
      ],
      [
       1.8,
       0.056
      ],
      [
       1.82,
       0.0572
      ],
      [
       1.84,
       0.0583
      ],
      [
       1.86,
       0.0593
      ],
      [
       1.88,
       0.0603
      ],
      [
       1.9,
       0.0613
      ],
      [
       1.92,
       0.0622
      ],
      [
       1.94,
       0.0631
      ],
      [
       1.96,
       0.064
      ],
      [
       1.98,
       0.0648
      ],
      [
       2.0,
       0.0656
      ],
      [
       2.02,
       0.0663
      ],
      [
       2.04,
       0.0671
      ],
      [
       2.06,
       0.0678
      ],
      [
       2.08,
       0.0685
      ],
      [
       2.1,
       0.0692
      ],
      [
       2.12,
       0.07
      ],
      [
       2.14,
       0.0707
      ],
      [
       2.16,
       0.0714
      ],
      [
       2.18,
       0.0721
      ],
      [
       2.2,
       0.0728
      ],
      [
       2.22,
       0.0736
      ],
      [
       2.24,
       0.0743
      ],
      [
       2.26,
       0.0751
      ],
      [
       2.28,
       0.0759
      ],
      [
       2.3,
       0.0767
      ],
      [
       2.32,
       0.0776
      ],
      [
       2.34,
       0.0785
      ],
      [
       2.36,
       0.0794
      ],
      [
       2.38,
       0.0803
      ],
      [
       2.4,
       0.0813
      ],
      [
       2.42,
       0.0823
      ],
      [
       2.44,
       0.0834
      ],
      [
       2.46,
       0.0845
      ],
      [
       2.48,
       0.0857
      ],
      [
       2.5,
       0.0869
      ],
      [
       2.52,
       0.0881
      ],
      [
       2.54,
       0.0895
      ],
      [
       2.56,
       0.0908
      ],
      [
       2.58,
       0.0923
      ],
      [
       2.6,
       0.0938
      ],
      [
       2.62,
       0.0954
      ],
      [
       2.64,
       0.097
      ],
      [
       2.66,
       0.0988
      ],
      [
       2.68,
       0.1006
      ],
      [
       2.7,
       0.1025
      ],
      [
       2.72,
       0.1045
      ],
      [
       2.74,
       0.1067
      ],
      [
       2.76,
       0.109
      ],
      [
       2.78,
       0.1114
      ],
      [
       2.8,
       0.1136
      ],
      [
       2.82,
       0.1155
      ],
      [
       2.84,
       0.1171
      ],
      [
       2.86,
       0.1186
      ],
      [
       2.88,
       0.12
      ],
      [
       2.9,
       0.1212
      ],
      [
       2.92,
       0.1223
      ],
      [
       2.94,
       0.1232
      ],
      [
       2.96,
       0.1241
      ],
      [
       2.98,
       0.1249
      ],
      [
       3.0,
       0.126
      ],
      [
       3.02,
       0.1273
      ],
      [
       3.04,
       0.1288
      ],
      [
       3.06,
       0.1305
      ],
      [
       3.08,
       0.1322
      ],
      [
       3.1,
       0.134
      ],
      [
       3.12,
       0.1358
      ],
      [
       3.14,
       0.1376
      ],
      [
       3.16,
       0.1396
      ],
      [
       3.18,
       0.1417
      ],
      [
       3.2,
       0.1439
      ],
      [
       3.22,
       0.1464
      ],
      [
       3.24,
       0.1478
      ],
      [
       3.26,
       0.151
      ],
      [
       3.28,
       0.1466
      ],
      [
       3.3,
       0.1468
      ],
      [
       3.32,
       0.147
      ],
      [
       3.34,
       0.1471
      ],
      [
       3.36,
       0.1471
      ],
      [
       3.38,
       0.147
      ],
      [
       3.4,
       0.147
      ],
      [
       3.42,
       0.1469
      ],
      [
       3.44,
       0.1469
      ],
      [
       3.46,
       0.1469
      ],
      [
       3.48,
       0.1468
      ],
      [
       3.5,
       0.1468
      ],
      [
       3.52,
       0.1468
      ],
      [
       3.54,
       0.1468
      ],
      [
       3.56,
       0.1467
      ],
      [
       3.58,
       0.1494
      ],
      [
       3.6,
       0.1527
      ],
      [
       3.62,
       0.1568
      ],
      [
       3.64,
       0.1615
      ],
      [
       3.66,
       0.1668
      ],
      [
       3.68,
       0.1726
      ],
      [
       3.7,
       0.179
      ],
      [
       3.72,
       0.1859
      ],
      [
       3.74,
       0.1934
      ],
      [
       3.76,
       0.196
      ],
      [
       3.78,
       0.1953
      ],
      [
       3.8,
       0.1941
      ],
      [
       3.82,
       0.1932
      ],
      [
       3.84,
       0.1928
      ],
      [
       3.86,
       0.1928
      ],
      [
       3.88,
       0.1938
      ],
      [
       3.9,
       0.1968
      ],
      [
       3.92,
       0.2022
      ],
      [
       3.94,
       0.2091
      ],
      [
       3.96,
       0.2169
      ],
      [
       3.98,
       0.2249
      ],
      [
       4.0,
       0.237
      ],
      [
       4.02,
       0.2452
      ],
      [
       4.04,
       0.2537
      ],
      [
       4.06,
       0.2624
      ],
      [
       4.08,
       0.2714
      ],
      [
       4.1,
       0.2807
      ],
      [
       4.12,
       0.2904
      ],
      [
       4.14,
       0.3004
      ],
      [
       4.16,
       0.3107
      ],
      [
       4.18,
       0.3213
      ],
      [
       4.2,
       0.3321
      ],
      [
       4.22,
       0.3431
      ],
      [
       4.24,
       0.3544
      ],
      [
       4.26,
       0.3661
      ],
      [
       4.28,
       0.3782
      ],
      [
       4.3,
       0.3906
      ],
      [
       4.32,
       0.4032
      ],
      [
       4.34,
       0.4162
      ],
      [
       4.36,
       0.4294
      ],
      [
       4.38,
       0.4429
      ],
      [
       4.4,
       0.4566
      ],
      [
       4.42,
       0.4707
      ],
      [
       4.44,
       0.485
      ],
      [
       4.46,
       0.4995
      ],
      [
       4.48,
       0.5144
      ],
      [
       4.5,
       0.5295
      ],
      [
       4.52,
       0.5448
      ],
      [
       4.54,
       0.5604
      ],
      [
       4.56,
       0.5762
      ],
      [
       4.58,
       0.5923
      ],
      [
       4.6,
       0.6086
      ],
      [
       4.62,
       0.6251
      ],
      [
       4.64,
       0.6418
      ],
      [
       4.66,
       0.6588
      ],
      [
       4.68,
       0.676
      ],
      [
       4.7,
       0.6934
      ],
      [
       4.72,
       0.711
      ],
      [
       4.74,
       0.7288
      ],
      [
       4.76,
       0.7468
      ],
      [
       4.78,
       0.7649
      ],
      [
       4.8,
       0.7833
      ],
      [
       4.82,
       0.8018
      ],
      [
       4.84,
       0.8204
      ],
      [
       4.86,
       0.8393
      ],
      [
       4.88,
       0.8582
      ],
      [
       4.9,
       0.8772
      ],
      [
       4.92,
       0.8966
      ],
      [
       4.94,
       0.9162
      ],
      [
       4.96,
       0.9359
      ],
      [
       4.98,
       0.9557
      ],
      [
       5.0,
       0.9757
      ],
      [
       5.02,
       0.9972
      ],
      [
       5.04,
       1.0
      ],
      [
       5.06,
       1.0
      ],
      [
       5.08,
       1.0
      ],
      [
       5.1,
       1.0
      ],
      [
       5.12,
       1.0
      ],
      [
       5.14,
       1.0
      ],
      [
       5.16,
       1.0
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       1.0
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "521725641e8d04c096e8055ab4c9b2d9e0ffb5832394cdcdc485f377f45eec4b",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.94633153406988e-05,
       "final_progress": 4.274682484850366e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 4.0010193565219454e-05,
       "final_progress": 4.329370307302337e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.07196371818726689,
       "final_progress": 0.0719670016967747,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 266,
       "return": 1.9999967164904922,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx36",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "68bed8def6f7-aloha",
     "video": "media/sim-68bed8def6f7-aloha-s0.mp4",
     "poster": "media/sim-68bed8def6f7-aloha-s0.jpg",
     "trajectory": "trajectories/68bed8def6f7-aloha.json",
     "recipe": "recipes/68bed8def6f7-aloha.json",
     "seed": 0,
     "steps": 331,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0021
      ],
      [
       0.08,
       0.0066
      ],
      [
       0.12,
       0.0119
      ],
      [
       0.16,
       0.0177
      ],
      [
       0.2,
       0.0237
      ],
      [
       0.24,
       0.0295
      ],
      [
       0.28,
       0.035
      ],
      [
       0.32,
       0.0401
      ],
      [
       0.36,
       0.0448
      ],
      [
       0.4,
       0.0492
      ],
      [
       0.44,
       0.0536
      ],
      [
       0.48,
       0.0576
      ],
      [
       0.52,
       0.0606
      ],
      [
       0.56,
       0.062
      ],
      [
       0.6,
       0.0626
      ],
      [
       0.64,
       0.0631
      ],
      [
       0.68,
       0.0634
      ],
      [
       0.72,
       0.0637
      ],
      [
       0.76,
       0.0638
      ],
      [
       0.8,
       0.0641
      ],
      [
       0.84,
       0.0654
      ],
      [
       0.88,
       0.067
      ],
      [
       0.92,
       0.0687
      ],
      [
       0.96,
       0.0704
      ],
      [
       1.0,
       0.0721
      ],
      [
       1.04,
       0.0738
      ],
      [
       1.08,
       0.0757
      ],
      [
       1.12,
       0.0779
      ],
      [
       1.16,
       0.0804
      ],
      [
       1.2,
       0.0833
      ],
      [
       1.24,
       0.0865
      ],
      [
       1.28,
       0.0903
      ],
      [
       1.32,
       0.0944
      ],
      [
       1.36,
       0.099
      ],
      [
       1.4,
       0.1028
      ],
      [
       1.44,
       0.1041
      ],
      [
       1.48,
       0.106
      ],
      [
       1.52,
       0.1079
      ],
      [
       1.56,
       0.11
      ],
      [
       1.6,
       0.1136
      ],
      [
       1.64,
       0.1245
      ],
      [
       1.68,
       0.1229
      ],
      [
       1.72,
       0.1225
      ],
      [
       1.76,
       0.1223
      ],
      [
       1.8,
       0.1221
      ],
      [
       1.84,
       0.1218
      ],
      [
       1.88,
       0.1216
      ],
      [
       1.92,
       0.1214
      ],
      [
       1.96,
       0.1212
      ],
      [
       2.0,
       0.121
      ],
      [
       2.04,
       0.1208
      ],
      [
       2.08,
       0.1206
      ],
      [
       2.12,
       0.1204
      ],
      [
       2.16,
       0.1202
      ],
      [
       2.2,
       0.1201
      ],
      [
       2.24,
       0.12
      ],
      [
       2.28,
       0.1199
      ],
      [
       2.32,
       0.1199
      ],
      [
       2.36,
       0.1198
      ],
      [
       2.4,
       0.1199
      ],
      [
       2.44,
       0.1199
      ],
      [
       2.48,
       0.1201
      ],
      [
       2.52,
       0.1203
      ],
      [
       2.56,
       0.1205
      ],
      [
       2.6,
       0.1209
      ],
      [
       2.64,
       0.1215
      ],
      [
       2.68,
       0.1224
      ],
      [
       2.72,
       0.1238
      ],
      [
       2.76,
       0.1257
      ],
      [
       2.8,
       0.1284
      ],
      [
       2.84,
       0.1388
      ],
      [
       2.88,
       0.1439
      ],
      [
       2.92,
       0.1443
      ],
      [
       2.96,
       0.1444
      ],
      [
       3.0,
       0.1446
      ],
      [
       3.04,
       0.1449
      ],
      [
       3.08,
       0.1451
      ],
      [
       3.12,
       0.1453
      ],
      [
       3.16,
       0.1454
      ],
      [
       3.2,
       0.1456
      ],
      [
       3.24,
       0.1457
      ],
      [
       3.28,
       0.1458
      ],
      [
       3.32,
       0.1459
      ],
      [
       3.36,
       0.1459
      ],
      [
       3.4,
       0.1459
      ],
      [
       3.44,
       0.1459
      ],
      [
       3.48,
       0.1459
      ],
      [
       3.52,
       0.1459
      ],
      [
       3.56,
       0.1459
      ],
      [
       3.6,
       0.1459
      ],
      [
       3.64,
       0.1458
      ],
      [
       3.68,
       0.1458
      ],
      [
       3.72,
       0.1458
      ],
      [
       3.76,
       0.1458
      ],
      [
       3.8,
       0.1457
      ],
      [
       3.84,
       0.1456
      ],
      [
       3.88,
       0.1455
      ],
      [
       3.92,
       0.1455
      ],
      [
       3.96,
       0.1455
      ],
      [
       4.0,
       0.1455
      ],
      [
       4.04,
       0.1454
      ],
      [
       4.08,
       0.1453
      ],
      [
       4.12,
       0.1453
      ],
      [
       4.16,
       0.1452
      ],
      [
       4.2,
       0.1451
      ],
      [
       4.24,
       0.1449
      ],
      [
       4.28,
       0.1449
      ],
      [
       4.32,
       0.1448
      ],
      [
       4.36,
       0.1447
      ],
      [
       4.4,
       0.1453
      ],
      [
       4.44,
       0.1462
      ],
      [
       4.48,
       0.1473
      ],
      [
       4.52,
       0.1485
      ],
      [
       4.56,
       0.1499
      ],
      [
       4.6,
       0.1513
      ],
      [
       4.64,
       0.1529
      ],
      [
       4.68,
       0.1546
      ],
      [
       4.72,
       0.1564
      ],
      [
       4.76,
       0.1584
      ],
      [
       4.8,
       0.1604
      ],
      [
       4.84,
       0.1626
      ],
      [
       4.88,
       0.1649
      ],
      [
       4.92,
       0.1705
      ],
      [
       4.96,
       0.1744
      ],
      [
       5.0,
       0.1809
      ],
      [
       5.04,
       0.1865
      ],
      [
       5.08,
       0.1918
      ],
      [
       5.12,
       0.1991
      ],
      [
       5.16,
       0.2047
      ],
      [
       5.2,
       0.2131
      ],
      [
       5.24,
       0.2198
      ],
      [
       5.28,
       0.2376
      ],
      [
       5.32,
       0.2505
      ],
      [
       5.36,
       0.2718
      ],
      [
       5.4,
       0.3018
      ],
      [
       5.44,
       0.3331
      ],
      [
       5.48,
       0.3631
      ],
      [
       5.52,
       0.3926
      ],
      [
       5.56,
       0.4221
      ],
      [
       5.6,
       0.4517
      ],
      [
       5.64,
       0.4815
      ],
      [
       5.68,
       0.5115
      ],
      [
       5.72,
       0.5417
      ],
      [
       5.76,
       0.5721
      ],
      [
       5.8,
       0.6027
      ],
      [
       5.84,
       0.6334
      ],
      [
       5.88,
       0.6642
      ],
      [
       5.92,
       0.695
      ],
      [
       5.96,
       0.7258
      ],
      [
       6.0,
       0.7567
      ],
      [
       6.04,
       0.7876
      ],
      [
       6.08,
       0.8183
      ],
      [
       6.12,
       0.8492
      ],
      [
       6.16,
       0.8799
      ],
      [
       6.2,
       0.9103
      ],
      [
       6.24,
       0.9404
      ],
      [
       6.28,
       0.9703
      ],
      [
       6.32,
       0.9998
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.62,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "43da7e43d95c410ef6a091fdd59430716ba71bce84e670a3d082b4a11c6c9f25",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013667567427402866,
       "final_progress": 0.0013673938940974438,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.49999210437193065,
       "final_progress": 8.53277942652069e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 7.895628069417312e-06,
       "final_progress": 8.532779426571027e-06,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 331,
       "return": 1.999999362848643,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx36",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "ef6174b42e329a37304b3d30f36361f2cf7362dfcdd823d0fe494c15fee9b607",
   "recording_id": 8087,
   "task_number": 3,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "blue worktable",
   "human_action": false,
   "description": "Slide the sponge across the blue worktable among the marker and the phone onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the sponge across the blue worktable among the marker and the phone onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 8087,
    "contributor_id": 11,
    "video": "media/source-8087-e72dcf48d511.mp4",
    "poster": "media/source-8087.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8087,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8087_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.555,
      "original_end_s": 310.555,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "464bae3697cadf7ed2b837412423f1811849b832abe366ff77185f40ab1d82b4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "ef6174b42e32-panda",
     "video": "media/sim-ef6174b42e32-panda-s0.mp4",
     "poster": "media/sim-ef6174b42e32-panda-s0.jpg",
     "trajectory": "trajectories/ef6174b42e32-panda.json",
     "recipe": "recipes/ef6174b42e32-panda.json",
     "seed": 0,
     "steps": 231,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0001
      ],
      [
       0.04,
       0.0003
      ],
      [
       0.06,
       0.0007
      ],
      [
       0.08,
       0.0012
      ],
      [
       0.1,
       0.0018
      ],
      [
       0.12,
       0.0026
      ],
      [
       0.14,
       0.0035
      ],
      [
       0.16,
       0.0046
      ],
      [
       0.18,
       0.0058
      ],
      [
       0.2,
       0.0071
      ],
      [
       0.22,
       0.0086
      ],
      [
       0.24,
       0.0104
      ],
      [
       0.26,
       0.0124
      ],
      [
       0.28,
       0.0148
      ],
      [
       0.3,
       0.0174
      ],
      [
       0.32,
       0.0202
      ],
      [
       0.34,
       0.0233
      ],
      [
       0.36,
       0.0266
      ],
      [
       0.38,
       0.03
      ],
      [
       0.4,
       0.0336
      ],
      [
       0.42,
       0.0373
      ],
      [
       0.44,
       0.0412
      ],
      [
       0.46,
       0.0452
      ],
      [
       0.48,
       0.0492
      ],
      [
       0.5,
       0.0534
      ],
      [
       0.52,
       0.0576
      ],
      [
       0.54,
       0.0618
      ],
      [
       0.56,
       0.0661
      ],
      [
       0.58,
       0.0705
      ],
      [
       0.6,
       0.0748
      ],
      [
       0.62,
       0.0791
      ],
      [
       0.64,
       0.0835
      ],
      [
       0.66,
       0.0877
      ],
      [
       0.68,
       0.0918
      ],
      [
       0.7,
       0.0957
      ],
      [
       0.72,
       0.0997
      ],
      [
       0.74,
       0.1035
      ],
      [
       0.76,
       0.1068
      ],
      [
       0.78,
       0.1097
      ],
      [
       0.8,
       0.1123
      ],
      [
       0.82,
       0.1148
      ],
      [
       0.84,
       0.1171
      ],
      [
       0.86,
       0.1192
      ],
      [
       0.88,
       0.121
      ],
      [
       0.9,
       0.1226
      ],
      [
       0.92,
       0.1242
      ],
      [
       0.94,
       0.1258
      ],
      [
       0.96,
       0.1275
      ],
      [
       0.98,
       0.1293
      ],
      [
       1.0,
       0.1312
      ],
      [
       1.02,
       0.1332
      ],
      [
       1.04,
       0.1352
      ],
      [
       1.06,
       0.1369
      ],
      [
       1.08,
       0.1382
      ],
      [
       1.1,
       0.139
      ],
      [
       1.12,
       0.1392
      ],
      [
       1.14,
       0.1394
      ],
      [
       1.16,
       0.1397
      ],
      [
       1.18,
       0.1405
      ],
      [
       1.2,
       0.1413
      ],
      [
       1.22,
       0.1424
      ],
      [
       1.24,
       0.1462
      ],
      [
       1.26,
       0.1592
      ],
      [
       1.28,
       0.17
      ],
      [
       1.3,
       0.1929
      ],
      [
       1.32,
       0.2057
      ],
      [
       1.34,
       0.2183
      ],
      [
       1.36,
       0.2276
      ],
      [
       1.38,
       0.2414
      ],
      [
       1.4,
       0.2498
      ],
      [
       1.42,
       0.262
      ],
      [
       1.44,
       0.2708
      ],
      [
       1.46,
       0.2811
      ],
      [
       1.48,
       0.292
      ],
      [
       1.5,
       0.3003
      ],
      [
       1.52,
       0.3099
      ],
      [
       1.54,
       0.3179
      ],
      [
       1.56,
       0.3265
      ],
      [
       1.58,
       0.3362
      ],
      [
       1.6,
       0.3463
      ],
      [
       1.62,
       0.355
      ],
      [
       1.64,
       0.3637
      ],
      [
       1.66,
       0.3757
      ],
      [
       1.68,
       0.3884
      ],
      [
       1.7,
       0.3971
      ],
      [
       1.72,
       0.4094
      ],
      [
       1.74,
       0.4208
      ],
      [
       1.76,
       0.4327
      ],
      [
       1.78,
       0.4441
      ],
      [
       1.8,
       0.4592
      ],
      [
       1.82,
       0.47
      ],
      [
       1.84,
       0.4843
      ],
      [
       1.86,
       0.4946
      ],
      [
       1.88,
       0.5085
      ],
      [
       1.9,
       0.5189
      ],
      [
       1.92,
       0.5314
      ],
      [
       1.94,
       0.5444
      ],
      [
       1.96,
       0.5567
      ],
      [
       1.98,
       0.567
      ],
      [
       2.0,
       0.5808
      ],
      [
       2.02,
       0.5882
      ],
      [
       2.04,
       0.5999
      ],
      [
       2.06,
       0.607
      ],
      [
       2.08,
       0.6168
      ],
      [
       2.1,
       0.6253
      ],
      [
       2.12,
       0.632
      ],
      [
       2.14,
       0.6419
      ],
      [
       2.16,
       0.6501
      ],
      [
       2.18,
       0.6581
      ],
      [
       2.2,
       0.6644
      ],
      [
       2.22,
       0.6734
      ],
      [
       2.24,
       0.6808
      ],
      [
       2.26,
       0.6874
      ],
      [
       2.28,
       0.6955
      ],
      [
       2.3,
       0.7023
      ],
      [
       2.32,
       0.7094
      ],
      [
       2.34,
       0.7155
      ],
      [
       2.36,
       0.7222
      ],
      [
       2.38,
       0.7295
      ],
      [
       2.4,
       0.7358
      ],
      [
       2.42,
       0.7421
      ],
      [
       2.44,
       0.7476
      ],
      [
       2.46,
       0.7545
      ],
      [
       2.48,
       0.7598
      ],
      [
       2.5,
       0.7657
      ],
      [
       2.52,
       0.7718
      ],
      [
       2.54,
       0.7772
      ],
      [
       2.56,
       0.7824
      ],
      [
       2.58,
       0.788
      ],
      [
       2.6,
       0.7929
      ],
      [
       2.62,
       0.7979
      ],
      [
       2.64,
       0.8017
      ],
      [
       2.66,
       0.8074
      ],
      [
       2.68,
       0.8113
      ],
      [
       2.7,
       0.816
      ],
      [
       2.72,
       0.8201
      ],
      [
       2.74,
       0.8247
      ],
      [
       2.76,
       0.8281
      ],
      [
       2.78,
       0.832
      ],
      [
       2.8,
       0.8364
      ],
      [
       2.82,
       0.8402
      ],
      [
       2.84,
       0.8436
      ],
      [
       2.86,
       0.8472
      ],
      [
       2.88,
       0.8504
      ],
      [
       2.9,
       0.8543
      ],
      [
       2.92,
       0.8573
      ],
      [
       2.94,
       0.8601
      ],
      [
       2.96,
       0.8636
      ],
      [
       2.98,
       0.8666
      ],
      [
       3.0,
       0.8695
      ],
      [
       3.02,
       0.8723
      ],
      [
       3.04,
       0.8752
      ],
      [
       3.06,
       0.878
      ],
      [
       3.08,
       0.8805
      ],
      [
       3.1,
       0.8831
      ],
      [
       3.12,
       0.885
      ],
      [
       3.14,
       0.8879
      ],
      [
       3.16,
       0.89
      ],
      [
       3.18,
       0.8929
      ],
      [
       3.2,
       0.8947
      ],
      [
       3.22,
       0.897
      ],
      [
       3.24,
       0.8992
      ],
      [
       3.26,
       0.9011
      ],
      [
       3.28,
       0.9031
      ],
      [
       3.3,
       0.9049
      ],
      [
       3.32,
       0.907
      ],
      [
       3.34,
       0.9085
      ],
      [
       3.36,
       0.9106
      ],
      [
       3.38,
       0.9123
      ],
      [
       3.4,
       0.9144
      ],
      [
       3.42,
       0.9156
      ],
      [
       3.44,
       0.9174
      ],
      [
       3.46,
       0.9193
      ],
      [
       3.48,
       0.9205
      ],
      [
       3.5,
       0.9221
      ],
      [
       3.52,
       0.9237
      ],
      [
       3.54,
       0.9256
      ],
      [
       3.56,
       0.9266
      ],
      [
       3.58,
       0.9281
      ],
      [
       3.6,
       0.9295
      ],
      [
       3.62,
       0.9311
      ],
      [
       3.64,
       0.9323
      ],
      [
       3.66,
       0.9336
      ],
      [
       3.68,
       0.935
      ],
      [
       3.7,
       0.9367
      ],
      [
       3.72,
       0.9373
      ],
      [
       3.74,
       0.9388
      ],
      [
       3.76,
       0.9401
      ],
      [
       3.78,
       0.9414
      ],
      [
       3.8,
       0.9423
      ],
      [
       3.82,
       0.9438
      ],
      [
       3.84,
       0.945
      ],
      [
       3.86,
       0.9462
      ],
      [
       3.88,
       0.9476
      ],
      [
       3.9,
       0.9482
      ],
      [
       3.92,
       0.9496
      ],
      [
       3.94,
       0.9509
      ],
      [
       3.96,
       0.952
      ],
      [
       3.98,
       0.9532
      ],
      [
       4.0,
       0.9545
      ],
      [
       4.02,
       0.9556
      ],
      [
       4.04,
       0.9568
      ],
      [
       4.06,
       0.9584
      ],
      [
       4.08,
       0.959
      ],
      [
       4.1,
       0.9604
      ],
      [
       4.12,
       0.9616
      ],
      [
       4.14,
       0.9631
      ],
      [
       4.16,
       0.9642
      ],
      [
       4.18,
       0.9654
      ],
      [
       4.2,
       0.9668
      ],
      [
       4.22,
       0.9683
      ],
      [
       4.24,
       0.9694
      ],
      [
       4.26,
       0.9707
      ],
      [
       4.28,
       0.9721
      ],
      [
       4.3,
       0.9735
      ],
      [
       4.32,
       0.9749
      ],
      [
       4.34,
       0.9764
      ],
      [
       4.36,
       0.9777
      ],
      [
       4.38,
       0.9794
      ],
      [
       4.4,
       0.9811
      ],
      [
       4.42,
       0.9825
      ],
      [
       4.44,
       0.9843
      ],
      [
       4.46,
       0.9858
      ],
      [
       4.48,
       0.9877
      ],
      [
       4.5,
       0.9893
      ],
      [
       4.52,
       0.9911
      ],
      [
       4.54,
       0.9929
      ],
      [
       4.56,
       0.995
      ],
      [
       4.58,
       0.997
      ],
      [
       4.6,
       0.9993
      ],
      [
       4.62,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "44bdafc1b9082918e8552a21658213914773b871a3ea0b8eb92075a4a418e433",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 231,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "ef6174b42e32-aloha",
     "video": "media/sim-ef6174b42e32-aloha-s0.mp4",
     "poster": "media/sim-ef6174b42e32-aloha-s0.jpg",
     "trajectory": "trajectories/ef6174b42e32-aloha.json",
     "recipe": "recipes/ef6174b42e32-aloha.json",
     "seed": 0,
     "steps": 481,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0024
      ],
      [
       0.12,
       0.0063
      ],
      [
       0.18,
       0.0107
      ],
      [
       0.24,
       0.0157
      ],
      [
       0.3,
       0.0208
      ],
      [
       0.36,
       0.0259
      ],
      [
       0.42,
       0.031
      ],
      [
       0.48,
       0.036
      ],
      [
       0.54,
       0.0408
      ],
      [
       0.6,
       0.0453
      ],
      [
       0.66,
       0.0495
      ],
      [
       0.72,
       0.0535
      ],
      [
       0.78,
       0.0572
      ],
      [
       0.84,
       0.0606
      ],
      [
       0.9,
       0.0639
      ],
      [
       0.96,
       0.0669
      ],
      [
       1.02,
       0.0697
      ],
      [
       1.08,
       0.0722
      ],
      [
       1.14,
       0.0745
      ],
      [
       1.2,
       0.0764
      ],
      [
       1.26,
       0.0778
      ],
      [
       1.32,
       0.0791
      ],
      [
       1.38,
       0.0796
      ],
      [
       1.44,
       0.0794
      ],
      [
       1.5,
       0.0786
      ],
      [
       1.56,
       0.0772
      ],
      [
       1.62,
       0.0755
      ],
      [
       1.68,
       0.0736
      ],
      [
       1.74,
       0.0721
      ],
      [
       1.8,
       0.0711
      ],
      [
       1.86,
       0.0703
      ],
      [
       1.92,
       0.0696
      ],
      [
       1.98,
       0.0699
      ],
      [
       2.04,
       0.0706
      ],
      [
       2.1,
       0.0716
      ],
      [
       2.16,
       0.0731
      ],
      [
       2.22,
       0.075
      ],
      [
       2.28,
       0.0772
      ],
      [
       2.34,
       0.0795
      ],
      [
       2.4,
       0.0819
      ],
      [
       2.46,
       0.0844
      ],
      [
       2.52,
       0.087
      ],
      [
       2.58,
       0.0897
      ],
      [
       2.64,
       0.0925
      ],
      [
       2.7,
       0.0954
      ],
      [
       2.76,
       0.0984
      ],
      [
       2.82,
       0.101
      ],
      [
       2.88,
       0.1033
      ],
      [
       2.94,
       0.1053
      ],
      [
       3.0,
       0.1071
      ],
      [
       3.06,
       0.1086
      ],
      [
       3.12,
       0.1104
      ],
      [
       3.18,
       0.1125
      ],
      [
       3.24,
       0.1147
      ],
      [
       3.3,
       0.1172
      ],
      [
       3.36,
       0.1196
      ],
      [
       3.42,
       0.1215
      ],
      [
       3.48,
       0.1226
      ],
      [
       3.54,
       0.1227
      ],
      [
       3.6,
       0.1228
      ],
      [
       3.66,
       0.1229
      ],
      [
       3.72,
       0.1227
      ],
      [
       3.78,
       0.1225
      ],
      [
       3.84,
       0.1223
      ],
      [
       3.9,
       0.122
      ],
      [
       3.96,
       0.1218
      ],
      [
       4.02,
       0.1215
      ],
      [
       4.08,
       0.1212
      ],
      [
       4.14,
       0.121
      ],
      [
       4.2,
       0.1208
      ],
      [
       4.26,
       0.1206
      ],
      [
       4.32,
       0.1205
      ],
      [
       4.38,
       0.1202
      ],
      [
       4.44,
       0.12
      ],
      [
       4.5,
       0.1198
      ],
      [
       4.56,
       0.1195
      ],
      [
       4.62,
       0.1194
      ],
      [
       4.68,
       0.1193
      ],
      [
       4.74,
       0.1192
      ],
      [
       4.8,
       0.1191
      ],
      [
       4.86,
       0.1191
      ],
      [
       4.92,
       0.119
      ],
      [
       4.98,
       0.119
      ],
      [
       5.04,
       0.119
      ],
      [
       5.1,
       0.119
      ],
      [
       5.16,
       0.1191
      ],
      [
       5.22,
       0.1192
      ],
      [
       5.28,
       0.1192
      ],
      [
       5.34,
       0.1193
      ],
      [
       5.4,
       0.1194
      ],
      [
       5.46,
       0.1195
      ],
      [
       5.52,
       0.1197
      ],
      [
       5.58,
       0.1199
      ],
      [
       5.64,
       0.1201
      ],
      [
       5.7,
       0.1203
      ],
      [
       5.76,
       0.1206
      ],
      [
       5.82,
       0.1209
      ],
      [
       5.88,
       0.1212
      ],
      [
       5.94,
       0.1215
      ],
      [
       6.0,
       0.1218
      ],
      [
       6.06,
       0.1222
      ],
      [
       6.12,
       0.1225
      ],
      [
       6.18,
       0.1229
      ],
      [
       6.24,
       0.1233
      ],
      [
       6.3,
       0.1236
      ],
      [
       6.36,
       0.124
      ],
      [
       6.42,
       0.1243
      ],
      [
       6.48,
       0.1247
      ],
      [
       6.54,
       0.1251
      ],
      [
       6.6,
       0.1255
      ],
      [
       6.66,
       0.1259
      ],
      [
       6.72,
       0.1263
      ],
      [
       6.78,
       0.1267
      ],
      [
       6.84,
       0.1271
      ],
      [
       6.9,
       0.1277
      ],
      [
       6.96,
       0.1281
      ],
      [
       7.02,
       0.1286
      ],
      [
       7.08,
       0.1298
      ],
      [
       7.14,
       0.1302
      ],
      [
       7.2,
       0.1309
      ],
      [
       7.26,
       0.1322
      ],
      [
       7.32,
       0.1326
      ],
      [
       7.38,
       0.1333
      ],
      [
       7.44,
       0.1343
      ],
      [
       7.5,
       0.1348
      ],
      [
       7.56,
       0.1358
      ],
      [
       7.62,
       0.1362
      ],
      [
       7.68,
       0.1373
      ],
      [
       7.74,
       0.1385
      ],
      [
       7.8,
       0.1403
      ],
      [
       7.86,
       0.1417
      ],
      [
       7.92,
       0.143
      ],
      [
       7.98,
       0.1547
      ],
      [
       8.04,
       0.1688
      ],
      [
       8.1,
       0.1998
      ],
      [
       8.16,
       0.2192
      ],
      [
       8.22,
       0.2349
      ],
      [
       8.28,
       0.2583
      ],
      [
       8.34,
       0.2961
      ],
      [
       8.4,
       0.3345
      ],
      [
       8.46,
       0.3419
      ],
      [
       8.52,
       0.3689
      ],
      [
       8.58,
       0.3906
      ],
      [
       8.64,
       0.4159
      ],
      [
       8.7,
       0.434
      ],
      [
       8.76,
       0.4585
      ],
      [
       8.82,
       0.4898
      ],
      [
       8.88,
       0.5273
      ],
      [
       8.94,
       0.5665
      ],
      [
       9.0,
       0.6217
      ],
      [
       9.06,
       0.6573
      ],
      [
       9.12,
       0.6912
      ],
      [
       9.18,
       0.732
      ],
      [
       9.24,
       0.7751
      ],
      [
       9.3,
       0.8158
      ],
      [
       9.36,
       0.8348
      ],
      [
       9.42,
       0.8768
      ],
      [
       9.48,
       0.9154
      ],
      [
       9.54,
       0.9534
      ],
      [
       9.6,
       0.9985
      ],
      [
       9.62,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "a70b9f9fb36c8eaa3c1d033ee1aa7ecfbb16ccba785fbad0e4df5800ab3e46fc",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0010331696283450598,
       "final_progress": 0.0010331696283450598,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.08231835285604057,
       "final_progress": 0.08231835285604057,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 1.0842021724855044e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 481,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "5445c7b545b09e9a976d9f388b3a956b2b208787f08acc5fd3734504205d8d8e",
   "recording_id": 8087,
   "task_number": 4,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "blue worktable",
   "human_action": false,
   "description": "Lift the paper cup off the red spot on the blue worktable, set it aside among the screwdriver and the sponge, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the paper cup off the red spot on the blue worktable, set it aside among the screwdriver and the sponge, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 8087,
    "contributor_id": 11,
    "video": "media/source-8087-e72dcf48d511.mp4",
    "poster": "media/source-8087.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8087,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8087_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.555,
      "original_end_s": 310.555,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "464bae3697cadf7ed2b837412423f1811849b832abe366ff77185f40ab1d82b4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "e72dcf48d5112d86453272c77389d64587fc57f5bd63b419dd292f3f8c53be6c",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "5445c7b545b0-panda",
     "video": "media/sim-5445c7b545b0-panda-s0.mp4",
     "poster": "media/sim-5445c7b545b0-panda-s0.jpg",
     "trajectory": "trajectories/5445c7b545b0-panda.json",
     "recipe": "recipes/5445c7b545b0-panda.json",
     "seed": 0,
     "steps": 468,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0009
      ],
      [
       0.16,
       0.0018
      ],
      [
       0.2,
       0.0027
      ],
      [
       0.24,
       0.0035
      ],
      [
       0.28,
       0.0045
      ],
      [
       0.32,
       0.0056
      ],
      [
       0.36,
       0.0068
      ],
      [
       0.4,
       0.008
      ],
      [
       0.44,
       0.0092
      ],
      [
       0.48,
       0.0106
      ],
      [
       0.52,
       0.012
      ],
      [
       0.56,
       0.0136
      ],
      [
       0.6,
       0.0152
      ],
      [
       0.64,
       0.0169
      ],
      [
       0.68,
       0.0187
      ],
      [
       0.72,
       0.0206
      ],
      [
       0.76,
       0.0226
      ],
      [
       0.8,
       0.0247
      ],
      [
       0.84,
       0.0269
      ],
      [
       0.88,
       0.0292
      ],
      [
       0.92,
       0.0316
      ],
      [
       0.96,
       0.0342
      ],
      [
       1.0,
       0.0368
      ],
      [
       1.04,
       0.0396
      ],
      [
       1.08,
       0.0424
      ],
      [
       1.12,
       0.0454
      ],
      [
       1.16,
       0.0485
      ],
      [
       1.2,
       0.0516
      ],
      [
       1.24,
       0.0548
      ],
      [
       1.28,
       0.058
      ],
      [
       1.32,
       0.0612
      ],
      [
       1.36,
       0.0644
      ],
      [
       1.4,
       0.0675
      ],
      [
       1.44,
       0.0701
      ],
      [
       1.48,
       0.0722
      ],
      [
       1.52,
       0.074
      ],
      [
       1.56,
       0.076
      ],
      [
       1.6,
       0.0779
      ],
      [
       1.64,
       0.0798
      ],
      [
       1.68,
       0.0817
      ],
      [
       1.72,
       0.0838
      ],
      [
       1.76,
       0.0859
      ],
      [
       1.8,
       0.0881
      ],
      [
       1.84,
       0.0906
      ],
      [
       1.88,
       0.0932
      ],
      [
       1.92,
       0.0963
      ],
      [
       1.96,
       0.0995
      ],
      [
       2.0,
       0.0975
      ],
      [
       2.04,
       0.0977
      ],
      [
       2.08,
       0.098
      ],
      [
       2.12,
       0.0983
      ],
      [
       2.16,
       0.0985
      ],
      [
       2.2,
       0.0986
      ],
      [
       2.24,
       0.0987
      ],
      [
       2.28,
       0.0987
      ],
      [
       2.32,
       0.0988
      ],
      [
       2.36,
       0.0988
      ],
      [
       2.4,
       0.0989
      ],
      [
       2.44,
       0.0989
      ],
      [
       2.48,
       0.0989
      ],
      [
       2.52,
       0.099
      ],
      [
       2.56,
       0.0991
      ],
      [
       2.6,
       0.0991
      ],
      [
       2.64,
       0.0991
      ],
      [
       2.68,
       0.099
      ],
      [
       2.72,
       0.099
      ],
      [
       2.76,
       0.099
      ],
      [
       2.8,
       0.099
      ],
      [
       2.84,
       0.099
      ],
      [
       2.88,
       0.0989
      ],
      [
       2.92,
       0.0989
      ],
      [
       2.96,
       0.0989
      ],
      [
       3.0,
       0.6
      ],
      [
       3.04,
       0.6
      ],
      [
       3.08,
       0.6
      ],
      [
       3.12,
       0.5996
      ],
      [
       3.16,
       0.5858
      ],
      [
       3.2,
       0.5699
      ],
      [
       3.24,
       0.5542
      ],
      [
       3.28,
       0.538
      ],
      [
       3.32,
       0.5216
      ],
      [
       3.36,
       0.5041
      ],
      [
       3.4,
       0.4857
      ],
      [
       3.44,
       0.4672
      ],
      [
       3.48,
       0.448
      ],
      [
       3.52,
       0.4274
      ],
      [
       3.56,
       0.405
      ],
      [
       3.6,
       0.376
      ],
      [
       3.64,
       0.3393
      ],
      [
       3.68,
       0.3439
      ],
      [
       3.72,
       0.4117
      ],
      [
       3.76,
       0.4926
      ],
      [
       3.8,
       0.5821
      ],
      [
       3.84,
       0.6
      ],
      [
       3.88,
       0.6
      ],
      [
       3.92,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.0,
       0.6
      ],
      [
       4.04,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.12,
       0.6
      ],
      [
       4.16,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.24,
       0.6
      ],
      [
       4.28,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.68,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.84,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.92,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.0,
       0.6533
      ],
      [
       9.04,
       0.6
      ],
      [
       9.08,
       0.6267
      ],
      [
       9.12,
       0.68
      ],
      [
       9.16,
       0.7333
      ],
      [
       9.2,
       0.7867
      ],
      [
       9.24,
       0.84
      ],
      [
       9.28,
       0.8933
      ],
      [
       9.32,
       0.9467
      ],
      [
       9.36,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "835786eb09bdb378d4164b4154a909fa0b7180c0288f7f75cccba43d0ad1da22",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07610800557282962,
       "final_progress": 0.07610800557282962,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 468,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx36",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    },
    "aloha": {
     "gym_id": "5445c7b545b0-aloha",
     "video": "media/sim-5445c7b545b0-aloha-s0.mp4",
     "poster": "media/sim-5445c7b545b0-aloha-s0.jpg",
     "trajectory": "trajectories/5445c7b545b0-aloha.json",
     "recipe": "recipes/5445c7b545b0-aloha.json",
     "seed": 0,
     "steps": 852,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0011
      ],
      [
       0.2,
       0.0027
      ],
      [
       0.3,
       0.0047
      ],
      [
       0.4,
       0.0071
      ],
      [
       0.5,
       0.0099
      ],
      [
       0.6,
       0.0132
      ],
      [
       0.7,
       0.0169
      ],
      [
       0.8,
       0.0211
      ],
      [
       0.9,
       0.0265
      ],
      [
       1.0,
       0.0333
      ],
      [
       1.1,
       0.0418
      ],
      [
       1.2,
       0.0522
      ],
      [
       1.3,
       0.0602
      ],
      [
       1.4,
       0.0675
      ],
      [
       1.5,
       0.0762
      ],
      [
       1.6,
       0.0829
      ],
      [
       1.7,
       0.0902
      ],
      [
       1.8,
       0.0893
      ],
      [
       1.9,
       0.089
      ],
      [
       2.0,
       0.0889
      ],
      [
       2.1,
       0.0893
      ],
      [
       2.2,
       0.0898
      ],
      [
       2.3,
       0.0907
      ],
      [
       2.4,
       0.092
      ],
      [
       2.5,
       0.0948
      ],
      [
       2.6,
       0.0968
      ],
      [
       2.7,
       0.0967
      ],
      [
       2.8,
       0.0967
      ],
      [
       2.9,
       0.0967
      ],
      [
       3.0,
       0.0968
      ],
      [
       3.1,
       0.0968
      ],
      [
       3.2,
       0.0968
      ],
      [
       3.3,
       0.0968
      ],
      [
       3.4,
       0.0968
      ],
      [
       3.5,
       0.0967
      ],
      [
       3.6,
       0.0967
      ],
      [
       3.7,
       0.0966
      ],
      [
       3.8,
       0.0965
      ],
      [
       3.9,
       0.0965
      ],
      [
       4.0,
       0.0964
      ],
      [
       4.1,
       0.0963
      ],
      [
       4.2,
       0.0963
      ],
      [
       4.3,
       0.0962
      ],
      [
       4.4,
       0.0962
      ],
      [
       4.5,
       0.0961
      ],
      [
       4.6,
       0.0961
      ],
      [
       4.7,
       0.096
      ],
      [
       4.8,
       0.0959
      ],
      [
       4.9,
       0.0953
      ],
      [
       5.0,
       0.0953
      ],
      [
       5.1,
       0.0954
      ],
      [
       5.2,
       0.0955
      ],
      [
       5.3,
       0.0956
      ],
      [
       5.4,
       0.0956
      ],
      [
       5.5,
       0.0957
      ],
      [
       5.6,
       0.0958
      ],
      [
       5.7,
       0.0959
      ],
      [
       5.8,
       0.096
      ],
      [
       5.9,
       0.0961
      ],
      [
       6.0,
       0.0962
      ],
      [
       6.1,
       0.0962
      ],
      [
       6.2,
       0.0963
      ],
      [
       6.3,
       0.0963
      ],
      [
       6.4,
       0.0964
      ],
      [
       6.5,
       0.0964
      ],
      [
       6.6,
       0.0964
      ],
      [
       6.7,
       0.0964
      ],
      [
       6.8,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.1,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.3,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.7,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.9,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.3,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.5,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.9,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.1,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.4,
       0.6
      ],
      [
       9.5,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.7,
       0.6
      ],
      [
       9.8,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.6
      ],
      [
       15.9,
       0.6
      ],
      [
       16.0,
       0.6
      ],
      [
       16.1,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.3,
       0.6
      ],
      [
       16.4,
       0.6
      ],
      [
       16.5,
       0.6
      ],
      [
       16.6,
       0.68
      ],
      [
       16.7,
       0.6267
      ],
      [
       16.8,
       0.68
      ],
      [
       16.9,
       0.8133
      ],
      [
       17.0,
       0.9467
      ],
      [
       17.04,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "b79f8ad52df4f93a84d2deb5a84efe2920a67cd7e2dde08ce709370931c8e9f6",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.00047253533005106043,
       "final_progress": 0.00047253533005106043,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.03071008220180317,
       "final_progress": 0.03071008220180317,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.06841271206287257,
       "final_progress": 0.06841271206287257,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 852,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx36",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "screwdriver_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "screwdriver"
      },
      {
       "name": "tool_tray_0",
       "source": "primitive:tray",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tool tray"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      },
      {
       "name": "marker_0",
       "source": "ycb:040_large_marker",
       "grounding": "added_context",
       "role": "clutter",
       "label": "marker"
      }
     ]
    }
   }
  },
  {
   "example_id": "6c7c262f5a54f9b912e44e0d91360850e3682eb58062840c44a3e962aa125c14",
   "recording_id": 8092,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "blue worktable",
   "human_action": true,
   "description": "In the footage: Wipe the visible blue worktable with the pale green wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d76 cm patch (turned 20\u00b0) on the blue worktable among the cans and the food container and sweep it row by row at 4\u201314 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 4\u201314 N, no object moved >2 cm, peak force \u226442 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 8092,
    "contributor_id": 11,
    "video": "media/source-8092-8cdb9c61374f.mp4",
    "poster": "media/source-8092.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8092,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8092_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.12,
      "original_end_s": 310.12,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "63d75688cf30cd2349605c0fb0a14ed27f87863c074dedc2cbe523325508b4a7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 5,
    "flat_decor": 1,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "6c7c262f5a54-panda",
     "video": "media/sim-6c7c262f5a54-panda-s0.mp4",
     "poster": "media/sim-6c7c262f5a54-panda-s0.jpg",
     "trajectory": "trajectories/6c7c262f5a54-panda.json",
     "recipe": "recipes/6c7c262f5a54-panda.json",
     "seed": 0,
     "steps": 407,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0007
      ],
      [
       0.08,
       0.0029
      ],
      [
       0.12,
       0.0068
      ],
      [
       0.16,
       0.0112
      ],
      [
       0.2,
       0.0155
      ],
      [
       0.24,
       0.02
      ],
      [
       0.28,
       0.0248
      ],
      [
       0.32,
       0.0299
      ],
      [
       0.36,
       0.0351
      ],
      [
       0.4,
       0.0405
      ],
      [
       0.44,
       0.046
      ],
      [
       0.48,
       0.0516
      ],
      [
       0.52,
       0.0573
      ],
      [
       0.56,
       0.0632
      ],
      [
       0.6,
       0.069
      ],
      [
       0.64,
       0.0749
      ],
      [
       0.68,
       0.0807
      ],
      [
       0.72,
       0.0866
      ],
      [
       0.76,
       0.0926
      ],
      [
       0.8,
       0.0986
      ],
      [
       0.84,
       0.1047
      ],
      [
       0.88,
       0.1107
      ],
      [
       0.92,
       0.1167
      ],
      [
       0.96,
       0.1226
      ],
      [
       1.0,
       0.1283
      ],
      [
       1.04,
       0.1339
      ],
      [
       1.08,
       0.1393
      ],
      [
       1.12,
       0.1438
      ],
      [
       1.16,
       0.1417
      ],
      [
       1.2,
       0.1412
      ],
      [
       1.24,
       0.1435
      ],
      [
       1.28,
       0.1441
      ],
      [
       1.32,
       0.1437
      ],
      [
       1.36,
       0.1428
      ],
      [
       1.4,
       0.1414
      ],
      [
       1.44,
       0.1401
      ],
      [
       1.48,
       0.1394
      ],
      [
       1.52,
       0.1394
      ],
      [
       1.56,
       0.1398
      ],
      [
       1.6,
       0.1403
      ],
      [
       1.64,
       0.1407
      ],
      [
       1.68,
       0.1411
      ],
      [
       1.72,
       0.1417
      ],
      [
       1.76,
       0.1427
      ],
      [
       1.8,
       0.1438
      ],
      [
       1.84,
       0.145
      ],
      [
       1.88,
       0.1461
      ],
      [
       1.92,
       0.147
      ],
      [
       1.96,
       0.1476
      ],
      [
       2.0,
       0.148
      ],
      [
       2.04,
       0.1484
      ],
      [
       2.08,
       0.1488
      ],
      [
       2.12,
       0.1493
      ],
      [
       2.16,
       0.1498
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.3119
      ],
      [
       2.8,
       0.3119
      ],
      [
       2.84,
       0.3119
      ],
      [
       2.88,
       0.3119
      ],
      [
       2.92,
       0.3119
      ],
      [
       2.96,
       0.3119
      ],
      [
       3.0,
       0.3119
      ],
      [
       3.04,
       0.3119
      ],
      [
       3.08,
       0.3119
      ],
      [
       3.12,
       0.3119
      ],
      [
       3.16,
       0.3119
      ],
      [
       3.2,
       0.3119
      ],
      [
       3.24,
       0.3119
      ],
      [
       3.28,
       0.3119
      ],
      [
       3.32,
       0.3119
      ],
      [
       3.36,
       0.3119
      ],
      [
       3.4,
       0.3119
      ],
      [
       3.44,
       0.3119
      ],
      [
       3.48,
       0.3119
      ],
      [
       3.52,
       0.3119
      ],
      [
       3.56,
       0.3119
      ],
      [
       3.6,
       0.3119
      ],
      [
       3.64,
       0.3119
      ],
      [
       3.68,
       0.3119
      ],
      [
       3.72,
       0.3119
      ],
      [
       3.76,
       0.3119
      ],
      [
       3.8,
       0.3119
      ],
      [
       3.84,
       0.3119
      ],
      [
       3.88,
       0.3119
      ],
      [
       3.92,
       0.3119
      ],
      [
       3.96,
       0.3119
      ],
      [
       4.0,
       0.3119
      ],
      [
       4.04,
       0.3119
      ],
      [
       4.08,
       0.3119
      ],
      [
       4.12,
       0.3119
      ],
      [
       4.16,
       0.3119
      ],
      [
       4.2,
       0.3119
      ],
      [
       4.24,
       0.3119
      ],
      [
       4.28,
       0.3119
      ],
      [
       4.32,
       0.3119
      ],
      [
       4.36,
       0.3119
      ],
      [
       4.4,
       0.3119
      ],
      [
       4.44,
       0.3119
      ],
      [
       4.48,
       0.3119
      ],
      [
       4.52,
       0.3119
      ],
      [
       4.56,
       0.3119
      ],
      [
       4.6,
       0.3119
      ],
      [
       4.64,
       0.3119
      ],
      [
       4.68,
       0.3119
      ],
      [
       4.72,
       0.3119
      ],
      [
       4.76,
       0.3119
      ],
      [
       4.8,
       0.3119
      ],
      [
       4.84,
       0.5143
      ],
      [
       4.88,
       0.5143
      ],
      [
       4.92,
       0.5143
      ],
      [
       4.96,
       0.5143
      ],
      [
       5.0,
       0.5548
      ],
      [
       5.04,
       0.5548
      ],
      [
       5.08,
       0.5952
      ],
      [
       5.12,
       0.5952
      ],
      [
       5.16,
       0.5952
      ],
      [
       5.2,
       0.5952
      ],
      [
       5.24,
       0.5952
      ],
      [
       5.28,
       0.5952
      ],
      [
       5.32,
       0.5952
      ],
      [
       5.36,
       0.5952
      ],
      [
       5.4,
       0.5952
      ],
      [
       5.44,
       0.6357
      ],
      [
       5.48,
       0.6357
      ],
      [
       5.52,
       0.6357
      ],
      [
       5.56,
       0.6357
      ],
      [
       5.6,
       0.6357
      ],
      [
       5.64,
       0.6357
      ],
      [
       5.68,
       0.6357
      ],
      [
       5.72,
       0.6357
      ],
      [
       5.76,
       0.6357
      ],
      [
       5.8,
       0.6357
      ],
      [
       5.84,
       0.6357
      ],
      [
       5.88,
       0.6762
      ],
      [
       5.92,
       0.6762
      ],
      [
       5.96,
       0.6762
      ],
      [
       6.0,
       0.6762
      ],
      [
       6.04,
       0.7167
      ],
      [
       6.08,
       0.7167
      ],
      [
       6.12,
       0.7167
      ],
      [
       6.16,
       0.7167
      ],
      [
       6.2,
       0.7167
      ],
      [
       6.24,
       0.7167
      ],
      [
       6.28,
       0.7571
      ],
      [
       6.32,
       0.7571
      ],
      [
       6.36,
       0.7571
      ],
      [
       6.4,
       0.7976
      ],
      [
       6.44,
       0.7976
      ],
      [
       6.48,
       0.7976
      ],
      [
       6.52,
       0.7976
      ],
      [
       6.56,
       0.7976
      ],
      [
       6.6,
       0.8381
      ],
      [
       6.64,
       0.8381
      ],
      [
       6.68,
       0.8381
      ],
      [
       6.72,
       0.8381
      ],
      [
       6.76,
       0.8381
      ],
      [
       6.8,
       0.8381
      ],
      [
       6.84,
       0.8381
      ],
      [
       6.88,
       0.8381
      ],
      [
       6.92,
       0.8381
      ],
      [
       6.96,
       0.8381
      ],
      [
       7.0,
       0.8381
      ],
      [
       7.04,
       0.8786
      ],
      [
       7.08,
       0.8786
      ],
      [
       7.12,
       0.8786
      ],
      [
       7.16,
       0.8786
      ],
      [
       7.2,
       0.8786
      ],
      [
       7.24,
       0.8786
      ],
      [
       7.28,
       0.8786
      ],
      [
       7.32,
       0.8786
      ],
      [
       7.36,
       0.8786
      ],
      [
       7.4,
       0.8786
      ],
      [
       7.44,
       0.8786
      ],
      [
       7.48,
       0.8786
      ],
      [
       7.52,
       0.8786
      ],
      [
       7.56,
       0.8786
      ],
      [
       7.6,
       0.8786
      ],
      [
       7.64,
       0.8786
      ],
      [
       7.68,
       0.8786
      ],
      [
       7.72,
       0.8786
      ],
      [
       7.76,
       0.8786
      ],
      [
       7.8,
       0.8786
      ],
      [
       7.84,
       0.8786
      ],
      [
       7.88,
       0.8786
      ],
      [
       7.92,
       0.8786
      ],
      [
       7.96,
       0.8786
      ],
      [
       8.0,
       0.8786
      ],
      [
       8.04,
       0.8786
      ],
      [
       8.08,
       0.8786
      ],
      [
       8.12,
       0.8786
      ],
      [
       8.14,
       0.9595
      ]
     ],
     "total_reward": 1.9465,
     "initial_progress": 0.0,
     "final_progress": 0.9595,
     "physics_sha256": "3549f7a7add53e320df52c3aeaf0193014e8958e513d2595caedb5749843c858",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.25,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3119047619047619,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 407,
       "return": 1.9465057088122757,
       "final_progress": 0.9595238095238094
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food container"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    },
    "aloha": {
     "gym_id": "6c7c262f5a54-aloha",
     "video": "media/sim-6c7c262f5a54-aloha-s4.mp4",
     "poster": "media/sim-6c7c262f5a54-aloha-s4.jpg",
     "trajectory": "trajectories/6c7c262f5a54-aloha.json",
     "recipe": "recipes/6c7c262f5a54-aloha.json",
     "seed": 4,
     "steps": 506,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0012
      ],
      [
       0.12,
       0.0046
      ],
      [
       0.18,
       0.0086
      ],
      [
       0.24,
       0.013
      ],
      [
       0.3,
       0.0178
      ],
      [
       0.36,
       0.023
      ],
      [
       0.42,
       0.0286
      ],
      [
       0.48,
       0.0348
      ],
      [
       0.54,
       0.0415
      ],
      [
       0.6,
       0.0488
      ],
      [
       0.66,
       0.0568
      ],
      [
       0.72,
       0.0655
      ],
      [
       0.78,
       0.0748
      ],
      [
       0.84,
       0.0847
      ],
      [
       0.9,
       0.0953
      ],
      [
       0.96,
       0.1068
      ],
      [
       1.02,
       0.1198
      ],
      [
       1.08,
       0.1319
      ],
      [
       1.14,
       0.1358
      ],
      [
       1.2,
       0.1368
      ],
      [
       1.26,
       0.1378
      ],
      [
       1.32,
       0.1389
      ],
      [
       1.38,
       0.1399
      ],
      [
       1.44,
       0.1409
      ],
      [
       1.5,
       0.1416
      ],
      [
       1.56,
       0.1419
      ],
      [
       1.62,
       0.1412
      ],
      [
       1.68,
       0.1397
      ],
      [
       1.74,
       0.1375
      ],
      [
       1.8,
       0.1346
      ],
      [
       1.86,
       0.1311
      ],
      [
       1.92,
       0.129
      ],
      [
       1.98,
       0.129
      ],
      [
       2.04,
       0.1297
      ],
      [
       2.1,
       0.1298
      ],
      [
       2.16,
       0.1298
      ],
      [
       2.22,
       0.1308
      ],
      [
       2.28,
       0.1328
      ],
      [
       2.34,
       0.1346
      ],
      [
       2.4,
       0.1356
      ],
      [
       2.46,
       0.1358
      ],
      [
       2.52,
       0.1357
      ],
      [
       2.58,
       0.1355
      ],
      [
       2.64,
       0.1354
      ],
      [
       2.7,
       0.1355
      ],
      [
       2.76,
       0.1356
      ],
      [
       2.82,
       0.1358
      ],
      [
       2.88,
       0.1359
      ],
      [
       2.94,
       0.136
      ],
      [
       3.0,
       0.1359
      ],
      [
       3.06,
       0.1356
      ],
      [
       3.12,
       0.1353
      ],
      [
       3.18,
       0.1349
      ],
      [
       3.24,
       0.1346
      ],
      [
       3.3,
       0.1342
      ],
      [
       3.36,
       0.1339
      ],
      [
       3.42,
       0.136
      ],
      [
       3.48,
       0.1416
      ],
      [
       3.54,
       0.1488
      ],
      [
       3.6,
       0.15
      ],
      [
       3.66,
       0.15
      ],
      [
       3.72,
       0.15
      ],
      [
       3.78,
       0.15
      ],
      [
       3.84,
       0.1493
      ],
      [
       3.9,
       0.15
      ],
      [
       3.96,
       0.15
      ],
      [
       4.02,
       0.15
      ],
      [
       4.08,
       0.15
      ],
      [
       4.14,
       0.15
      ],
      [
       4.2,
       0.3119
      ],
      [
       4.26,
       0.3119
      ],
      [
       4.32,
       0.3119
      ],
      [
       4.38,
       0.3119
      ],
      [
       4.44,
       0.3119
      ],
      [
       4.5,
       0.3119
      ],
      [
       4.56,
       0.3119
      ],
      [
       4.62,
       0.3119
      ],
      [
       4.68,
       0.3524
      ],
      [
       4.74,
       0.3524
      ],
      [
       4.8,
       0.3524
      ],
      [
       4.86,
       0.3524
      ],
      [
       4.92,
       0.3524
      ],
      [
       4.98,
       0.3524
      ],
      [
       5.04,
       0.3524
      ],
      [
       5.1,
       0.3524
      ],
      [
       5.16,
       0.4333
      ],
      [
       5.22,
       0.4333
      ],
      [
       5.28,
       0.4333
      ],
      [
       5.34,
       0.4333
      ],
      [
       5.4,
       0.4333
      ],
      [
       5.46,
       0.4333
      ],
      [
       5.52,
       0.4333
      ],
      [
       5.58,
       0.4333
      ],
      [
       5.64,
       0.5143
      ],
      [
       5.7,
       0.5143
      ],
      [
       5.76,
       0.5143
      ],
      [
       5.82,
       0.5143
      ],
      [
       5.88,
       0.5143
      ],
      [
       5.94,
       0.5143
      ],
      [
       6.0,
       0.5143
      ],
      [
       6.06,
       0.5952
      ],
      [
       6.12,
       0.5952
      ],
      [
       6.18,
       0.5952
      ],
      [
       6.24,
       0.5952
      ],
      [
       6.3,
       0.5952
      ],
      [
       6.36,
       0.5952
      ],
      [
       6.42,
       0.5952
      ],
      [
       6.48,
       0.5952
      ],
      [
       6.54,
       0.6357
      ],
      [
       6.6,
       0.6357
      ],
      [
       6.66,
       0.6357
      ],
      [
       6.72,
       0.6357
      ],
      [
       6.78,
       0.6357
      ],
      [
       6.84,
       0.6357
      ],
      [
       6.9,
       0.6357
      ],
      [
       6.96,
       0.6357
      ],
      [
       7.02,
       0.7167
      ],
      [
       7.08,
       0.7167
      ],
      [
       7.14,
       0.7167
      ],
      [
       7.2,
       0.7167
      ],
      [
       7.26,
       0.7167
      ],
      [
       7.32,
       0.7976
      ],
      [
       7.38,
       0.7976
      ],
      [
       7.44,
       0.7976
      ],
      [
       7.5,
       0.7976
      ],
      [
       7.56,
       0.7976
      ],
      [
       7.62,
       0.7976
      ],
      [
       7.68,
       0.7976
      ],
      [
       7.74,
       0.7976
      ],
      [
       7.8,
       0.7976
      ],
      [
       7.86,
       0.7976
      ],
      [
       7.92,
       0.7976
      ],
      [
       7.98,
       0.7976
      ],
      [
       8.04,
       0.7976
      ],
      [
       8.1,
       0.7976
      ],
      [
       8.16,
       0.7976
      ],
      [
       8.22,
       0.8381
      ],
      [
       8.28,
       0.8381
      ],
      [
       8.34,
       0.8381
      ],
      [
       8.4,
       0.8381
      ],
      [
       8.46,
       0.8381
      ],
      [
       8.52,
       0.8381
      ],
      [
       8.58,
       0.8381
      ],
      [
       8.64,
       0.8381
      ],
      [
       8.7,
       0.8381
      ],
      [
       8.76,
       0.8381
      ],
      [
       8.82,
       0.8381
      ],
      [
       8.88,
       0.8381
      ],
      [
       8.94,
       0.8381
      ],
      [
       9.0,
       0.8786
      ],
      [
       9.06,
       0.8786
      ],
      [
       9.12,
       0.8786
      ],
      [
       9.18,
       0.8786
      ],
      [
       9.24,
       0.8786
      ],
      [
       9.3,
       0.8786
      ],
      [
       9.36,
       0.8786
      ],
      [
       9.42,
       0.8786
      ],
      [
       9.48,
       0.8786
      ],
      [
       9.54,
       0.8786
      ],
      [
       9.6,
       0.8786
      ],
      [
       9.66,
       0.8786
      ],
      [
       9.72,
       0.8786
      ],
      [
       9.78,
       0.8786
      ],
      [
       9.84,
       0.8786
      ],
      [
       9.9,
       0.8786
      ],
      [
       9.96,
       0.8786
      ],
      [
       10.02,
       0.8786
      ],
      [
       10.08,
       0.8786
      ],
      [
       10.12,
       0.919
      ]
     ],
     "total_reward": 1.9072,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "d1fefd441ccaef1e5aac886af98022a9391e743651397bd31778fc3c00e1d17d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001480493420671225,
       "final_progress": 0.001480493420671225,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -5.421010862427522e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.29120831896386595,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7774484940435309,
       "final_progress": 0.7976190476190476
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8389390719812885,
       "final_progress": 0.8785714285714286
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7974181532689538,
       "final_progress": 0.8380952380952381
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8785714285714286,
       "final_progress": 0.8785714285714286
      },
      {
       "layout_seed": 4,
       "outcome": "success",
       "steps": 506,
       "return": 1.9071835731170914,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food container"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    }
   }
  },
  {
   "example_id": "42c5832852b7829b6296bd311abe981306df1e92f2dde6fd6ba914257a816225",
   "recording_id": 8092,
   "task_number": 2,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "blue worktable",
   "human_action": false,
   "description": "Slide the mug across the blue worktable among the cans and the food container onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the mug across the blue worktable among the cans and the food container onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 8092,
    "contributor_id": 11,
    "video": "media/source-8092-8cdb9c61374f.mp4",
    "poster": "media/source-8092.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8092,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8092_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.12,
      "original_end_s": 310.12,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "63d75688cf30cd2349605c0fb0a14ed27f87863c074dedc2cbe523325508b4a7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 5,
    "flat_decor": 1,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "42c5832852b7-panda",
     "video": "media/sim-42c5832852b7-panda-s5.mp4",
     "poster": "media/sim-42c5832852b7-panda-s5.jpg",
     "trajectory": "trajectories/42c5832852b7-panda.json",
     "recipe": "recipes/42c5832852b7-panda.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.42,
       0.0092
      ],
      [
       0.56,
       0.0279
      ],
      [
       0.7,
       0.0428
      ],
      [
       0.84,
       0.0591
      ],
      [
       0.98,
       0.0763
      ],
      [
       1.12,
       0.0936
      ],
      [
       1.26,
       0.1103
      ],
      [
       1.4,
       0.119
      ],
      [
       1.54,
       0.1273
      ],
      [
       1.68,
       0.135
      ],
      [
       1.82,
       0.1714
      ],
      [
       1.96,
       0.3492
      ],
      [
       2.1,
       0.5393
      ],
      [
       2.24,
       0.1462
      ],
      [
       2.38,
       0.1441
      ],
      [
       2.52,
       0.1405
      ],
      [
       2.66,
       0.1339
      ],
      [
       2.8,
       0.1218
      ],
      [
       2.94,
       0.1104
      ],
      [
       3.08,
       0.0957
      ],
      [
       3.22,
       0.0794
      ],
      [
       3.36,
       0.0781
      ],
      [
       3.5,
       0.0835
      ],
      [
       3.64,
       0.0946
      ],
      [
       3.78,
       0.0959
      ],
      [
       3.92,
       0.0999
      ],
      [
       4.06,
       0.1051
      ],
      [
       4.2,
       0.1117
      ],
      [
       4.34,
       0.121
      ],
      [
       4.48,
       0.1209
      ],
      [
       4.62,
       0.1246
      ],
      [
       4.76,
       0.1287
      ],
      [
       4.9,
       0.1328
      ],
      [
       5.04,
       0.1409
      ],
      [
       5.18,
       0.1386
      ],
      [
       5.32,
       0.1278
      ],
      [
       5.46,
       0.1095
      ],
      [
       5.6,
       0.0886
      ],
      [
       5.74,
       0.0794
      ],
      [
       5.88,
       0.0788
      ],
      [
       6.02,
       0.0856
      ],
      [
       6.16,
       0.0858
      ],
      [
       6.3,
       0.085
      ],
      [
       6.44,
       0.0866
      ],
      [
       6.58,
       0.0899
      ],
      [
       6.72,
       0.0911
      ],
      [
       6.86,
       0.094
      ],
      [
       7.0,
       0.0993
      ],
      [
       7.14,
       0.107
      ],
      [
       7.28,
       0.1151
      ],
      [
       7.42,
       0.1176
      ],
      [
       7.56,
       0.106
      ],
      [
       7.7,
       0.1006
      ],
      [
       7.84,
       0.1082
      ],
      [
       7.98,
       0.113
      ],
      [
       8.12,
       0.1154
      ],
      [
       8.26,
       0.118
      ],
      [
       8.4,
       0.1179
      ],
      [
       8.54,
       0.1158
      ],
      [
       8.68,
       0.1129
      ],
      [
       8.82,
       0.106
      ],
      [
       8.96,
       0.1058
      ],
      [
       9.1,
       0.1037
      ],
      [
       9.24,
       0.0963
      ],
      [
       9.38,
       0.0859
      ],
      [
       9.52,
       0.0713
      ],
      [
       9.66,
       0.0667
      ],
      [
       9.8,
       0.0658
      ],
      [
       9.94,
       0.0714
      ],
      [
       10.08,
       0.0807
      ],
      [
       10.22,
       0.0886
      ],
      [
       10.36,
       0.0908
      ],
      [
       10.5,
       0.0911
      ],
      [
       10.64,
       0.0933
      ],
      [
       10.78,
       0.0975
      ],
      [
       10.92,
       0.1016
      ],
      [
       11.06,
       0.1023
      ],
      [
       11.2,
       0.1037
      ],
      [
       11.34,
       0.1001
      ],
      [
       11.48,
       0.1008
      ],
      [
       11.62,
       0.1008
      ],
      [
       11.76,
       0.1061
      ],
      [
       11.9,
       0.1094
      ],
      [
       12.04,
       0.1033
      ],
      [
       12.18,
       0.099
      ],
      [
       12.32,
       0.1005
      ],
      [
       12.46,
       0.1028
      ],
      [
       12.6,
       0.1024
      ],
      [
       12.74,
       0.1051
      ],
      [
       12.88,
       0.1076
      ],
      [
       13.02,
       0.1088
      ],
      [
       13.16,
       0.1098
      ],
      [
       13.3,
       0.1117
      ],
      [
       13.44,
       0.1113
      ],
      [
       13.58,
       0.1129
      ],
      [
       13.72,
       0.1202
      ],
      [
       13.86,
       0.1381
      ],
      [
       14.0,
       0.1261
      ],
      [
       14.14,
       0.1074
      ],
      [
       14.28,
       0.1004
      ],
      [
       14.42,
       0.1016
      ],
      [
       14.56,
       0.0936
      ],
      [
       14.7,
       0.0868
      ],
      [
       14.84,
       0.091
      ],
      [
       14.98,
       0.0828
      ],
      [
       15.12,
       0.0753
      ],
      [
       15.26,
       0.0733
      ],
      [
       15.4,
       0.0778
      ],
      [
       15.54,
       0.0836
      ],
      [
       15.68,
       0.0888
      ],
      [
       15.82,
       0.0879
      ],
      [
       15.96,
       0.0877
      ],
      [
       16.1,
       0.0916
      ],
      [
       16.24,
       0.0943
      ],
      [
       16.38,
       0.0924
      ],
      [
       16.52,
       0.0889
      ],
      [
       16.66,
       0.0851
      ],
      [
       16.8,
       0.0845
      ],
      [
       16.94,
       0.0891
      ],
      [
       17.08,
       0.0997
      ],
      [
       17.22,
       0.1073
      ],
      [
       17.36,
       0.1104
      ],
      [
       17.5,
       0.1076
      ],
      [
       17.64,
       0.1071
      ],
      [
       17.78,
       0.1062
      ],
      [
       17.92,
       0.1028
      ],
      [
       18.06,
       0.1045
      ],
      [
       18.2,
       0.1113
      ],
      [
       18.34,
       0.1117
      ],
      [
       18.48,
       0.1084
      ],
      [
       18.62,
       0.1063
      ],
      [
       18.76,
       0.1032
      ],
      [
       18.9,
       0.1065
      ],
      [
       19.04,
       0.1112
      ],
      [
       19.18,
       0.1175
      ],
      [
       19.32,
       0.1146
      ],
      [
       19.46,
       0.1126
      ],
      [
       19.6,
       0.112
      ],
      [
       19.74,
       0.1123
      ],
      [
       19.88,
       0.1131
      ],
      [
       20.02,
       0.1152
      ],
      [
       20.16,
       0.1187
      ],
      [
       20.3,
       0.123
      ],
      [
       20.44,
       0.1238
      ],
      [
       20.58,
       0.1241
      ],
      [
       20.72,
       0.1247
      ],
      [
       20.86,
       0.1245
      ],
      [
       21.0,
       0.1156
      ],
      [
       21.14,
       0.109
      ],
      [
       21.28,
       0.1119
      ],
      [
       21.42,
       0.1046
      ],
      [
       21.56,
       0.1023
      ],
      [
       21.7,
       0.1026
      ],
      [
       21.84,
       0.1034
      ],
      [
       21.98,
       0.1084
      ],
      [
       22.12,
       0.1157
      ],
      [
       22.26,
       0.1206
      ],
      [
       22.4,
       0.1284
      ],
      [
       22.54,
       0.1311
      ],
      [
       22.68,
       0.1304
      ],
      [
       22.82,
       0.1323
      ],
      [
       22.96,
       0.1371
      ],
      [
       23.1,
       0.1406
      ],
      [
       23.24,
       0.1397
      ],
      [
       23.38,
       0.1375
      ],
      [
       23.52,
       0.1348
      ],
      [
       23.66,
       0.1316
      ],
      [
       23.8,
       0.1281
      ],
      [
       23.94,
       0.1243
      ],
      [
       24.0,
       0.1228
      ]
     ],
     "total_reward": 0.1228,
     "initial_progress": 0.0,
     "final_progress": 0.1228,
     "physics_sha256": "58b81ed82759a809ba257fd096f05cc87f0a9d1d4fdfc1c16aea6b1f28d11e28",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 3.2526065174565133e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.06489687933551384,
       "final_progress": 0.06489687933551384,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.10023187341561911,
       "final_progress": 0.10023187341561908
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.10092454739471696,
       "final_progress": 0.10092454739471696
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.2244519196152248,
       "final_progress": 0.1046964437973675
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.07436666779714578,
       "final_progress": 0.07436666779714578
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.23504418700266705,
       "final_progress": 0.10626815434747128
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.12284107073431964,
       "final_progress": 0.12284107073431964
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "mug"
      },
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food container"
      },
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    },
    "aloha": {
     "gym_id": "42c5832852b7-aloha",
     "video": "media/sim-42c5832852b7-aloha-s5.mp4",
     "poster": "media/sim-42c5832852b7-aloha-s5.jpg",
     "trajectory": "trajectories/42c5832852b7-aloha.json",
     "recipe": "recipes/42c5832852b7-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0034
      ],
      [
       0.28,
       0.0087
      ],
      [
       0.42,
       0.0154
      ],
      [
       0.56,
       0.0238
      ],
      [
       0.7,
       0.0339
      ],
      [
       0.84,
       0.0456
      ],
      [
       0.98,
       0.0585
      ],
      [
       1.12,
       0.0715
      ],
      [
       1.26,
       0.0821
      ],
      [
       1.4,
       0.0922
      ],
      [
       1.54,
       0.1044
      ],
      [
       1.68,
       0.1011
      ],
      [
       1.82,
       0.0966
      ],
      [
       1.96,
       0.0967
      ],
      [
       2.1,
       0.0968
      ],
      [
       2.24,
       0.0971
      ],
      [
       2.38,
       0.0972
      ],
      [
       2.52,
       0.0974
      ],
      [
       2.66,
       0.0976
      ],
      [
       2.8,
       0.0979
      ],
      [
       2.94,
       0.0986
      ],
      [
       3.08,
       0.0999
      ],
      [
       3.22,
       0.103
      ],
      [
       3.36,
       0.1172
      ],
      [
       3.5,
       0.1312
      ],
      [
       3.64,
       0.1365
      ],
      [
       3.78,
       0.1436
      ],
      [
       3.92,
       0.2051
      ],
      [
       4.06,
       0.232
      ],
      [
       4.2,
       0.2759
      ],
      [
       4.34,
       0.3243
      ],
      [
       4.48,
       0.3752
      ],
      [
       4.62,
       0.3697
      ],
      [
       4.76,
       0.2242
      ],
      [
       4.9,
       0.24
      ],
      [
       5.04,
       0.2426
      ],
      [
       5.18,
       0.2455
      ],
      [
       5.32,
       0.2505
      ],
      [
       5.46,
       0.2621
      ],
      [
       5.6,
       0.2733
      ],
      [
       5.74,
       0.2793
      ],
      [
       5.88,
       0.2815
      ],
      [
       6.02,
       0.2598
      ],
      [
       6.16,
       0.2219
      ],
      [
       6.3,
       0.1069
      ],
      [
       6.44,
       0.0981
      ],
      [
       6.58,
       0.1045
      ],
      [
       6.72,
       0.1132
      ],
      [
       6.86,
       0.1193
      ],
      [
       7.0,
       0.1222
      ],
      [
       7.14,
       0.1238
      ],
      [
       7.28,
       0.1237
      ],
      [
       7.42,
       0.1236
      ],
      [
       7.56,
       0.1212
      ],
      [
       7.7,
       0.1149
      ],
      [
       7.84,
       0.1102
      ],
      [
       7.98,
       0.1095
      ],
      [
       8.12,
       0.1092
      ],
      [
       8.26,
       0.109
      ],
      [
       8.4,
       0.109
      ],
      [
       8.54,
       0.1091
      ],
      [
       8.68,
       0.1089
      ],
      [
       8.82,
       0.1086
      ],
      [
       8.96,
       0.1083
      ],
      [
       9.1,
       0.108
      ],
      [
       9.24,
       0.1077
      ],
      [
       9.38,
       0.1074
      ],
      [
       9.52,
       0.1078
      ],
      [
       9.66,
       0.1093
      ],
      [
       9.8,
       0.1118
      ],
      [
       9.94,
       0.1142
      ],
      [
       10.08,
       0.116
      ],
      [
       10.22,
       0.1173
      ],
      [
       10.36,
       0.1177
      ],
      [
       10.5,
       0.1171
      ],
      [
       10.64,
       0.1169
      ],
      [
       10.78,
       0.1168
      ],
      [
       10.92,
       0.1169
      ],
      [
       11.06,
       0.117
      ],
      [
       11.2,
       0.1172
      ],
      [
       11.34,
       0.1174
      ],
      [
       11.48,
       0.1176
      ],
      [
       11.62,
       0.1178
      ],
      [
       11.76,
       0.1181
      ],
      [
       11.9,
       0.1184
      ],
      [
       12.04,
       0.1187
      ],
      [
       12.18,
       0.1191
      ],
      [
       12.32,
       0.1196
      ],
      [
       12.46,
       0.1202
      ],
      [
       12.6,
       0.1209
      ],
      [
       12.74,
       0.1212
      ],
      [
       12.88,
       0.1209
      ],
      [
       13.02,
       0.1201
      ],
      [
       13.16,
       0.1194
      ],
      [
       13.3,
       0.1187
      ],
      [
       13.44,
       0.1177
      ],
      [
       13.58,
       0.1166
      ],
      [
       13.72,
       0.1156
      ],
      [
       13.86,
       0.1143
      ],
      [
       14.0,
       0.1132
      ],
      [
       14.14,
       0.1119
      ],
      [
       14.28,
       0.1107
      ],
      [
       14.42,
       0.1098
      ],
      [
       14.56,
       0.1091
      ],
      [
       14.7,
       0.1085
      ],
      [
       14.84,
       0.108
      ],
      [
       14.98,
       0.1076
      ],
      [
       15.12,
       0.1072
      ],
      [
       15.26,
       0.1071
      ],
      [
       15.4,
       0.1071
      ],
      [
       15.54,
       0.1071
      ],
      [
       15.68,
       0.1071
      ],
      [
       15.82,
       0.1072
      ],
      [
       15.96,
       0.1072
      ],
      [
       16.1,
       0.1073
      ],
      [
       16.24,
       0.1075
      ],
      [
       16.38,
       0.1076
      ],
      [
       16.52,
       0.1078
      ],
      [
       16.66,
       0.108
      ],
      [
       16.8,
       0.1082
      ],
      [
       16.94,
       0.1085
      ],
      [
       17.08,
       0.1102
      ],
      [
       17.22,
       0.1177
      ],
      [
       17.36,
       0.1381
      ],
      [
       17.5,
       0.1362
      ],
      [
       17.64,
       0.1263
      ],
      [
       17.78,
       0.1136
      ],
      [
       17.92,
       0.102
      ],
      [
       18.06,
       0.0927
      ],
      [
       18.2,
       0.0794
      ],
      [
       18.34,
       0.0502
      ],
      [
       18.48,
       0.0
      ],
      [
       18.62,
       0.0
      ],
      [
       18.76,
       0.0
      ],
      [
       18.9,
       0.0
      ],
      [
       19.04,
       0.0
      ],
      [
       19.18,
       0.0
      ],
      [
       19.32,
       0.0
      ],
      [
       19.46,
       0.0
      ],
      [
       19.6,
       0.0
      ],
      [
       19.74,
       0.0
      ],
      [
       19.88,
       0.0
      ],
      [
       20.02,
       0.0
      ],
      [
       20.16,
       0.0
      ],
      [
       20.3,
       0.0
      ],
      [
       20.44,
       0.0
      ],
      [
       20.58,
       0.0
      ],
      [
       20.72,
       0.0
      ],
      [
       20.86,
       0.0
      ],
      [
       21.0,
       0.0
      ],
      [
       21.14,
       0.0
      ],
      [
       21.28,
       0.0
      ],
      [
       21.42,
       0.0
      ],
      [
       21.56,
       0.0
      ],
      [
       21.7,
       0.0
      ],
      [
       21.84,
       0.0
      ],
      [
       21.98,
       0.0
      ],
      [
       22.12,
       0.0
      ],
      [
       22.26,
       0.0
      ],
      [
       22.4,
       0.0
      ],
      [
       22.54,
       0.0
      ],
      [
       22.68,
       0.0
      ],
      [
       22.82,
       0.0
      ],
      [
       22.96,
       0.0
      ],
      [
       23.1,
       0.0
      ],
      [
       23.24,
       0.0
      ],
      [
       23.38,
       0.0
      ],
      [
       23.52,
       0.0
      ],
      [
       23.66,
       0.0
      ],
      [
       23.8,
       0.0
      ],
      [
       23.94,
       0.0
      ],
      [
       24.0,
       0.0
      ]
     ],
     "total_reward": 0.0,
     "initial_progress": 0.0,
     "final_progress": 0.0,
     "physics_sha256": "d878fc65f74a3e55f10ba520e9337a4e77d0e85c9be98b3c651a1a2bf513e1c5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0007322760409129769,
       "final_progress": 0.0007322760409129769,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.05016902337508986,
       "final_progress": 0.05016902337508986,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": -0.2842138215283597,
       "final_progress": 0.006367798404469182,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0,
       "final_progress": 0.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.07374886493028385,
       "final_progress": 0.07374886493028382
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.4569941326111916,
       "final_progress": 0.043005867388808405
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.055195786945469685,
       "final_progress": 0.055195786945469685
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0660364199931991,
       "final_progress": 0.0660364199931991
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0,
       "final_progress": 0.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "mug"
      },
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food container"
      },
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    }
   }
  },
  {
   "example_id": "97223e409e3eb8c8077a4d19d3c387bcc64018894c3fd8e989ff0247d39fc048",
   "recording_id": 8092,
   "task_number": 3,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "blue worktable",
   "human_action": false,
   "description": "Grasp the block from among the mug and the food container, lift it clear and set it down on the food container on the blue worktable.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the block from among the mug and the food container, lift it clear and set it down on the food container on the blue worktable.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 8092,
    "contributor_id": 11,
    "video": "media/source-8092-8cdb9c61374f.mp4",
    "poster": "media/source-8092.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8092,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8092_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.12,
      "original_end_s": 310.12,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "63d75688cf30cd2349605c0fb0a14ed27f87863c074dedc2cbe523325508b4a7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 5,
    "flat_decor": 1,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "97223e409e3e-panda",
     "video": "media/sim-97223e409e3e-panda-s0.mp4",
     "poster": "media/sim-97223e409e3e-panda-s0.jpg",
     "trajectory": "trajectories/97223e409e3e-panda.json",
     "recipe": "recipes/97223e409e3e-panda.json",
     "seed": 0,
     "steps": 354,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0066
      ],
      [
       0.96,
       0.0139
      ],
      [
       1.0,
       0.0219
      ],
      [
       1.04,
       0.0302
      ],
      [
       1.08,
       0.0384
      ],
      [
       1.12,
       0.0462
      ],
      [
       1.16,
       0.0532
      ],
      [
       1.2,
       0.0593
      ],
      [
       1.24,
       0.0642
      ],
      [
       1.28,
       0.0683
      ],
      [
       1.32,
       0.072
      ],
      [
       1.36,
       0.0757
      ],
      [
       1.4,
       0.0795
      ],
      [
       1.44,
       0.0832
      ],
      [
       1.48,
       0.0871
      ],
      [
       1.52,
       0.0911
      ],
      [
       1.56,
       0.0956
      ],
      [
       1.6,
       0.1001
      ],
      [
       1.64,
       0.104
      ],
      [
       1.68,
       0.1079
      ],
      [
       1.72,
       0.1122
      ],
      [
       1.76,
       0.1167
      ],
      [
       1.8,
       0.1214
      ],
      [
       1.84,
       0.1263
      ],
      [
       1.88,
       0.1316
      ],
      [
       1.92,
       0.1373
      ],
      [
       1.96,
       0.1436
      ],
      [
       2.0,
       0.1478
      ],
      [
       2.04,
       0.1448
      ],
      [
       2.08,
       0.145
      ],
      [
       2.12,
       0.1461
      ],
      [
       2.16,
       0.1468
      ],
      [
       2.2,
       0.1471
      ],
      [
       2.24,
       0.1471
      ],
      [
       2.28,
       0.1471
      ],
      [
       2.32,
       0.147
      ],
      [
       2.36,
       0.147
      ],
      [
       2.4,
       0.147
      ],
      [
       2.44,
       0.147
      ],
      [
       2.48,
       0.147
      ],
      [
       2.52,
       0.1469
      ],
      [
       2.56,
       0.1465
      ],
      [
       2.6,
       0.1463
      ],
      [
       2.64,
       0.1464
      ],
      [
       2.68,
       0.1464
      ],
      [
       2.72,
       0.1465
      ],
      [
       2.76,
       0.1465
      ],
      [
       2.8,
       0.1465
      ],
      [
       2.84,
       0.1466
      ],
      [
       2.88,
       0.1466
      ],
      [
       2.92,
       0.1466
      ],
      [
       2.96,
       0.1467
      ],
      [
       3.0,
       0.1467
      ],
      [
       3.04,
       0.1467
      ],
      [
       3.08,
       0.1467
      ],
      [
       3.12,
       0.577
      ],
      [
       3.16,
       0.5768
      ],
      [
       3.2,
       0.5741
      ],
      [
       3.24,
       0.5691
      ],
      [
       3.28,
       0.5615
      ],
      [
       3.32,
       0.5522
      ],
      [
       3.36,
       0.5423
      ],
      [
       3.4,
       0.5321
      ],
      [
       3.44,
       0.522
      ],
      [
       3.48,
       0.5119
      ],
      [
       3.52,
       0.5015
      ],
      [
       3.56,
       0.491
      ],
      [
       3.6,
       0.4806
      ],
      [
       3.64,
       0.47
      ],
      [
       3.68,
       0.459
      ],
      [
       3.72,
       0.448
      ],
      [
       3.76,
       0.4371
      ],
      [
       3.8,
       0.4257
      ],
      [
       3.84,
       0.4114
      ],
      [
       3.88,
       0.401
      ],
      [
       3.92,
       0.406
      ],
      [
       3.96,
       0.4302
      ],
      [
       4.0,
       0.4695
      ],
      [
       4.04,
       0.5113
      ],
      [
       4.08,
       0.552
      ],
      [
       4.12,
       0.5936
      ],
      [
       4.16,
       0.637
      ],
      [
       4.2,
       0.6807
      ],
      [
       4.24,
       0.7228
      ],
      [
       4.28,
       0.7624
      ],
      [
       4.32,
       0.7987
      ],
      [
       4.36,
       0.8311
      ],
      [
       4.4,
       0.8598
      ],
      [
       4.44,
       0.8853
      ],
      [
       4.48,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       1.0
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "0726cb6809b31d9c9ae0b83c65e33f8faacd9d9f5358eb1af63ff1e9f37e65c4",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 8.970000626257188e-06,
       "final_progress": 8.97000062625719e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.04127155637576402,
       "final_progress": 0.04127155637576402,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 354,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "block"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "food container"
      },
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    },
    "aloha": {
     "gym_id": "97223e409e3e-aloha",
     "video": "media/sim-97223e409e3e-aloha-s3.mp4",
     "poster": "media/sim-97223e409e3e-aloha-s3.jpg",
     "trajectory": "trajectories/97223e409e3e-aloha.json",
     "recipe": "recipes/97223e409e3e-aloha.json",
     "seed": 3,
     "steps": 765,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0013
      ],
      [
       0.16,
       0.0031
      ],
      [
       0.24,
       0.0054
      ],
      [
       0.32,
       0.0079
      ],
      [
       0.4,
       0.0109
      ],
      [
       0.48,
       0.0142
      ],
      [
       0.56,
       0.0179
      ],
      [
       0.64,
       0.0219
      ],
      [
       0.72,
       0.0266
      ],
      [
       0.8,
       0.0322
      ],
      [
       0.88,
       0.0391
      ],
      [
       0.96,
       0.0472
      ],
      [
       1.04,
       0.0567
      ],
      [
       1.12,
       0.0676
      ],
      [
       1.2,
       0.08
      ],
      [
       1.28,
       0.0885
      ],
      [
       1.36,
       0.0943
      ],
      [
       1.44,
       0.1032
      ],
      [
       1.52,
       0.1137
      ],
      [
       1.6,
       0.1189
      ],
      [
       1.68,
       0.1232
      ],
      [
       1.76,
       0.1292
      ],
      [
       1.84,
       0.1444
      ],
      [
       1.92,
       0.1466
      ],
      [
       2.0,
       0.1441
      ],
      [
       2.08,
       0.1433
      ],
      [
       2.16,
       0.1433
      ],
      [
       2.24,
       0.1434
      ],
      [
       2.32,
       0.1436
      ],
      [
       2.4,
       0.1436
      ],
      [
       2.48,
       0.1436
      ],
      [
       2.56,
       0.1434
      ],
      [
       2.64,
       0.1435
      ],
      [
       2.72,
       0.1434
      ],
      [
       2.8,
       0.1435
      ],
      [
       2.88,
       0.1435
      ],
      [
       2.96,
       0.1434
      ],
      [
       3.04,
       0.1434
      ],
      [
       3.12,
       0.1433
      ],
      [
       3.2,
       0.1433
      ],
      [
       3.28,
       0.1432
      ],
      [
       3.36,
       0.1432
      ],
      [
       3.44,
       0.1431
      ],
      [
       3.52,
       0.143
      ],
      [
       3.6,
       0.1429
      ],
      [
       3.68,
       0.1428
      ],
      [
       3.76,
       0.1427
      ],
      [
       3.84,
       0.1427
      ],
      [
       3.92,
       0.1426
      ],
      [
       4.0,
       0.1426
      ],
      [
       4.08,
       0.1425
      ],
      [
       4.16,
       0.1425
      ],
      [
       4.24,
       0.1424
      ],
      [
       4.32,
       0.1424
      ],
      [
       4.4,
       0.1423
      ],
      [
       4.48,
       0.1422
      ],
      [
       4.56,
       0.1422
      ],
      [
       4.64,
       0.1421
      ],
      [
       4.72,
       0.1421
      ],
      [
       4.8,
       0.1421
      ],
      [
       4.88,
       0.142
      ],
      [
       4.96,
       0.1419
      ],
      [
       5.04,
       0.1418
      ],
      [
       5.12,
       0.1418
      ],
      [
       5.2,
       0.1417
      ],
      [
       5.28,
       0.1419
      ],
      [
       5.36,
       0.1415
      ],
      [
       5.44,
       0.1414
      ],
      [
       5.52,
       0.1412
      ],
      [
       5.6,
       0.141
      ],
      [
       5.68,
       0.1409
      ],
      [
       5.76,
       0.1409
      ],
      [
       5.84,
       0.141
      ],
      [
       5.92,
       0.1408
      ],
      [
       6.0,
       0.1407
      ],
      [
       6.08,
       0.1405
      ],
      [
       6.16,
       0.1404
      ],
      [
       6.24,
       0.1401
      ],
      [
       6.32,
       0.1399
      ],
      [
       6.4,
       0.1395
      ],
      [
       6.48,
       0.1392
      ],
      [
       6.56,
       0.139
      ],
      [
       6.64,
       0.1388
      ],
      [
       6.72,
       0.1386
      ],
      [
       6.8,
       0.1384
      ],
      [
       6.88,
       0.7363
      ],
      [
       6.96,
       0.7373
      ],
      [
       7.04,
       0.7378
      ],
      [
       7.12,
       0.7382
      ],
      [
       7.2,
       0.7386
      ],
      [
       7.28,
       0.7391
      ],
      [
       7.36,
       0.7417
      ],
      [
       7.44,
       0.7446
      ],
      [
       7.52,
       0.7473
      ],
      [
       7.6,
       0.7491
      ],
      [
       7.68,
       0.7495
      ],
      [
       7.76,
       0.748
      ],
      [
       7.84,
       0.7582
      ],
      [
       7.92,
       0.7781
      ],
      [
       8.0,
       0.799
      ],
      [
       8.08,
       0.8202
      ],
      [
       8.16,
       0.8407
      ],
      [
       8.24,
       0.86
      ],
      [
       8.32,
       0.8777
      ],
      [
       8.4,
       0.8947
      ],
      [
       8.48,
       0.9
      ],
      [
       8.56,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.72,
       0.9
      ],
      [
       8.8,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.96,
       0.9
      ],
      [
       9.04,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.2,
       0.9
      ],
      [
       9.28,
       0.9
      ],
      [
       9.36,
       0.9
      ],
      [
       9.44,
       0.9
      ],
      [
       9.52,
       0.9
      ],
      [
       9.6,
       0.9
      ],
      [
       9.68,
       0.9
      ],
      [
       9.76,
       0.9
      ],
      [
       9.84,
       0.9
      ],
      [
       9.92,
       0.9
      ],
      [
       10.0,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.16,
       0.9
      ],
      [
       10.24,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.4,
       0.9
      ],
      [
       10.48,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.72,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.88,
       0.9
      ],
      [
       10.96,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.12,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.36,
       0.9
      ],
      [
       11.44,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.6,
       0.9
      ],
      [
       11.68,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.84,
       0.9
      ],
      [
       11.92,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.08,
       0.9
      ],
      [
       12.16,
       0.9
      ],
      [
       12.24,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.4,
       0.9
      ],
      [
       12.48,
       0.9
      ],
      [
       12.56,
       0.9
      ],
      [
       12.64,
       0.9
      ],
      [
       12.72,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       12.96,
       0.9
      ],
      [
       13.04,
       0.9
      ],
      [
       13.12,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.28,
       0.9
      ],
      [
       13.36,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.52,
       0.9
      ],
      [
       13.6,
       0.9
      ],
      [
       13.68,
       0.9
      ],
      [
       13.76,
       0.9
      ],
      [
       13.84,
       0.9
      ],
      [
       13.92,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.08,
       0.9
      ],
      [
       14.16,
       0.9
      ],
      [
       14.24,
       0.9
      ],
      [
       14.32,
       0.9
      ],
      [
       14.4,
       0.9
      ],
      [
       14.48,
       0.9
      ],
      [
       14.56,
       0.9
      ],
      [
       14.64,
       0.9
      ],
      [
       14.72,
       1.0
      ],
      [
       14.8,
       0.9
      ],
      [
       14.88,
       1.0
      ],
      [
       14.96,
       1.0
      ],
      [
       15.04,
       1.0
      ],
      [
       15.12,
       1.0
      ],
      [
       15.2,
       1.0
      ],
      [
       15.28,
       1.0
      ],
      [
       15.3,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "09266baf3e5afb5757ae2f0d187282ac04df066926383df2452a56d394b5cccb",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0007204994379975293,
       "final_progress": 0.0007204994379975293,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 1.0,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7241439492263434,
       "final_progress": 0.9
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9,
       "final_progress": 0.9
      },
      {
       "layout_seed": 3,
       "outcome": "success",
       "steps": 765,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "block"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "food container"
      },
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    }
   }
  },
  {
   "example_id": "1724fa6e0e11adaf9a20be6d4978a9148a007435747e546f8842ca0dbe4cced1",
   "recording_id": 8092,
   "task_number": 4,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "blue worktable",
   "human_action": false,
   "description": "Lift the paper cup off the red spot on the blue worktable, set it aside among the cans and the mug, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the paper cup off the red spot on the blue worktable, set it aside among the cans and the mug, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 8092,
    "contributor_id": 11,
    "video": "media/source-8092-8cdb9c61374f.mp4",
    "poster": "media/source-8092.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8092,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8092_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.12,
      "original_end_s": 310.12,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "63d75688cf30cd2349605c0fb0a14ed27f87863c074dedc2cbe523325508b4a7",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "8cdb9c61374f2998d12b714ada97bdad4136c7464abaa32e8ba1355a77b8370e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "1724fa6e0e11-panda",
     "video": "media/sim-1724fa6e0e11-panda-s0.mp4",
     "poster": "media/sim-1724fa6e0e11-panda-s0.jpg",
     "trajectory": "trajectories/1724fa6e0e11-panda.json",
     "recipe": "recipes/1724fa6e0e11-panda.json",
     "seed": 0,
     "steps": 612,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.32,
       0.0026
      ],
      [
       1.38,
       0.0086
      ],
      [
       1.44,
       0.015
      ],
      [
       1.5,
       0.0211
      ],
      [
       1.56,
       0.0264
      ],
      [
       1.62,
       0.0305
      ],
      [
       1.68,
       0.0336
      ],
      [
       1.74,
       0.036
      ],
      [
       1.8,
       0.0382
      ],
      [
       1.86,
       0.0403
      ],
      [
       1.92,
       0.0422
      ],
      [
       1.98,
       0.044
      ],
      [
       2.04,
       0.0459
      ],
      [
       2.1,
       0.0478
      ],
      [
       2.16,
       0.0499
      ],
      [
       2.22,
       0.0522
      ],
      [
       2.28,
       0.0547
      ],
      [
       2.34,
       0.0576
      ],
      [
       2.4,
       0.0609
      ],
      [
       2.46,
       0.0648
      ],
      [
       2.52,
       0.0694
      ],
      [
       2.58,
       0.0733
      ],
      [
       2.64,
       0.076
      ],
      [
       2.7,
       0.0791
      ],
      [
       2.76,
       0.0829
      ],
      [
       2.82,
       0.0869
      ],
      [
       2.88,
       0.0915
      ],
      [
       2.94,
       0.0961
      ],
      [
       3.0,
       0.0952
      ],
      [
       3.06,
       0.0951
      ],
      [
       3.12,
       0.0962
      ],
      [
       3.18,
       0.0969
      ],
      [
       3.24,
       0.0975
      ],
      [
       3.3,
       0.0979
      ],
      [
       3.36,
       0.0981
      ],
      [
       3.42,
       0.0982
      ],
      [
       3.48,
       0.0989
      ],
      [
       3.54,
       0.099
      ],
      [
       3.6,
       0.099
      ],
      [
       3.66,
       0.0991
      ],
      [
       3.72,
       0.0991
      ],
      [
       3.78,
       0.0991
      ],
      [
       3.84,
       0.0991
      ],
      [
       3.9,
       0.0991
      ],
      [
       3.96,
       0.0991
      ],
      [
       4.02,
       0.0991
      ],
      [
       4.08,
       0.0991
      ],
      [
       4.14,
       0.0991
      ],
      [
       4.2,
       0.0991
      ],
      [
       4.26,
       0.0991
      ],
      [
       4.32,
       0.0991
      ],
      [
       4.38,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.5,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.62,
       0.5902
      ],
      [
       4.68,
       0.5624
      ],
      [
       4.74,
       0.5343
      ],
      [
       4.8,
       0.5061
      ],
      [
       4.86,
       0.4776
      ],
      [
       4.92,
       0.4467
      ],
      [
       4.98,
       0.4082
      ],
      [
       5.04,
       0.3637
      ],
      [
       5.1,
       0.3581
      ],
      [
       5.16,
       0.3639
      ],
      [
       5.22,
       0.337
      ],
      [
       5.28,
       0.3222
      ],
      [
       5.34,
       0.3897
      ],
      [
       5.4,
       0.4622
      ],
      [
       5.46,
       0.5263
      ],
      [
       5.52,
       0.5921
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.42,
       0.6
      ],
      [
       9.48,
       0.6
      ],
      [
       9.54,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.66,
       0.6
      ],
      [
       9.72,
       0.6
      ],
      [
       9.78,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       9.96,
       0.6
      ],
      [
       10.02,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.14,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.26,
       0.6
      ],
      [
       10.32,
       0.6
      ],
      [
       10.38,
       0.6
      ],
      [
       10.44,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.56,
       0.6
      ],
      [
       10.62,
       0.6
      ],
      [
       10.68,
       0.6
      ],
      [
       10.74,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.86,
       0.6
      ],
      [
       10.92,
       0.6
      ],
      [
       10.98,
       0.6
      ],
      [
       11.04,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.16,
       0.6
      ],
      [
       11.22,
       0.6
      ],
      [
       11.28,
       0.6
      ],
      [
       11.34,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.46,
       0.6
      ],
      [
       11.52,
       0.6
      ],
      [
       11.58,
       0.6
      ],
      [
       11.64,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.76,
       0.6
      ],
      [
       11.82,
       0.6
      ],
      [
       11.88,
       0.6
      ],
      [
       11.94,
       0.6
      ],
      [
       12.0,
       0.68
      ],
      [
       12.06,
       0.76
      ],
      [
       12.12,
       0.84
      ],
      [
       12.18,
       0.92
      ],
      [
       12.24,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "bca5447091bbc99e33178ba73d5310498c6cbdac1e43476237ddfbc24a22ddb6",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.05443602212598389,
       "final_progress": 0.05443602212598389,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 612,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx41",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food container"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    },
    "aloha": {
     "gym_id": "1724fa6e0e11-aloha",
     "video": "media/sim-1724fa6e0e11-aloha-s0.mp4",
     "poster": "media/sim-1724fa6e0e11-aloha-s0.jpg",
     "trajectory": "trajectories/1724fa6e0e11-aloha.json",
     "recipe": "recipes/1724fa6e0e11-aloha.json",
     "seed": 0,
     "steps": 744,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0014
      ],
      [
       0.16,
       0.0039
      ],
      [
       0.24,
       0.0068
      ],
      [
       0.32,
       0.0102
      ],
      [
       0.4,
       0.0139
      ],
      [
       0.48,
       0.0177
      ],
      [
       0.56,
       0.0215
      ],
      [
       0.64,
       0.0255
      ],
      [
       0.72,
       0.0297
      ],
      [
       0.8,
       0.0344
      ],
      [
       0.88,
       0.0394
      ],
      [
       0.96,
       0.0452
      ],
      [
       1.04,
       0.0507
      ],
      [
       1.12,
       0.0565
      ],
      [
       1.2,
       0.0627
      ],
      [
       1.28,
       0.069
      ],
      [
       1.36,
       0.0748
      ],
      [
       1.44,
       0.079
      ],
      [
       1.52,
       0.0854
      ],
      [
       1.6,
       0.091
      ],
      [
       1.68,
       0.094
      ],
      [
       1.76,
       0.0948
      ],
      [
       1.84,
       0.0967
      ],
      [
       1.92,
       0.097
      ],
      [
       2.0,
       0.0969
      ],
      [
       2.08,
       0.0968
      ],
      [
       2.16,
       0.0966
      ],
      [
       2.24,
       0.0962
      ],
      [
       2.32,
       0.096
      ],
      [
       2.4,
       0.0957
      ],
      [
       2.48,
       0.0952
      ],
      [
       2.56,
       0.0945
      ],
      [
       2.64,
       0.0945
      ],
      [
       2.72,
       0.0945
      ],
      [
       2.8,
       0.0945
      ],
      [
       2.88,
       0.0945
      ],
      [
       2.96,
       0.0945
      ],
      [
       3.04,
       0.0945
      ],
      [
       3.12,
       0.0945
      ],
      [
       3.2,
       0.0945
      ],
      [
       3.28,
       0.0944
      ],
      [
       3.36,
       0.4286
      ],
      [
       3.44,
       0.4497
      ],
      [
       3.52,
       0.4729
      ],
      [
       3.6,
       0.496
      ],
      [
       3.68,
       0.5133
      ],
      [
       3.76,
       0.5149
      ],
      [
       3.84,
       0.4935
      ],
      [
       3.92,
       0.4523
      ],
      [
       4.0,
       0.4065
      ],
      [
       4.08,
       0.3591
      ],
      [
       4.16,
       0.3854
      ],
      [
       4.24,
       0.4601
      ],
      [
       4.32,
       0.5427
      ],
      [
       4.4,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.04,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.28,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.44,
       0.6
      ],
      [
       9.52,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.68,
       0.6
      ],
      [
       9.76,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.92,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.16,
       0.6
      ],
      [
       10.24,
       0.6
      ],
      [
       10.32,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.48,
       0.6
      ],
      [
       10.56,
       0.6
      ],
      [
       10.64,
       0.6
      ],
      [
       10.72,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.88,
       0.6
      ],
      [
       10.96,
       0.6
      ],
      [
       11.04,
       0.6
      ],
      [
       11.12,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.28,
       0.6
      ],
      [
       11.36,
       0.6
      ],
      [
       11.44,
       0.6
      ],
      [
       11.52,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.68,
       0.6
      ],
      [
       11.76,
       0.6
      ],
      [
       11.84,
       0.6
      ],
      [
       11.92,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.08,
       0.6
      ],
      [
       12.16,
       0.6
      ],
      [
       12.24,
       0.6
      ],
      [
       12.32,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.48,
       0.6
      ],
      [
       12.56,
       0.6
      ],
      [
       12.64,
       0.6
      ],
      [
       12.72,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.88,
       0.6
      ],
      [
       12.96,
       0.6
      ],
      [
       13.04,
       0.6
      ],
      [
       13.12,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.28,
       0.6
      ],
      [
       13.36,
       0.6
      ],
      [
       13.44,
       0.6
      ],
      [
       13.52,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.68,
       0.6
      ],
      [
       13.76,
       0.6
      ],
      [
       13.84,
       0.6
      ],
      [
       13.92,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.08,
       0.6
      ],
      [
       14.16,
       0.6
      ],
      [
       14.24,
       0.6
      ],
      [
       14.32,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.48,
       0.6
      ],
      [
       14.56,
       0.6
      ],
      [
       14.64,
       0.68
      ],
      [
       14.72,
       0.7867
      ],
      [
       14.8,
       0.8933
      ],
      [
       14.88,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8591e23ecde53228c874737a43835aa8619a00026a8d980eba7425ed64e7f415",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0006542846392484925,
       "final_progress": 0.0006542846392484925,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.06219265191363176,
       "final_progress": 0.06219265191363176,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.06217705811156557,
       "final_progress": 0.06217705811156557,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 744,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx41",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "folded_paper_0",
       "source": "primitive:paper",
       "grounding": "added_context",
       "role": "decor",
       "label": "folded paper"
      },
      {
       "name": "food_container_0",
       "source": "primitive:food_container",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food container"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      },
      {
       "name": "cans_0",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:005_tomato_soup_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      }
     ]
    }
   }
  },
  {
   "example_id": "8e418125ed6eda6d8d70305a5c00b4d738496d3f51ae3ff8ca9e2d2e1370b222",
   "recording_id": 8098,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "blue worktable",
   "human_action": true,
   "description": "In the footage: Wipe the visible blue worktable with the pale green wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 10\u00d78 cm patch (square to the table edge) on the blue worktable among the fruit and the cup and sweep it row by row at 4\u201314 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 4\u201314 N, no object moved >2 cm, peak force \u226442 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 8098,
    "contributor_id": 11,
    "video": "media/source-8098-c56572c1845f.mp4",
    "poster": "media/source-8098.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8098,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8098_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 141.955,
      "original_end_s": 161.955,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "28f725bb0bf537edd04c6a6599fa52e62527294a96347f613c0abf340968e271",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "8e418125ed6e-panda",
     "video": "media/sim-8e418125ed6e-panda-s0.mp4",
     "poster": "media/sim-8e418125ed6e-panda-s0.jpg",
     "trajectory": "trajectories/8e418125ed6e-panda.json",
     "recipe": "recipes/8e418125ed6e-panda.json",
     "seed": 0,
     "steps": 431,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.001
      ],
      [
       0.12,
       0.0037
      ],
      [
       0.16,
       0.0065
      ],
      [
       0.2,
       0.0091
      ],
      [
       0.24,
       0.0117
      ],
      [
       0.28,
       0.0147
      ],
      [
       0.32,
       0.018
      ],
      [
       0.36,
       0.0214
      ],
      [
       0.4,
       0.025
      ],
      [
       0.44,
       0.0287
      ],
      [
       0.48,
       0.0327
      ],
      [
       0.52,
       0.0368
      ],
      [
       0.56,
       0.0412
      ],
      [
       0.6,
       0.0457
      ],
      [
       0.64,
       0.0505
      ],
      [
       0.68,
       0.0554
      ],
      [
       0.72,
       0.0605
      ],
      [
       0.76,
       0.0658
      ],
      [
       0.8,
       0.0712
      ],
      [
       0.84,
       0.0767
      ],
      [
       0.88,
       0.0823
      ],
      [
       0.92,
       0.0879
      ],
      [
       0.96,
       0.0934
      ],
      [
       1.0,
       0.0989
      ],
      [
       1.04,
       0.1045
      ],
      [
       1.08,
       0.1103
      ],
      [
       1.12,
       0.1162
      ],
      [
       1.16,
       0.1223
      ],
      [
       1.2,
       0.1285
      ],
      [
       1.24,
       0.1348
      ],
      [
       1.28,
       0.1406
      ],
      [
       1.32,
       0.143
      ],
      [
       1.36,
       0.1391
      ],
      [
       1.4,
       0.1401
      ],
      [
       1.44,
       0.1426
      ],
      [
       1.48,
       0.1432
      ],
      [
       1.52,
       0.1433
      ],
      [
       1.56,
       0.1435
      ],
      [
       1.6,
       0.1431
      ],
      [
       1.64,
       0.1417
      ],
      [
       1.68,
       0.1406
      ],
      [
       1.72,
       0.14
      ],
      [
       1.76,
       0.1401
      ],
      [
       1.8,
       0.1405
      ],
      [
       1.84,
       0.1409
      ],
      [
       1.88,
       0.1413
      ],
      [
       1.92,
       0.1416
      ],
      [
       1.96,
       0.1421
      ],
      [
       2.0,
       0.1431
      ],
      [
       2.04,
       0.1441
      ],
      [
       2.08,
       0.1452
      ],
      [
       2.12,
       0.1462
      ],
      [
       2.16,
       0.147
      ],
      [
       2.2,
       0.1476
      ],
      [
       2.24,
       0.1479
      ],
      [
       2.28,
       0.1483
      ],
      [
       2.32,
       0.1487
      ],
      [
       2.36,
       0.1492
      ],
      [
       2.4,
       0.1497
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.04,
       0.32
      ],
      [
       3.08,
       0.32
      ],
      [
       3.12,
       0.32
      ],
      [
       3.16,
       0.32
      ],
      [
       3.2,
       0.32
      ],
      [
       3.24,
       0.32
      ],
      [
       3.28,
       0.32
      ],
      [
       3.32,
       0.32
      ],
      [
       3.36,
       0.32
      ],
      [
       3.4,
       0.32
      ],
      [
       3.44,
       0.32
      ],
      [
       3.48,
       0.32
      ],
      [
       3.52,
       0.32
      ],
      [
       3.56,
       0.32
      ],
      [
       3.6,
       0.32
      ],
      [
       3.64,
       0.32
      ],
      [
       3.68,
       0.32
      ],
      [
       3.72,
       0.32
      ],
      [
       3.76,
       0.32
      ],
      [
       3.8,
       0.32
      ],
      [
       3.84,
       0.32
      ],
      [
       3.88,
       0.32
      ],
      [
       3.92,
       0.32
      ],
      [
       3.96,
       0.32
      ],
      [
       4.0,
       0.32
      ],
      [
       4.04,
       0.32
      ],
      [
       4.08,
       0.32
      ],
      [
       4.12,
       0.32
      ],
      [
       4.16,
       0.32
      ],
      [
       4.2,
       0.32
      ],
      [
       4.24,
       0.32
      ],
      [
       4.28,
       0.32
      ],
      [
       4.32,
       0.32
      ],
      [
       4.36,
       0.32
      ],
      [
       4.4,
       0.32
      ],
      [
       4.44,
       0.49
      ],
      [
       4.48,
       0.49
      ],
      [
       4.52,
       0.49
      ],
      [
       4.56,
       0.49
      ],
      [
       4.6,
       0.575
      ],
      [
       4.64,
       0.575
      ],
      [
       4.68,
       0.575
      ],
      [
       4.72,
       0.575
      ],
      [
       4.76,
       0.575
      ],
      [
       4.8,
       0.575
      ],
      [
       4.84,
       0.575
      ],
      [
       4.88,
       0.575
      ],
      [
       4.92,
       0.575
      ],
      [
       4.96,
       0.575
      ],
      [
       5.0,
       0.575
      ],
      [
       5.04,
       0.575
      ],
      [
       5.08,
       0.575
      ],
      [
       5.12,
       0.66
      ],
      [
       5.16,
       0.66
      ],
      [
       5.2,
       0.66
      ],
      [
       5.24,
       0.66
      ],
      [
       5.28,
       0.66
      ],
      [
       5.32,
       0.66
      ],
      [
       5.36,
       0.66
      ],
      [
       5.4,
       0.66
      ],
      [
       5.44,
       0.66
      ],
      [
       5.48,
       0.66
      ],
      [
       5.52,
       0.66
      ],
      [
       5.56,
       0.66
      ],
      [
       5.6,
       0.7025
      ],
      [
       5.64,
       0.7025
      ],
      [
       5.68,
       0.7025
      ],
      [
       5.72,
       0.7025
      ],
      [
       5.76,
       0.7025
      ],
      [
       5.8,
       0.7025
      ],
      [
       5.84,
       0.7025
      ],
      [
       5.88,
       0.7025
      ],
      [
       5.92,
       0.7025
      ],
      [
       5.96,
       0.745
      ],
      [
       6.0,
       0.745
      ],
      [
       6.04,
       0.745
      ],
      [
       6.08,
       0.745
      ],
      [
       6.12,
       0.745
      ],
      [
       6.16,
       0.745
      ],
      [
       6.2,
       0.745
      ],
      [
       6.24,
       0.745
      ],
      [
       6.28,
       0.745
      ],
      [
       6.32,
       0.745
      ],
      [
       6.36,
       0.745
      ],
      [
       6.4,
       0.745
      ],
      [
       6.44,
       0.745
      ],
      [
       6.48,
       0.745
      ],
      [
       6.52,
       0.745
      ],
      [
       6.56,
       0.745
      ],
      [
       6.6,
       0.745
      ],
      [
       6.64,
       0.745
      ],
      [
       6.68,
       0.745
      ],
      [
       6.72,
       0.745
      ],
      [
       6.76,
       0.745
      ],
      [
       6.8,
       0.745
      ],
      [
       6.84,
       0.745
      ],
      [
       6.88,
       0.745
      ],
      [
       6.92,
       0.745
      ],
      [
       6.96,
       0.745
      ],
      [
       7.0,
       0.745
      ],
      [
       7.04,
       0.745
      ],
      [
       7.08,
       0.745
      ],
      [
       7.12,
       0.745
      ],
      [
       7.16,
       0.745
      ],
      [
       7.2,
       0.745
      ],
      [
       7.24,
       0.745
      ],
      [
       7.28,
       0.745
      ],
      [
       7.32,
       0.745
      ],
      [
       7.36,
       0.745
      ],
      [
       7.4,
       0.745
      ],
      [
       7.44,
       0.745
      ],
      [
       7.48,
       0.745
      ],
      [
       7.52,
       0.745
      ],
      [
       7.56,
       0.745
      ],
      [
       7.6,
       0.745
      ],
      [
       7.64,
       0.745
      ],
      [
       7.68,
       0.745
      ],
      [
       7.72,
       0.745
      ],
      [
       7.76,
       0.745
      ],
      [
       7.8,
       0.745
      ],
      [
       7.84,
       0.745
      ],
      [
       7.88,
       0.745
      ],
      [
       7.92,
       0.83
      ],
      [
       7.96,
       0.83
      ],
      [
       8.0,
       0.83
      ],
      [
       8.04,
       0.83
      ],
      [
       8.08,
       0.83
      ],
      [
       8.12,
       0.83
      ],
      [
       8.16,
       0.83
      ],
      [
       8.2,
       0.8725
      ],
      [
       8.24,
       0.8725
      ],
      [
       8.28,
       0.8725
      ],
      [
       8.32,
       0.8725
      ],
      [
       8.36,
       0.8725
      ],
      [
       8.4,
       0.8725
      ],
      [
       8.44,
       0.8725
      ],
      [
       8.48,
       0.8725
      ],
      [
       8.52,
       0.8725
      ],
      [
       8.56,
       0.8725
      ],
      [
       8.6,
       0.8725
      ],
      [
       8.62,
       0.915
      ]
     ],
     "total_reward": 1.8962,
     "initial_progress": 0.0,
     "final_progress": 0.915,
     "physics_sha256": "06a1bafa912b79e5f13b8c47c41ff804d2685da00ffe661c56ebd324604a6cb3",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.21750000000000003,
       "final_progress": 0.4675,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.32,
       "final_progress": 0.32,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 431,
       "return": 1.8962182728267425,
       "final_progress": 0.915
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cup"
      }
     ]
    },
    "aloha": {
     "gym_id": "8e418125ed6e-aloha",
     "video": "media/sim-8e418125ed6e-aloha-s1.mp4",
     "poster": "media/sim-8e418125ed6e-aloha-s1.jpg",
     "trajectory": "trajectories/8e418125ed6e-aloha.json",
     "recipe": "recipes/8e418125ed6e-aloha.json",
     "seed": 1,
     "steps": 591,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0011
      ],
      [
       0.12,
       0.003
      ],
      [
       0.18,
       0.0051
      ],
      [
       0.24,
       0.0075
      ],
      [
       0.3,
       0.0104
      ],
      [
       0.36,
       0.0139
      ],
      [
       0.42,
       0.0179
      ],
      [
       0.48,
       0.0226
      ],
      [
       0.54,
       0.028
      ],
      [
       0.6,
       0.034
      ],
      [
       0.66,
       0.0407
      ],
      [
       0.72,
       0.048
      ],
      [
       0.78,
       0.0556
      ],
      [
       0.84,
       0.0639
      ],
      [
       0.9,
       0.0728
      ],
      [
       0.96,
       0.0827
      ],
      [
       1.02,
       0.0935
      ],
      [
       1.08,
       0.1055
      ],
      [
       1.14,
       0.1189
      ],
      [
       1.2,
       0.1328
      ],
      [
       1.26,
       0.1398
      ],
      [
       1.32,
       0.1418
      ],
      [
       1.38,
       0.1427
      ],
      [
       1.44,
       0.1437
      ],
      [
       1.5,
       0.1443
      ],
      [
       1.56,
       0.145
      ],
      [
       1.62,
       0.1455
      ],
      [
       1.68,
       0.1461
      ],
      [
       1.74,
       0.1462
      ],
      [
       1.8,
       0.1458
      ],
      [
       1.86,
       0.1448
      ],
      [
       1.92,
       0.1445
      ],
      [
       1.98,
       0.1454
      ],
      [
       2.04,
       0.146
      ],
      [
       2.1,
       0.1456
      ],
      [
       2.16,
       0.1443
      ],
      [
       2.22,
       0.1425
      ],
      [
       2.28,
       0.1405
      ],
      [
       2.34,
       0.1389
      ],
      [
       2.4,
       0.1378
      ],
      [
       2.46,
       0.1373
      ],
      [
       2.52,
       0.1371
      ],
      [
       2.58,
       0.1372
      ],
      [
       2.64,
       0.1373
      ],
      [
       2.7,
       0.1374
      ],
      [
       2.76,
       0.1375
      ],
      [
       2.82,
       0.1375
      ],
      [
       2.88,
       0.1374
      ],
      [
       2.94,
       0.1374
      ],
      [
       3.0,
       0.1373
      ],
      [
       3.06,
       0.1372
      ],
      [
       3.12,
       0.137
      ],
      [
       3.18,
       0.1366
      ],
      [
       3.24,
       0.136
      ],
      [
       3.3,
       0.1352
      ],
      [
       3.36,
       0.1344
      ],
      [
       3.42,
       0.1344
      ],
      [
       3.48,
       0.1357
      ],
      [
       3.54,
       0.1381
      ],
      [
       3.6,
       0.1418
      ],
      [
       3.66,
       0.1461
      ],
      [
       3.72,
       0.1497
      ],
      [
       3.78,
       0.15
      ],
      [
       3.84,
       0.15
      ],
      [
       3.9,
       0.15
      ],
      [
       3.96,
       0.15
      ],
      [
       4.02,
       0.15
      ],
      [
       4.08,
       0.32
      ],
      [
       4.14,
       0.32
      ],
      [
       4.2,
       0.32
      ],
      [
       4.26,
       0.32
      ],
      [
       4.32,
       0.32
      ],
      [
       4.38,
       0.32
      ],
      [
       4.44,
       0.32
      ],
      [
       4.5,
       0.32
      ],
      [
       4.56,
       0.32
      ],
      [
       4.62,
       0.32
      ],
      [
       4.68,
       0.32
      ],
      [
       4.74,
       0.32
      ],
      [
       4.8,
       0.32
      ],
      [
       4.86,
       0.32
      ],
      [
       4.92,
       0.32
      ],
      [
       4.98,
       0.405
      ],
      [
       5.04,
       0.405
      ],
      [
       5.1,
       0.405
      ],
      [
       5.16,
       0.405
      ],
      [
       5.22,
       0.405
      ],
      [
       5.28,
       0.405
      ],
      [
       5.34,
       0.49
      ],
      [
       5.4,
       0.49
      ],
      [
       5.46,
       0.49
      ],
      [
       5.52,
       0.49
      ],
      [
       5.58,
       0.49
      ],
      [
       5.64,
       0.49
      ],
      [
       5.7,
       0.49
      ],
      [
       5.76,
       0.49
      ],
      [
       5.82,
       0.49
      ],
      [
       5.88,
       0.49
      ],
      [
       5.94,
       0.49
      ],
      [
       6.0,
       0.49
      ],
      [
       6.06,
       0.575
      ],
      [
       6.12,
       0.575
      ],
      [
       6.18,
       0.575
      ],
      [
       6.24,
       0.575
      ],
      [
       6.3,
       0.575
      ],
      [
       6.36,
       0.575
      ],
      [
       6.42,
       0.575
      ],
      [
       6.48,
       0.575
      ],
      [
       6.54,
       0.575
      ],
      [
       6.6,
       0.575
      ],
      [
       6.66,
       0.575
      ],
      [
       6.72,
       0.575
      ],
      [
       6.78,
       0.575
      ],
      [
       6.84,
       0.575
      ],
      [
       6.9,
       0.575
      ],
      [
       6.96,
       0.575
      ],
      [
       7.02,
       0.575
      ],
      [
       7.08,
       0.575
      ],
      [
       7.14,
       0.575
      ],
      [
       7.2,
       0.66
      ],
      [
       7.26,
       0.66
      ],
      [
       7.32,
       0.66
      ],
      [
       7.38,
       0.66
      ],
      [
       7.44,
       0.66
      ],
      [
       7.5,
       0.66
      ],
      [
       7.56,
       0.66
      ],
      [
       7.62,
       0.7025
      ],
      [
       7.68,
       0.7025
      ],
      [
       7.74,
       0.7025
      ],
      [
       7.8,
       0.7025
      ],
      [
       7.86,
       0.7025
      ],
      [
       7.92,
       0.7025
      ],
      [
       7.98,
       0.7025
      ],
      [
       8.04,
       0.7025
      ],
      [
       8.1,
       0.7025
      ],
      [
       8.16,
       0.7025
      ],
      [
       8.22,
       0.7025
      ],
      [
       8.28,
       0.745
      ],
      [
       8.34,
       0.745
      ],
      [
       8.4,
       0.745
      ],
      [
       8.46,
       0.745
      ],
      [
       8.52,
       0.745
      ],
      [
       8.58,
       0.745
      ],
      [
       8.64,
       0.745
      ],
      [
       8.7,
       0.745
      ],
      [
       8.76,
       0.745
      ],
      [
       8.82,
       0.7875
      ],
      [
       8.88,
       0.7875
      ],
      [
       8.94,
       0.7875
      ],
      [
       9.0,
       0.7875
      ],
      [
       9.06,
       0.7875
      ],
      [
       9.12,
       0.7875
      ],
      [
       9.18,
       0.7875
      ],
      [
       9.24,
       0.7875
      ],
      [
       9.3,
       0.7875
      ],
      [
       9.36,
       0.7875
      ],
      [
       9.42,
       0.7875
      ],
      [
       9.48,
       0.7872
      ],
      [
       9.54,
       0.7852
      ],
      [
       9.6,
       0.7847
      ],
      [
       9.66,
       0.7847
      ],
      [
       9.72,
       0.8276
      ],
      [
       9.78,
       0.8281
      ],
      [
       9.84,
       0.8286
      ],
      [
       9.9,
       0.829
      ],
      [
       9.96,
       0.8296
      ],
      [
       10.02,
       0.83
      ],
      [
       10.08,
       0.83
      ],
      [
       10.14,
       0.83
      ],
      [
       10.2,
       0.83
      ],
      [
       10.26,
       0.83
      ],
      [
       10.32,
       0.83
      ],
      [
       10.38,
       0.8725
      ],
      [
       10.44,
       0.8725
      ],
      [
       10.5,
       0.8725
      ],
      [
       10.56,
       0.8725
      ],
      [
       10.62,
       0.8725
      ],
      [
       10.68,
       0.8725
      ],
      [
       10.74,
       0.8725
      ],
      [
       10.8,
       0.8725
      ],
      [
       10.86,
       0.8725
      ],
      [
       10.92,
       0.8725
      ],
      [
       10.98,
       0.8725
      ],
      [
       11.04,
       0.8725
      ],
      [
       11.1,
       0.8725
      ],
      [
       11.16,
       0.8725
      ],
      [
       11.22,
       0.8725
      ],
      [
       11.28,
       0.8725
      ],
      [
       11.34,
       0.8725
      ],
      [
       11.4,
       0.8725
      ],
      [
       11.46,
       0.8725
      ],
      [
       11.52,
       0.8725
      ],
      [
       11.58,
       0.8725
      ],
      [
       11.64,
       0.8725
      ],
      [
       11.7,
       0.8725
      ],
      [
       11.76,
       0.8725
      ],
      [
       11.82,
       0.915
      ]
     ],
     "total_reward": 1.915,
     "initial_progress": 0.0,
     "final_progress": 0.915,
     "physics_sha256": "3995a41432f14d4d04a1b11315bc77c333afb25cc8e39dc792eee724979f960f",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011436403139750194,
       "final_progress": 0.0011436403139750194,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 8.724439356719293e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.32,
       "final_progress": 0.32,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7780681784968393,
       "final_progress": 0.7875
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 591,
       "return": 1.915,
       "final_progress": 0.915
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cup"
      }
     ]
    }
   }
  },
  {
   "example_id": "0e8c4bbded4a5fafff5d062efe710fdb8fb00547d731cba8fbc7d5b4e741d564",
   "recording_id": 8098,
   "task_number": 2,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "blue worktable",
   "human_action": false,
   "description": "Pick up the cup and balance it on top of the coffee can on the blue worktable among the food box and the bowl.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the cup and balance it on top of the coffee can on the blue worktable among the food box and the bowl.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 8098,
    "contributor_id": 11,
    "video": "media/source-8098-c56572c1845f.mp4",
    "poster": "media/source-8098.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8098,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8098_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 141.955,
      "original_end_s": 161.955,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "28f725bb0bf537edd04c6a6599fa52e62527294a96347f613c0abf340968e271",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "0e8c4bbded4a-panda",
     "video": "media/sim-0e8c4bbded4a-panda-s0.mp4",
     "poster": "media/sim-0e8c4bbded4a-panda-s0.jpg",
     "trajectory": "trajectories/0e8c4bbded4a-panda.json",
     "recipe": "recipes/0e8c4bbded4a-panda.json",
     "seed": 0,
     "steps": 397,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0002
      ],
      [
       0.68,
       0.0049
      ],
      [
       0.72,
       0.0085
      ],
      [
       0.76,
       0.0101
      ],
      [
       0.8,
       0.0116
      ],
      [
       0.84,
       0.014
      ],
      [
       0.88,
       0.0168
      ],
      [
       0.92,
       0.0197
      ],
      [
       0.96,
       0.0227
      ],
      [
       1.0,
       0.0259
      ],
      [
       1.04,
       0.0294
      ],
      [
       1.08,
       0.0332
      ],
      [
       1.12,
       0.0372
      ],
      [
       1.16,
       0.0413
      ],
      [
       1.2,
       0.0458
      ],
      [
       1.24,
       0.0504
      ],
      [
       1.28,
       0.0553
      ],
      [
       1.32,
       0.0604
      ],
      [
       1.36,
       0.0657
      ],
      [
       1.4,
       0.0712
      ],
      [
       1.44,
       0.0768
      ],
      [
       1.48,
       0.0825
      ],
      [
       1.52,
       0.0882
      ],
      [
       1.56,
       0.0938
      ],
      [
       1.6,
       0.0994
      ],
      [
       1.64,
       0.1047
      ],
      [
       1.68,
       0.1084
      ],
      [
       1.72,
       0.1112
      ],
      [
       1.76,
       0.1137
      ],
      [
       1.8,
       0.1164
      ],
      [
       1.84,
       0.1192
      ],
      [
       1.88,
       0.1219
      ],
      [
       1.92,
       0.1246
      ],
      [
       1.96,
       0.1275
      ],
      [
       2.0,
       0.1305
      ],
      [
       2.04,
       0.1338
      ],
      [
       2.08,
       0.1373
      ],
      [
       2.12,
       0.1413
      ],
      [
       2.16,
       0.1464
      ],
      [
       2.2,
       0.1472
      ],
      [
       2.24,
       0.1455
      ],
      [
       2.28,
       0.1458
      ],
      [
       2.32,
       0.1465
      ],
      [
       2.36,
       0.1471
      ],
      [
       2.4,
       0.1474
      ],
      [
       2.44,
       0.1475
      ],
      [
       2.48,
       0.1476
      ],
      [
       2.52,
       0.1476
      ],
      [
       2.56,
       0.1476
      ],
      [
       2.6,
       0.1477
      ],
      [
       2.64,
       0.1477
      ],
      [
       2.68,
       0.1478
      ],
      [
       2.72,
       0.1475
      ],
      [
       2.76,
       0.1472
      ],
      [
       2.8,
       0.147
      ],
      [
       2.84,
       0.147
      ],
      [
       2.88,
       0.147
      ],
      [
       2.92,
       0.147
      ],
      [
       2.96,
       0.147
      ],
      [
       3.0,
       0.147
      ],
      [
       3.04,
       0.147
      ],
      [
       3.08,
       0.147
      ],
      [
       3.12,
       0.1469
      ],
      [
       3.16,
       0.1469
      ],
      [
       3.2,
       0.1469
      ],
      [
       3.24,
       0.1469
      ],
      [
       3.28,
       0.1469
      ],
      [
       3.32,
       0.1469
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.72,
       0.4
      ],
      [
       4.76,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.84,
       0.4
      ],
      [
       4.88,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.96,
       0.42
      ],
      [
       5.0,
       0.463
      ],
      [
       5.04,
       0.5128
      ],
      [
       5.08,
       0.5673
      ],
      [
       5.12,
       0.6252
      ],
      [
       5.16,
       0.686
      ],
      [
       5.2,
       0.7493
      ],
      [
       5.24,
       0.8148
      ],
      [
       5.28,
       0.8819
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.8916
      ],
      [
       5.52,
       0.8809
      ],
      [
       5.56,
       0.8793
      ],
      [
       5.6,
       0.8802
      ],
      [
       5.64,
       0.881
      ],
      [
       5.68,
       0.8826
      ],
      [
       5.72,
       0.8859
      ],
      [
       5.76,
       0.8901
      ],
      [
       5.8,
       0.8945
      ],
      [
       5.84,
       0.8988
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       0.9
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ],
      [
       7.94,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "551b15f830e4a53c0801b7ea76e0dc71a27b44e9f4fbc8e39a0d816e1641d5c8",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.1545811314835676,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.019509625925084973,
       "final_progress": 0.019509625925084973,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 397,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "cup"
      },
      {
       "name": "coffee_can_ctx47",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      }
     ]
    },
    "aloha": {
     "gym_id": "0e8c4bbded4a-aloha",
     "video": "media/sim-0e8c4bbded4a-aloha-s5.mp4",
     "poster": "media/sim-0e8c4bbded4a-aloha-s5.jpg",
     "trajectory": "trajectories/0e8c4bbded4a-aloha.json",
     "recipe": "recipes/0e8c4bbded4a-aloha.json",
     "seed": 5,
     "steps": 509,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0031
      ],
      [
       0.12,
       0.009
      ],
      [
       0.18,
       0.0159
      ],
      [
       0.24,
       0.023
      ],
      [
       0.3,
       0.0301
      ],
      [
       0.36,
       0.0365
      ],
      [
       0.42,
       0.042
      ],
      [
       0.48,
       0.0467
      ],
      [
       0.54,
       0.051
      ],
      [
       0.6,
       0.0554
      ],
      [
       0.66,
       0.0603
      ],
      [
       0.72,
       0.0654
      ],
      [
       0.78,
       0.0701
      ],
      [
       0.84,
       0.075
      ],
      [
       0.9,
       0.0801
      ],
      [
       0.96,
       0.0857
      ],
      [
       1.02,
       0.0915
      ],
      [
       1.08,
       0.0977
      ],
      [
       1.14,
       0.1041
      ],
      [
       1.2,
       0.1105
      ],
      [
       1.26,
       0.1171
      ],
      [
       1.32,
       0.1237
      ],
      [
       1.38,
       0.1282
      ],
      [
       1.44,
       0.127
      ],
      [
       1.5,
       0.1262
      ],
      [
       1.56,
       0.1259
      ],
      [
       1.62,
       0.1274
      ],
      [
       1.68,
       0.1314
      ],
      [
       1.74,
       0.1373
      ],
      [
       1.8,
       0.1415
      ],
      [
       1.86,
       0.1416
      ],
      [
       1.92,
       0.1414
      ],
      [
       1.98,
       0.1419
      ],
      [
       2.04,
       0.1419
      ],
      [
       2.1,
       0.142
      ],
      [
       2.16,
       0.1421
      ],
      [
       2.22,
       0.1422
      ],
      [
       2.28,
       0.1422
      ],
      [
       2.34,
       0.142
      ],
      [
       2.4,
       0.1419
      ],
      [
       2.46,
       0.142
      ],
      [
       2.52,
       0.1418
      ],
      [
       2.58,
       0.1421
      ],
      [
       2.64,
       0.1414
      ],
      [
       2.7,
       0.1419
      ],
      [
       2.76,
       0.142
      ],
      [
       2.82,
       0.1421
      ],
      [
       2.88,
       0.1422
      ],
      [
       2.94,
       0.1423
      ],
      [
       3.0,
       0.1424
      ],
      [
       3.06,
       0.1425
      ],
      [
       3.12,
       0.1427
      ],
      [
       3.18,
       0.1428
      ],
      [
       3.24,
       0.1429
      ],
      [
       3.3,
       0.143
      ],
      [
       3.36,
       0.1432
      ],
      [
       3.42,
       0.1433
      ],
      [
       3.48,
       0.1434
      ],
      [
       3.54,
       0.1435
      ],
      [
       3.6,
       0.4709
      ],
      [
       3.66,
       0.4822
      ],
      [
       3.72,
       0.4937
      ],
      [
       3.78,
       0.5052
      ],
      [
       3.84,
       0.5162
      ],
      [
       3.9,
       0.5264
      ],
      [
       3.96,
       0.5355
      ],
      [
       4.02,
       0.5428
      ],
      [
       4.08,
       0.5479
      ],
      [
       4.14,
       0.5503
      ],
      [
       4.2,
       0.5495
      ],
      [
       4.26,
       0.545
      ],
      [
       4.32,
       0.536
      ],
      [
       4.38,
       0.5224
      ],
      [
       4.44,
       0.5027
      ],
      [
       4.5,
       0.4706
      ],
      [
       4.56,
       0.4384
      ],
      [
       4.62,
       0.4123
      ],
      [
       4.68,
       0.4
      ],
      [
       4.74,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.86,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.98,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.1,
       0.4
      ],
      [
       5.16,
       0.4
      ],
      [
       5.22,
       0.4
      ],
      [
       5.28,
       0.4
      ],
      [
       5.34,
       0.4
      ],
      [
       5.4,
       0.4
      ],
      [
       5.46,
       0.4
      ],
      [
       5.52,
       0.4
      ],
      [
       5.58,
       0.4
      ],
      [
       5.64,
       0.4
      ],
      [
       5.7,
       0.4
      ],
      [
       5.76,
       0.4
      ],
      [
       5.82,
       0.4
      ],
      [
       5.88,
       0.4
      ],
      [
       5.94,
       0.4
      ],
      [
       6.0,
       0.4
      ],
      [
       6.06,
       0.4
      ],
      [
       6.12,
       0.4
      ],
      [
       6.18,
       0.4
      ],
      [
       6.24,
       0.4184
      ],
      [
       6.3,
       0.4618
      ],
      [
       6.36,
       0.5113
      ],
      [
       6.42,
       0.5651
      ],
      [
       6.48,
       0.6223
      ],
      [
       6.54,
       0.6822
      ],
      [
       6.6,
       0.7444
      ],
      [
       6.66,
       0.8082
      ],
      [
       6.72,
       0.8718
      ],
      [
       6.78,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.9,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.02,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.14,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.26,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.38,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.5,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.62,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.74,
       0.9
      ],
      [
       7.8,
       0.9
      ],
      [
       7.86,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.9
      ],
      [
       8.34,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.46,
       0.9
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       0.9
      ],
      [
       8.76,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.94,
       0.9
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       1.0
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       1.0
      ],
      [
       9.36,
       0.9
      ],
      [
       9.42,
       1.0
      ],
      [
       9.48,
       1.0
      ],
      [
       9.54,
       0.9
      ],
      [
       9.6,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.72,
       1.0
      ],
      [
       9.78,
       1.0
      ],
      [
       9.84,
       1.0
      ],
      [
       9.9,
       1.0
      ],
      [
       9.96,
       1.0
      ],
      [
       10.02,
       1.0
      ],
      [
       10.08,
       1.0
      ],
      [
       10.14,
       1.0
      ],
      [
       10.18,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ef6ce56048984d00c7879ece18c79af52d20f1257d9fa5f9b926f843b59f0fcd",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001151056419256896,
       "final_progress": 0.001151056419256896,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.05611983266481344,
       "final_progress": 0.05611983266481344,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": true,
       "return": 2.0,
       "final_progress": 1.0,
       "steps": 442,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5301001554280826,
       "final_progress": 0.5301001554280826
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6117434337961427,
       "final_progress": 0.6117434337961427
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5633887805536482,
       "final_progress": 0.5633887805536482
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4,
       "final_progress": 0.4
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5389854220467364,
       "final_progress": 0.5389854220467364
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 509,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "cup"
      },
      {
       "name": "coffee_can_ctx47",
       "source": "ycb:002_master_chef_can",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "coffee can"
      },
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      }
     ]
    }
   }
  },
  {
   "example_id": "ca159a01647a4c37a4d7e22a4fa9b3441d04cf9dcd1962509c0bd535312a6036",
   "recording_id": 8098,
   "task_number": 3,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "blue worktable",
   "human_action": false,
   "description": "Slide the sponge across the blue worktable among the bowl and the cup onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the sponge across the blue worktable among the bowl and the cup onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 8098,
    "contributor_id": 11,
    "video": "media/source-8098-c56572c1845f.mp4",
    "poster": "media/source-8098.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8098,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8098_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 141.955,
      "original_end_s": 161.955,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "28f725bb0bf537edd04c6a6599fa52e62527294a96347f613c0abf340968e271",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "ca159a01647a-panda",
     "video": "media/sim-ca159a01647a-panda-s0.mp4",
     "poster": "media/sim-ca159a01647a-panda-s0.jpg",
     "trajectory": "trajectories/ca159a01647a-panda.json",
     "recipe": "recipes/ca159a01647a-panda.json",
     "seed": 0,
     "steps": 255,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0017
      ],
      [
       0.52,
       0.0042
      ],
      [
       0.54,
       0.0069
      ],
      [
       0.56,
       0.0091
      ],
      [
       0.58,
       0.0107
      ],
      [
       0.6,
       0.0116
      ],
      [
       0.62,
       0.0123
      ],
      [
       0.64,
       0.0128
      ],
      [
       0.66,
       0.0136
      ],
      [
       0.68,
       0.0146
      ],
      [
       0.7,
       0.0158
      ],
      [
       0.72,
       0.0171
      ],
      [
       0.74,
       0.0185
      ],
      [
       0.76,
       0.0198
      ],
      [
       0.78,
       0.0211
      ],
      [
       0.8,
       0.0224
      ],
      [
       0.82,
       0.0237
      ],
      [
       0.84,
       0.0251
      ],
      [
       0.86,
       0.0266
      ],
      [
       0.88,
       0.0281
      ],
      [
       0.9,
       0.0297
      ],
      [
       0.92,
       0.0314
      ],
      [
       0.94,
       0.033
      ],
      [
       0.96,
       0.0347
      ],
      [
       0.98,
       0.0365
      ],
      [
       1.0,
       0.0383
      ],
      [
       1.02,
       0.0401
      ],
      [
       1.04,
       0.042
      ],
      [
       1.06,
       0.044
      ],
      [
       1.08,
       0.046
      ],
      [
       1.1,
       0.048
      ],
      [
       1.12,
       0.0501
      ],
      [
       1.14,
       0.0522
      ],
      [
       1.16,
       0.0544
      ],
      [
       1.18,
       0.0566
      ],
      [
       1.2,
       0.0589
      ],
      [
       1.22,
       0.0612
      ],
      [
       1.24,
       0.0636
      ],
      [
       1.26,
       0.066
      ],
      [
       1.28,
       0.0684
      ],
      [
       1.3,
       0.0709
      ],
      [
       1.32,
       0.0734
      ],
      [
       1.34,
       0.076
      ],
      [
       1.36,
       0.0785
      ],
      [
       1.38,
       0.0811
      ],
      [
       1.4,
       0.0837
      ],
      [
       1.42,
       0.0863
      ],
      [
       1.44,
       0.089
      ],
      [
       1.46,
       0.0916
      ],
      [
       1.48,
       0.0942
      ],
      [
       1.5,
       0.0968
      ],
      [
       1.52,
       0.0993
      ],
      [
       1.54,
       0.1018
      ],
      [
       1.56,
       0.1042
      ],
      [
       1.58,
       0.1063
      ],
      [
       1.6,
       0.1082
      ],
      [
       1.62,
       0.1099
      ],
      [
       1.64,
       0.1114
      ],
      [
       1.66,
       0.1128
      ],
      [
       1.68,
       0.114
      ],
      [
       1.7,
       0.1152
      ],
      [
       1.72,
       0.1163
      ],
      [
       1.74,
       0.1173
      ],
      [
       1.76,
       0.1184
      ],
      [
       1.78,
       0.1195
      ],
      [
       1.8,
       0.1208
      ],
      [
       1.82,
       0.1221
      ],
      [
       1.84,
       0.1234
      ],
      [
       1.86,
       0.1247
      ],
      [
       1.88,
       0.1259
      ],
      [
       1.9,
       0.1272
      ],
      [
       1.92,
       0.1284
      ],
      [
       1.94,
       0.1296
      ],
      [
       1.96,
       0.1308
      ],
      [
       1.98,
       0.132
      ],
      [
       2.0,
       0.1332
      ],
      [
       2.02,
       0.1343
      ],
      [
       2.04,
       0.1354
      ],
      [
       2.06,
       0.1364
      ],
      [
       2.08,
       0.1373
      ],
      [
       2.1,
       0.138
      ],
      [
       2.12,
       0.1386
      ],
      [
       2.14,
       0.1389
      ],
      [
       2.16,
       0.1387
      ],
      [
       2.18,
       0.1379
      ],
      [
       2.2,
       0.1369
      ],
      [
       2.22,
       0.136
      ],
      [
       2.24,
       0.1361
      ],
      [
       2.26,
       0.1363
      ],
      [
       2.28,
       0.1366
      ],
      [
       2.3,
       0.1369
      ],
      [
       2.32,
       0.1373
      ],
      [
       2.34,
       0.1377
      ],
      [
       2.36,
       0.1382
      ],
      [
       2.38,
       0.1391
      ],
      [
       2.4,
       0.1404
      ],
      [
       2.42,
       0.1421
      ],
      [
       2.44,
       0.1439
      ],
      [
       2.46,
       0.1632
      ],
      [
       2.48,
       0.2073
      ],
      [
       2.5,
       0.238
      ],
      [
       2.52,
       0.2683
      ],
      [
       2.54,
       0.3013
      ],
      [
       2.56,
       0.3423
      ],
      [
       2.58,
       0.3743
      ],
      [
       2.6,
       0.3985
      ],
      [
       2.62,
       0.436
      ],
      [
       2.64,
       0.4642
      ],
      [
       2.66,
       0.4796
      ],
      [
       2.68,
       0.4804
      ],
      [
       2.7,
       0.4805
      ],
      [
       2.72,
       0.4928
      ],
      [
       2.74,
       0.5027
      ],
      [
       2.76,
       0.5121
      ],
      [
       2.78,
       0.5249
      ],
      [
       2.8,
       0.5389
      ],
      [
       2.82,
       0.5481
      ],
      [
       2.84,
       0.5755
      ],
      [
       2.86,
       0.5941
      ],
      [
       2.88,
       0.6194
      ],
      [
       2.9,
       0.6407
      ],
      [
       2.92,
       0.663
      ],
      [
       2.94,
       0.6832
      ],
      [
       2.96,
       0.6996
      ],
      [
       2.98,
       0.714
      ],
      [
       3.0,
       0.7278
      ],
      [
       3.02,
       0.7403
      ],
      [
       3.04,
       0.7533
      ],
      [
       3.06,
       0.7654
      ],
      [
       3.08,
       0.7783
      ],
      [
       3.1,
       0.7913
      ],
      [
       3.12,
       0.8042
      ],
      [
       3.14,
       0.8152
      ],
      [
       3.16,
       0.8298
      ],
      [
       3.18,
       0.8402
      ],
      [
       3.2,
       0.8516
      ],
      [
       3.22,
       0.8656
      ],
      [
       3.24,
       0.8742
      ],
      [
       3.26,
       0.888
      ],
      [
       3.28,
       0.8965
      ],
      [
       3.3,
       0.9061
      ],
      [
       3.32,
       0.9141
      ],
      [
       3.34,
       0.9202
      ],
      [
       3.36,
       0.9257
      ],
      [
       3.38,
       0.9348
      ],
      [
       3.4,
       0.9404
      ],
      [
       3.42,
       0.9481
      ],
      [
       3.44,
       0.9485
      ],
      [
       3.46,
       0.9485
      ],
      [
       3.48,
       0.9496
      ],
      [
       3.5,
       0.9522
      ],
      [
       3.52,
       0.9567
      ],
      [
       3.54,
       0.9601
      ],
      [
       3.56,
       0.9623
      ],
      [
       3.58,
       0.9651
      ],
      [
       3.6,
       0.9654
      ],
      [
       3.62,
       0.9654
      ],
      [
       3.64,
       0.9654
      ],
      [
       3.66,
       0.9654
      ],
      [
       3.68,
       0.9654
      ],
      [
       3.7,
       0.9654
      ],
      [
       3.72,
       0.9654
      ],
      [
       3.74,
       0.9654
      ],
      [
       3.76,
       0.9654
      ],
      [
       3.78,
       0.9654
      ],
      [
       3.8,
       0.9654
      ],
      [
       3.82,
       0.9654
      ],
      [
       3.84,
       0.9654
      ],
      [
       3.86,
       0.9654
      ],
      [
       3.88,
       0.9654
      ],
      [
       3.9,
       0.9654
      ],
      [
       3.92,
       0.9654
      ],
      [
       3.94,
       0.9654
      ],
      [
       3.96,
       0.9654
      ],
      [
       3.98,
       0.9654
      ],
      [
       4.0,
       0.9654
      ],
      [
       4.02,
       0.9654
      ],
      [
       4.04,
       0.9654
      ],
      [
       4.06,
       0.9654
      ],
      [
       4.08,
       0.9654
      ],
      [
       4.1,
       0.9654
      ],
      [
       4.12,
       0.9654
      ],
      [
       4.14,
       0.9654
      ],
      [
       4.16,
       0.9654
      ],
      [
       4.18,
       0.9654
      ],
      [
       4.2,
       0.9654
      ],
      [
       4.22,
       0.9654
      ],
      [
       4.24,
       0.9654
      ],
      [
       4.26,
       0.9654
      ],
      [
       4.28,
       0.9654
      ],
      [
       4.3,
       0.9654
      ],
      [
       4.32,
       0.9654
      ],
      [
       4.34,
       0.9654
      ],
      [
       4.36,
       0.9654
      ],
      [
       4.38,
       0.9654
      ],
      [
       4.4,
       0.9654
      ],
      [
       4.42,
       0.9654
      ],
      [
       4.44,
       0.9654
      ],
      [
       4.46,
       0.9654
      ],
      [
       4.48,
       0.9654
      ],
      [
       4.5,
       0.9654
      ],
      [
       4.52,
       0.9654
      ],
      [
       4.54,
       0.9654
      ],
      [
       4.56,
       0.9654
      ],
      [
       4.58,
       0.9654
      ],
      [
       4.6,
       0.9654
      ],
      [
       4.62,
       0.9654
      ],
      [
       4.64,
       0.9654
      ],
      [
       4.66,
       0.9654
      ],
      [
       4.68,
       0.9654
      ],
      [
       4.7,
       0.9654
      ],
      [
       4.72,
       0.9654
      ],
      [
       4.74,
       0.9654
      ],
      [
       4.76,
       0.9654
      ],
      [
       4.78,
       0.9654
      ],
      [
       4.8,
       0.9654
      ],
      [
       4.82,
       0.9654
      ],
      [
       4.84,
       0.9654
      ],
      [
       4.86,
       0.9654
      ],
      [
       4.88,
       0.9654
      ],
      [
       4.9,
       0.9654
      ],
      [
       4.92,
       0.9654
      ],
      [
       4.94,
       0.9654
      ],
      [
       4.96,
       0.9654
      ],
      [
       4.98,
       0.9654
      ],
      [
       5.0,
       0.9654
      ],
      [
       5.02,
       0.9654
      ],
      [
       5.04,
       0.9654
      ],
      [
       5.06,
       0.9654
      ],
      [
       5.08,
       0.9771
      ],
      [
       5.1,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "b9fb6551fff19f05ac2e2c534654b25aa7ad1d0008816469eadbf914540893cc",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.15351774408510732,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.07141401569436776,
       "final_progress": 0.07141401569436776,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 255,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "sponge_ctx47",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cup"
      }
     ]
    },
    "aloha": {
     "gym_id": "ca159a01647a-aloha",
     "video": "media/sim-ca159a01647a-aloha-s0.mp4",
     "poster": "media/sim-ca159a01647a-aloha-s0.jpg",
     "trajectory": "trajectories/ca159a01647a-aloha.json",
     "recipe": "recipes/ca159a01647a-aloha.json",
     "seed": 0,
     "steps": 531,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0017
      ],
      [
       0.12,
       0.0045
      ],
      [
       0.18,
       0.0077
      ],
      [
       0.24,
       0.011
      ],
      [
       0.3,
       0.0145
      ],
      [
       0.36,
       0.0178
      ],
      [
       0.42,
       0.0207
      ],
      [
       0.48,
       0.0233
      ],
      [
       0.54,
       0.0254
      ],
      [
       0.6,
       0.0272
      ],
      [
       0.66,
       0.0293
      ],
      [
       0.72,
       0.0316
      ],
      [
       0.78,
       0.0344
      ],
      [
       0.84,
       0.0375
      ],
      [
       0.9,
       0.0408
      ],
      [
       0.96,
       0.044
      ],
      [
       1.02,
       0.0473
      ],
      [
       1.08,
       0.0506
      ],
      [
       1.14,
       0.0536
      ],
      [
       1.2,
       0.0567
      ],
      [
       1.26,
       0.0598
      ],
      [
       1.32,
       0.0628
      ],
      [
       1.38,
       0.0655
      ],
      [
       1.44,
       0.0679
      ],
      [
       1.5,
       0.0699
      ],
      [
       1.56,
       0.0714
      ],
      [
       1.62,
       0.0723
      ],
      [
       1.68,
       0.0735
      ],
      [
       1.74,
       0.0754
      ],
      [
       1.8,
       0.078
      ],
      [
       1.86,
       0.0807
      ],
      [
       1.92,
       0.0834
      ],
      [
       1.98,
       0.0866
      ],
      [
       2.04,
       0.0896
      ],
      [
       2.1,
       0.0925
      ],
      [
       2.16,
       0.0953
      ],
      [
       2.22,
       0.098
      ],
      [
       2.28,
       0.1005
      ],
      [
       2.34,
       0.1028
      ],
      [
       2.4,
       0.1047
      ],
      [
       2.46,
       0.1061
      ],
      [
       2.52,
       0.1069
      ],
      [
       2.58,
       0.1069
      ],
      [
       2.64,
       0.1061
      ],
      [
       2.7,
       0.1053
      ],
      [
       2.76,
       0.1054
      ],
      [
       2.82,
       0.1052
      ],
      [
       2.88,
       0.1053
      ],
      [
       2.94,
       0.1055
      ],
      [
       3.0,
       0.1057
      ],
      [
       3.06,
       0.1059
      ],
      [
       3.12,
       0.1061
      ],
      [
       3.18,
       0.1063
      ],
      [
       3.24,
       0.1065
      ],
      [
       3.3,
       0.1069
      ],
      [
       3.36,
       0.1075
      ],
      [
       3.42,
       0.1082
      ],
      [
       3.48,
       0.1091
      ],
      [
       3.54,
       0.1104
      ],
      [
       3.6,
       0.112
      ],
      [
       3.66,
       0.1138
      ],
      [
       3.72,
       0.1161
      ],
      [
       3.78,
       0.1188
      ],
      [
       3.84,
       0.1216
      ],
      [
       3.9,
       0.1244
      ],
      [
       3.96,
       0.1269
      ],
      [
       4.02,
       0.128
      ],
      [
       4.08,
       0.1318
      ],
      [
       4.14,
       0.1362
      ],
      [
       4.2,
       0.1527
      ],
      [
       4.26,
       0.1931
      ],
      [
       4.32,
       0.2259
      ],
      [
       4.38,
       0.2616
      ],
      [
       4.44,
       0.2972
      ],
      [
       4.5,
       0.3362
      ],
      [
       4.56,
       0.3666
      ],
      [
       4.62,
       0.4057
      ],
      [
       4.68,
       0.4528
      ],
      [
       4.74,
       0.4986
      ],
      [
       4.8,
       0.5484
      ],
      [
       4.86,
       0.5883
      ],
      [
       4.92,
       0.6292
      ],
      [
       4.98,
       0.6569
      ],
      [
       5.04,
       0.6619
      ],
      [
       5.1,
       0.6685
      ],
      [
       5.16,
       0.6874
      ],
      [
       5.22,
       0.7184
      ],
      [
       5.28,
       0.7449
      ],
      [
       5.34,
       0.7703
      ],
      [
       5.4,
       0.7797
      ],
      [
       5.46,
       0.7887
      ],
      [
       5.52,
       0.7932
      ],
      [
       5.58,
       0.7943
      ],
      [
       5.64,
       0.8002
      ],
      [
       5.7,
       0.8005
      ],
      [
       5.76,
       0.8005
      ],
      [
       5.82,
       0.8005
      ],
      [
       5.88,
       0.8005
      ],
      [
       5.94,
       0.8005
      ],
      [
       6.0,
       0.8005
      ],
      [
       6.06,
       0.8005
      ],
      [
       6.12,
       0.8005
      ],
      [
       6.18,
       0.8005
      ],
      [
       6.24,
       0.8005
      ],
      [
       6.3,
       0.8005
      ],
      [
       6.36,
       0.8005
      ],
      [
       6.42,
       0.8005
      ],
      [
       6.48,
       0.8005
      ],
      [
       6.54,
       0.8005
      ],
      [
       6.6,
       0.8005
      ],
      [
       6.66,
       0.8005
      ],
      [
       6.72,
       0.8005
      ],
      [
       6.78,
       0.8005
      ],
      [
       6.84,
       0.8005
      ],
      [
       6.9,
       0.8005
      ],
      [
       6.96,
       0.8005
      ],
      [
       7.02,
       0.8005
      ],
      [
       7.08,
       0.8005
      ],
      [
       7.14,
       0.8005
      ],
      [
       7.2,
       0.8005
      ],
      [
       7.26,
       0.8005
      ],
      [
       7.32,
       0.8005
      ],
      [
       7.38,
       0.8005
      ],
      [
       7.44,
       0.8005
      ],
      [
       7.5,
       0.8005
      ],
      [
       7.56,
       0.8005
      ],
      [
       7.62,
       0.8005
      ],
      [
       7.68,
       0.8005
      ],
      [
       7.74,
       0.8005
      ],
      [
       7.8,
       0.8005
      ],
      [
       7.86,
       0.8005
      ],
      [
       7.92,
       0.8005
      ],
      [
       7.98,
       0.8005
      ],
      [
       8.04,
       0.8005
      ],
      [
       8.1,
       0.8005
      ],
      [
       8.16,
       0.8005
      ],
      [
       8.22,
       0.8005
      ],
      [
       8.28,
       0.8005
      ],
      [
       8.34,
       0.8005
      ],
      [
       8.4,
       0.8005
      ],
      [
       8.46,
       0.8005
      ],
      [
       8.52,
       0.8005
      ],
      [
       8.58,
       0.8005
      ],
      [
       8.64,
       0.8005
      ],
      [
       8.7,
       0.8005
      ],
      [
       8.76,
       0.8005
      ],
      [
       8.82,
       0.8005
      ],
      [
       8.88,
       0.8005
      ],
      [
       8.94,
       0.8005
      ],
      [
       9.0,
       0.8005
      ],
      [
       9.06,
       0.8005
      ],
      [
       9.12,
       0.8005
      ],
      [
       9.18,
       0.8005
      ],
      [
       9.24,
       0.8005
      ],
      [
       9.3,
       0.8005
      ],
      [
       9.36,
       0.8005
      ],
      [
       9.42,
       0.8005
      ],
      [
       9.48,
       0.8005
      ],
      [
       9.54,
       0.8005
      ],
      [
       9.6,
       0.8005
      ],
      [
       9.66,
       0.8005
      ],
      [
       9.72,
       0.8005
      ],
      [
       9.78,
       0.8005
      ],
      [
       9.84,
       0.8005
      ],
      [
       9.9,
       0.8005
      ],
      [
       9.96,
       0.8005
      ],
      [
       10.02,
       0.8005
      ],
      [
       10.08,
       0.8005
      ],
      [
       10.14,
       0.8005
      ],
      [
       10.2,
       0.8005
      ],
      [
       10.26,
       0.8224
      ],
      [
       10.32,
       0.841
      ],
      [
       10.38,
       0.8667
      ],
      [
       10.44,
       0.8927
      ],
      [
       10.5,
       0.9181
      ],
      [
       10.56,
       0.9486
      ],
      [
       10.62,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "06d660b743de7dd05f8ceecb7c1da84851e4b33da9ff58bf9beae7671ded1e53",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0008765531083473998,
       "final_progress": 0.0008765531083473998,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.05628307993568222,
       "final_progress": 6.605826996519682e-16,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 531,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "sponge_ctx47",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cup"
      }
     ]
    }
   }
  },
  {
   "example_id": "4882a7403fafd5de1ffc74b4b01c8351f787c492af02eea78fd838986a306f24",
   "recording_id": 8098,
   "task_number": 4,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "blue worktable",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the blue worktable among the food box and the bowl and pull the drawer 8 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the blue worktable among the food box and the bowl and pull the drawer 8 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22658 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 8098,
    "contributor_id": 11,
    "video": "media/source-8098-c56572c1845f.mp4",
    "poster": "media/source-8098.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8098,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8098_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 141.955,
      "original_end_s": 161.955,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "28f725bb0bf537edd04c6a6599fa52e62527294a96347f613c0abf340968e271",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c56572c1845fcccf1b7919093fbe4e899165cedbc5009d11f930dc862759d5e2",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "4882a7403faf-panda",
     "video": "media/sim-4882a7403faf-panda-s0.mp4",
     "poster": "media/sim-4882a7403faf-panda-s0.jpg",
     "trajectory": "trajectories/4882a7403faf-panda.json",
     "recipe": "recipes/4882a7403faf-panda.json",
     "seed": 0,
     "steps": 264,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0
      ],
      [
       1.32,
       0.0
      ],
      [
       1.34,
       0.0005
      ],
      [
       1.36,
       0.0022
      ],
      [
       1.38,
       0.004
      ],
      [
       1.4,
       0.0059
      ],
      [
       1.42,
       0.0079
      ],
      [
       1.44,
       0.01
      ],
      [
       1.46,
       0.0122
      ],
      [
       1.48,
       0.0146
      ],
      [
       1.5,
       0.0171
      ],
      [
       1.52,
       0.0197
      ],
      [
       1.54,
       0.0225
      ],
      [
       1.56,
       0.0254
      ],
      [
       1.58,
       0.0284
      ],
      [
       1.6,
       0.0315
      ],
      [
       1.62,
       0.0347
      ],
      [
       1.64,
       0.0378
      ],
      [
       1.66,
       0.0409
      ],
      [
       1.68,
       0.0439
      ],
      [
       1.7,
       0.0467
      ],
      [
       1.72,
       0.0495
      ],
      [
       1.74,
       0.052
      ],
      [
       1.76,
       0.0544
      ],
      [
       1.78,
       0.0566
      ],
      [
       1.8,
       0.0586
      ],
      [
       1.82,
       0.0604
      ],
      [
       1.84,
       0.062
      ],
      [
       1.86,
       0.0634
      ],
      [
       1.88,
       0.0646
      ],
      [
       1.9,
       0.0657
      ],
      [
       1.92,
       0.0666
      ],
      [
       1.94,
       0.0674
      ],
      [
       1.96,
       0.0681
      ],
      [
       1.98,
       0.0687
      ],
      [
       2.0,
       0.0692
      ],
      [
       2.02,
       0.0697
      ],
      [
       2.04,
       0.0702
      ],
      [
       2.06,
       0.0706
      ],
      [
       2.08,
       0.0711
      ],
      [
       2.1,
       0.0715
      ],
      [
       2.12,
       0.072
      ],
      [
       2.14,
       0.0724
      ],
      [
       2.16,
       0.0729
      ],
      [
       2.18,
       0.0733
      ],
      [
       2.2,
       0.0738
      ],
      [
       2.22,
       0.0743
      ],
      [
       2.24,
       0.0748
      ],
      [
       2.26,
       0.0753
      ],
      [
       2.28,
       0.0758
      ],
      [
       2.3,
       0.0764
      ],
      [
       2.32,
       0.0769
      ],
      [
       2.34,
       0.0775
      ],
      [
       2.36,
       0.0782
      ],
      [
       2.38,
       0.0789
      ],
      [
       2.4,
       0.0796
      ],
      [
       2.42,
       0.0803
      ],
      [
       2.44,
       0.0811
      ],
      [
       2.46,
       0.0819
      ],
      [
       2.48,
       0.0828
      ],
      [
       2.5,
       0.0837
      ],
      [
       2.52,
       0.0846
      ],
      [
       2.54,
       0.0856
      ],
      [
       2.56,
       0.0866
      ],
      [
       2.58,
       0.0877
      ],
      [
       2.6,
       0.0888
      ],
      [
       2.62,
       0.09
      ],
      [
       2.64,
       0.0912
      ],
      [
       2.66,
       0.0925
      ],
      [
       2.68,
       0.0939
      ],
      [
       2.7,
       0.0953
      ],
      [
       2.72,
       0.0967
      ],
      [
       2.74,
       0.0983
      ],
      [
       2.76,
       0.0999
      ],
      [
       2.78,
       0.1015
      ],
      [
       2.8,
       0.1033
      ],
      [
       2.82,
       0.1051
      ],
      [
       2.84,
       0.1071
      ],
      [
       2.86,
       0.1091
      ],
      [
       2.88,
       0.1113
      ],
      [
       2.9,
       0.1135
      ],
      [
       2.92,
       0.1155
      ],
      [
       2.94,
       0.1172
      ],
      [
       2.96,
       0.1187
      ],
      [
       2.98,
       0.1201
      ],
      [
       3.0,
       0.1214
      ],
      [
       3.02,
       0.1225
      ],
      [
       3.04,
       0.1235
      ],
      [
       3.06,
       0.1243
      ],
      [
       3.08,
       0.1251
      ],
      [
       3.1,
       0.1258
      ],
      [
       3.12,
       0.1266
      ],
      [
       3.14,
       0.1277
      ],
      [
       3.16,
       0.129
      ],
      [
       3.18,
       0.1304
      ],
      [
       3.2,
       0.132
      ],
      [
       3.22,
       0.1336
      ],
      [
       3.24,
       0.1352
      ],
      [
       3.26,
       0.1368
      ],
      [
       3.28,
       0.1385
      ],
      [
       3.3,
       0.1402
      ],
      [
       3.32,
       0.1421
      ],
      [
       3.34,
       0.144
      ],
      [
       3.36,
       0.146
      ],
      [
       3.38,
       0.1477
      ],
      [
       3.4,
       0.1471
      ],
      [
       3.42,
       0.1463
      ],
      [
       3.44,
       0.1463
      ],
      [
       3.46,
       0.1466
      ],
      [
       3.48,
       0.1469
      ],
      [
       3.5,
       0.1471
      ],
      [
       3.52,
       0.1472
      ],
      [
       3.54,
       0.1472
      ],
      [
       3.56,
       0.1472
      ],
      [
       3.58,
       0.1472
      ],
      [
       3.6,
       0.1471
      ],
      [
       3.62,
       0.1471
      ],
      [
       3.64,
       0.1471
      ],
      [
       3.66,
       0.147
      ],
      [
       3.68,
       0.147
      ],
      [
       3.7,
       0.147
      ],
      [
       3.72,
       0.147
      ],
      [
       3.74,
       0.1474
      ],
      [
       3.76,
       0.1509
      ],
      [
       3.78,
       0.1551
      ],
      [
       3.8,
       0.16
      ],
      [
       3.82,
       0.1654
      ],
      [
       3.84,
       0.1713
      ],
      [
       3.86,
       0.1776
      ],
      [
       3.88,
       0.1843
      ],
      [
       3.9,
       0.1914
      ],
      [
       3.92,
       0.199
      ],
      [
       3.94,
       0.2072
      ],
      [
       3.96,
       0.2161
      ],
      [
       3.98,
       0.2257
      ],
      [
       4.0,
       0.2304
      ],
      [
       4.02,
       0.2309
      ],
      [
       4.04,
       0.2307
      ],
      [
       4.06,
       0.2306
      ],
      [
       4.08,
       0.231
      ],
      [
       4.1,
       0.232
      ],
      [
       4.12,
       0.2338
      ],
      [
       4.14,
       0.2381
      ],
      [
       4.16,
       0.2451
      ],
      [
       4.18,
       0.2587
      ],
      [
       4.2,
       0.2691
      ],
      [
       4.22,
       0.2799
      ],
      [
       4.24,
       0.291
      ],
      [
       4.26,
       0.3021
      ],
      [
       4.28,
       0.3135
      ],
      [
       4.3,
       0.3253
      ],
      [
       4.32,
       0.3374
      ],
      [
       4.34,
       0.3499
      ],
      [
       4.36,
       0.363
      ],
      [
       4.38,
       0.3765
      ],
      [
       4.4,
       0.3906
      ],
      [
       4.42,
       0.4051
      ],
      [
       4.44,
       0.4201
      ],
      [
       4.46,
       0.4355
      ],
      [
       4.48,
       0.4514
      ],
      [
       4.5,
       0.4677
      ],
      [
       4.52,
       0.4845
      ],
      [
       4.54,
       0.5017
      ],
      [
       4.56,
       0.5194
      ],
      [
       4.58,
       0.5376
      ],
      [
       4.6,
       0.5561
      ],
      [
       4.62,
       0.5752
      ],
      [
       4.64,
       0.5947
      ],
      [
       4.66,
       0.6146
      ],
      [
       4.68,
       0.635
      ],
      [
       4.7,
       0.6557
      ],
      [
       4.72,
       0.6769
      ],
      [
       4.74,
       0.6986
      ],
      [
       4.76,
       0.7208
      ],
      [
       4.78,
       0.7434
      ],
      [
       4.8,
       0.7666
      ],
      [
       4.82,
       0.7903
      ],
      [
       4.84,
       0.8144
      ],
      [
       4.86,
       0.839
      ],
      [
       4.88,
       0.8641
      ],
      [
       4.9,
       0.8896
      ],
      [
       4.92,
       0.9154
      ],
      [
       4.94,
       0.9416
      ],
      [
       4.96,
       0.9679
      ],
      [
       4.98,
       0.9955
      ],
      [
       5.0,
       1.0
      ],
      [
       5.02,
       1.0
      ],
      [
       5.04,
       1.0
      ],
      [
       5.06,
       1.0
      ],
      [
       5.08,
       1.0
      ],
      [
       5.1,
       1.0
      ],
      [
       5.12,
       1.0
      ],
      [
       5.14,
       1.0
      ],
      [
       5.16,
       1.0
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "9d7fac2052c312fee15513f27b7d46a78139aae8ab659593a3b029cb0717f773",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 4.932914259253213e-05,
       "final_progress": 5.3308935060751307e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.12036436018402648,
       "final_progress": 7.80586638248275e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.08172918082847659,
       "final_progress": 0.08173316062094482,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 264,
       "return": 1.9999960202075318,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx47",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cup"
      }
     ]
    },
    "aloha": {
     "gym_id": "4882a7403faf-aloha",
     "video": "media/sim-4882a7403faf-aloha-s0.mp4",
     "poster": "media/sim-4882a7403faf-aloha-s0.jpg",
     "trajectory": "trajectories/4882a7403faf-aloha.json",
     "recipe": "recipes/4882a7403faf-aloha.json",
     "seed": 0,
     "steps": 340,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0016
      ],
      [
       0.08,
       0.0053
      ],
      [
       0.12,
       0.0097
      ],
      [
       0.16,
       0.0142
      ],
      [
       0.2,
       0.0187
      ],
      [
       0.24,
       0.0228
      ],
      [
       0.28,
       0.0267
      ],
      [
       0.32,
       0.0304
      ],
      [
       0.36,
       0.0337
      ],
      [
       0.4,
       0.0369
      ],
      [
       0.44,
       0.04
      ],
      [
       0.48,
       0.0431
      ],
      [
       0.52,
       0.0465
      ],
      [
       0.56,
       0.0504
      ],
      [
       0.6,
       0.0545
      ],
      [
       0.64,
       0.0583
      ],
      [
       0.68,
       0.0618
      ],
      [
       0.72,
       0.0655
      ],
      [
       0.76,
       0.0693
      ],
      [
       0.8,
       0.0733
      ],
      [
       0.84,
       0.0774
      ],
      [
       0.88,
       0.0817
      ],
      [
       0.92,
       0.0863
      ],
      [
       0.96,
       0.091
      ],
      [
       1.0,
       0.0932
      ],
      [
       1.04,
       0.0945
      ],
      [
       1.08,
       0.0972
      ],
      [
       1.12,
       0.1013
      ],
      [
       1.16,
       0.1053
      ],
      [
       1.2,
       0.1099
      ],
      [
       1.24,
       0.115
      ],
      [
       1.28,
       0.1208
      ],
      [
       1.32,
       0.1272
      ],
      [
       1.36,
       0.133
      ],
      [
       1.4,
       0.1336
      ],
      [
       1.44,
       0.134
      ],
      [
       1.48,
       0.1344
      ],
      [
       1.52,
       0.1349
      ],
      [
       1.56,
       0.1355
      ],
      [
       1.6,
       0.1363
      ],
      [
       1.64,
       0.1372
      ],
      [
       1.68,
       0.1384
      ],
      [
       1.72,
       0.1399
      ],
      [
       1.76,
       0.1408
      ],
      [
       1.8,
       0.1409
      ],
      [
       1.84,
       0.1412
      ],
      [
       1.88,
       0.1413
      ],
      [
       1.92,
       0.1415
      ],
      [
       1.96,
       0.1416
      ],
      [
       2.0,
       0.1418
      ],
      [
       2.04,
       0.1419
      ],
      [
       2.08,
       0.142
      ],
      [
       2.12,
       0.1421
      ],
      [
       2.16,
       0.1422
      ],
      [
       2.2,
       0.1423
      ],
      [
       2.24,
       0.1424
      ],
      [
       2.28,
       0.1425
      ],
      [
       2.32,
       0.1426
      ],
      [
       2.36,
       0.1426
      ],
      [
       2.4,
       0.1427
      ],
      [
       2.44,
       0.1427
      ],
      [
       2.48,
       0.1428
      ],
      [
       2.52,
       0.1428
      ],
      [
       2.56,
       0.1428
      ],
      [
       2.6,
       0.1428
      ],
      [
       2.64,
       0.1429
      ],
      [
       2.68,
       0.1429
      ],
      [
       2.72,
       0.1429
      ],
      [
       2.76,
       0.1429
      ],
      [
       2.8,
       0.1429
      ],
      [
       2.84,
       0.1429
      ],
      [
       2.88,
       0.1429
      ],
      [
       2.92,
       0.1429
      ],
      [
       2.96,
       0.1429
      ],
      [
       3.0,
       0.1429
      ],
      [
       3.04,
       0.1429
      ],
      [
       3.08,
       0.1429
      ],
      [
       3.12,
       0.1429
      ],
      [
       3.16,
       0.1429
      ],
      [
       3.2,
       0.1429
      ],
      [
       3.24,
       0.1429
      ],
      [
       3.28,
       0.1428
      ],
      [
       3.32,
       0.1428
      ],
      [
       3.36,
       0.1428
      ],
      [
       3.4,
       0.1428
      ],
      [
       3.44,
       0.1427
      ],
      [
       3.48,
       0.1427
      ],
      [
       3.52,
       0.1427
      ],
      [
       3.56,
       0.1426
      ],
      [
       3.6,
       0.1426
      ],
      [
       3.64,
       0.1425
      ],
      [
       3.68,
       0.1425
      ],
      [
       3.72,
       0.1425
      ],
      [
       3.76,
       0.1424
      ],
      [
       3.8,
       0.1424
      ],
      [
       3.84,
       0.1423
      ],
      [
       3.88,
       0.1422
      ],
      [
       3.92,
       0.1422
      ],
      [
       3.96,
       0.1421
      ],
      [
       4.0,
       0.1421
      ],
      [
       4.04,
       0.142
      ],
      [
       4.08,
       0.1419
      ],
      [
       4.12,
       0.1419
      ],
      [
       4.16,
       0.1418
      ],
      [
       4.2,
       0.1417
      ],
      [
       4.24,
       0.1416
      ],
      [
       4.28,
       0.1415
      ],
      [
       4.32,
       0.1414
      ],
      [
       4.36,
       0.1413
      ],
      [
       4.4,
       0.1412
      ],
      [
       4.44,
       0.1411
      ],
      [
       4.48,
       0.141
      ],
      [
       4.52,
       0.1408
      ],
      [
       4.56,
       0.1407
      ],
      [
       4.6,
       0.1406
      ],
      [
       4.64,
       0.1404
      ],
      [
       4.68,
       0.1403
      ],
      [
       4.72,
       0.1401
      ],
      [
       4.76,
       0.1399
      ],
      [
       4.8,
       0.1398
      ],
      [
       4.84,
       0.1396
      ],
      [
       4.88,
       0.1394
      ],
      [
       4.92,
       0.1392
      ],
      [
       4.96,
       0.139
      ],
      [
       5.0,
       0.1388
      ],
      [
       5.04,
       0.1386
      ],
      [
       5.08,
       0.1384
      ],
      [
       5.12,
       0.1382
      ],
      [
       5.16,
       0.138
      ],
      [
       5.2,
       0.1377
      ],
      [
       5.24,
       0.1374
      ],
      [
       5.28,
       0.1394
      ],
      [
       5.32,
       0.1427
      ],
      [
       5.36,
       0.147
      ],
      [
       5.4,
       0.1534
      ],
      [
       5.44,
       0.1612
      ],
      [
       5.48,
       0.1703
      ],
      [
       5.52,
       0.1804
      ],
      [
       5.56,
       0.1919
      ],
      [
       5.6,
       0.2094
      ],
      [
       5.64,
       0.2298
      ],
      [
       5.68,
       0.267
      ],
      [
       5.72,
       0.2917
      ],
      [
       5.76,
       0.3183
      ],
      [
       5.8,
       0.3454
      ],
      [
       5.84,
       0.3746
      ],
      [
       5.88,
       0.4048
      ],
      [
       5.92,
       0.4364
      ],
      [
       5.96,
       0.4694
      ],
      [
       6.0,
       0.5038
      ],
      [
       6.04,
       0.5389
      ],
      [
       6.08,
       0.576
      ],
      [
       6.12,
       0.6141
      ],
      [
       6.16,
       0.6533
      ],
      [
       6.2,
       0.692
      ],
      [
       6.24,
       0.7304
      ],
      [
       6.28,
       0.7689
      ],
      [
       6.32,
       0.8078
      ],
      [
       6.36,
       0.8471
      ],
      [
       6.4,
       0.887
      ],
      [
       6.44,
       0.9277
      ],
      [
       6.48,
       0.9684
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "006e008a12df3f37cc2a9ca6ea5f430150e7bf563255e4a66df9205f411adc7a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013766823274071315,
       "final_progress": 0.0013774787666034772,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.06039230454959016,
       "final_progress": 0.0603931009887865,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 9.869535086762833e-06,
       "final_progress": 1.0665974283106182e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 340,
       "return": 1.9999992035608036,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx47",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "basket_0",
       "source": "primitive:basket",
       "grounding": "added_context",
       "role": "clutter",
       "label": "basket"
      },
      {
       "name": "bowl_0",
       "source": "ycb:024_bowl",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bowl"
      },
      {
       "name": "fruit_0",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "fruit_1",
       "source": "ycb:013_apple",
       "grounding": "added_context",
       "role": "clutter",
       "label": "fruit"
      },
      {
       "name": "food_box_0",
       "source": "ycb:004_sugar_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "cup_0",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cup"
      }
     ]
    }
   }
  },
  {
   "example_id": "4e29ad5bd3911616f683a43183ecf3436b071df2256cfab4e96809baf16c3776",
   "recording_id": 8237,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "blue worktable",
   "human_action": true,
   "description": "In the footage: Wipe the visible blue worktable with the pale green wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 12\u00d78 cm patch (turned 40\u00b0) on the blue worktable among the mug and the spatula and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 8237,
    "contributor_id": 11,
    "video": "media/source-8237-12a38fb693fe.mp4",
    "poster": "media/source-8237.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8237,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8237_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 147.44,
      "original_end_s": 167.44,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "86aa5005aacc7c9d8a544384f4ac1a2a41827459cf0cbff668b48f56d43089a4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
      "duration_s": 6.88,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 5,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 5,
    "recording_observed": 0,
    "recording_added": 5,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "4e29ad5bd391-panda",
     "video": "media/sim-4e29ad5bd391-panda-s0.mp4",
     "poster": "media/sim-4e29ad5bd391-panda-s0.jpg",
     "trajectory": "trajectories/4e29ad5bd391-panda.json",
     "recipe": "recipes/4e29ad5bd391-panda.json",
     "seed": 0,
     "steps": 319,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0005
      ],
      [
       0.08,
       0.0024
      ],
      [
       0.12,
       0.0062
      ],
      [
       0.16,
       0.0104
      ],
      [
       0.2,
       0.0144
      ],
      [
       0.24,
       0.0185
      ],
      [
       0.28,
       0.0231
      ],
      [
       0.32,
       0.0279
      ],
      [
       0.36,
       0.0328
      ],
      [
       0.4,
       0.0378
      ],
      [
       0.44,
       0.043
      ],
      [
       0.48,
       0.0484
      ],
      [
       0.52,
       0.0539
      ],
      [
       0.56,
       0.0595
      ],
      [
       0.6,
       0.0653
      ],
      [
       0.64,
       0.0713
      ],
      [
       0.68,
       0.0774
      ],
      [
       0.72,
       0.0836
      ],
      [
       0.76,
       0.0899
      ],
      [
       0.8,
       0.0963
      ],
      [
       0.84,
       0.1028
      ],
      [
       0.88,
       0.1093
      ],
      [
       0.92,
       0.1158
      ],
      [
       0.96,
       0.1222
      ],
      [
       1.0,
       0.1283
      ],
      [
       1.04,
       0.1338
      ],
      [
       1.08,
       0.1391
      ],
      [
       1.12,
       0.1436
      ],
      [
       1.16,
       0.1447
      ],
      [
       1.2,
       0.1448
      ],
      [
       1.24,
       0.1458
      ],
      [
       1.28,
       0.1451
      ],
      [
       1.32,
       0.1441
      ],
      [
       1.36,
       0.1429
      ],
      [
       1.4,
       0.1414
      ],
      [
       1.44,
       0.1401
      ],
      [
       1.48,
       0.1394
      ],
      [
       1.52,
       0.1393
      ],
      [
       1.56,
       0.1397
      ],
      [
       1.6,
       0.1402
      ],
      [
       1.64,
       0.1406
      ],
      [
       1.68,
       0.1411
      ],
      [
       1.72,
       0.1417
      ],
      [
       1.76,
       0.1427
      ],
      [
       1.8,
       0.1438
      ],
      [
       1.84,
       0.145
      ],
      [
       1.88,
       0.1461
      ],
      [
       1.92,
       0.147
      ],
      [
       1.96,
       0.1476
      ],
      [
       2.0,
       0.148
      ],
      [
       2.04,
       0.1484
      ],
      [
       2.08,
       0.1488
      ],
      [
       2.12,
       0.1493
      ],
      [
       2.16,
       0.1498
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.2917
      ],
      [
       2.8,
       0.2917
      ],
      [
       2.84,
       0.2917
      ],
      [
       2.88,
       0.2917
      ],
      [
       2.92,
       0.2917
      ],
      [
       2.96,
       0.2917
      ],
      [
       3.0,
       0.2917
      ],
      [
       3.04,
       0.2917
      ],
      [
       3.08,
       0.2917
      ],
      [
       3.12,
       0.2917
      ],
      [
       3.16,
       0.2917
      ],
      [
       3.2,
       0.2917
      ],
      [
       3.24,
       0.2917
      ],
      [
       3.28,
       0.2917
      ],
      [
       3.32,
       0.2917
      ],
      [
       3.36,
       0.2917
      ],
      [
       3.4,
       0.2917
      ],
      [
       3.44,
       0.2917
      ],
      [
       3.48,
       0.2917
      ],
      [
       3.52,
       0.2917
      ],
      [
       3.56,
       0.2917
      ],
      [
       3.6,
       0.2917
      ],
      [
       3.64,
       0.2917
      ],
      [
       3.68,
       0.2917
      ],
      [
       3.72,
       0.2917
      ],
      [
       3.76,
       0.2917
      ],
      [
       3.8,
       0.2917
      ],
      [
       3.84,
       0.2917
      ],
      [
       3.88,
       0.2917
      ],
      [
       3.92,
       0.2917
      ],
      [
       3.96,
       0.2917
      ],
      [
       4.0,
       0.2917
      ],
      [
       4.04,
       0.2917
      ],
      [
       4.08,
       0.2917
      ],
      [
       4.12,
       0.2917
      ],
      [
       4.16,
       0.2917
      ],
      [
       4.2,
       0.2917
      ],
      [
       4.24,
       0.2917
      ],
      [
       4.28,
       0.2917
      ],
      [
       4.32,
       0.2917
      ],
      [
       4.36,
       0.2917
      ],
      [
       4.4,
       0.2917
      ],
      [
       4.44,
       0.2917
      ],
      [
       4.48,
       0.4333
      ],
      [
       4.52,
       0.4333
      ],
      [
       4.56,
       0.4333
      ],
      [
       4.6,
       0.4688
      ],
      [
       4.64,
       0.4688
      ],
      [
       4.68,
       0.4688
      ],
      [
       4.72,
       0.4688
      ],
      [
       4.76,
       0.4688
      ],
      [
       4.8,
       0.5042
      ],
      [
       4.84,
       0.5042
      ],
      [
       4.88,
       0.5042
      ],
      [
       4.92,
       0.5042
      ],
      [
       4.96,
       0.5042
      ],
      [
       5.0,
       0.5042
      ],
      [
       5.04,
       0.5042
      ],
      [
       5.08,
       0.5042
      ],
      [
       5.12,
       0.5042
      ],
      [
       5.16,
       0.5396
      ],
      [
       5.2,
       0.575
      ],
      [
       5.24,
       0.6104
      ],
      [
       5.28,
       0.6104
      ],
      [
       5.32,
       0.6104
      ],
      [
       5.36,
       0.6104
      ],
      [
       5.4,
       0.6104
      ],
      [
       5.44,
       0.6104
      ],
      [
       5.48,
       0.6104
      ],
      [
       5.52,
       0.6458
      ],
      [
       5.56,
       0.6813
      ],
      [
       5.6,
       0.7521
      ],
      [
       5.64,
       0.7521
      ],
      [
       5.68,
       0.7521
      ],
      [
       5.72,
       0.7521
      ],
      [
       5.76,
       0.7521
      ],
      [
       5.8,
       0.7521
      ],
      [
       5.84,
       0.7521
      ],
      [
       5.88,
       0.7521
      ],
      [
       5.92,
       0.7521
      ],
      [
       5.96,
       0.8229
      ],
      [
       6.0,
       0.8583
      ],
      [
       6.04,
       0.8583
      ],
      [
       6.08,
       0.8583
      ],
      [
       6.12,
       0.8583
      ],
      [
       6.16,
       0.8583
      ],
      [
       6.2,
       0.8583
      ],
      [
       6.24,
       0.8583
      ],
      [
       6.28,
       0.8583
      ],
      [
       6.32,
       0.8938
      ],
      [
       6.36,
       0.8938
      ],
      [
       6.38,
       0.9292
      ]
     ],
     "total_reward": 1.9122,
     "initial_progress": 0.0,
     "final_progress": 0.9292,
     "physics_sha256": "0a505a4e948e588b6ba18605dc4a21e321a90b48b1195cbc3a3818faf8d7dfff",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.006707001578080074,
       "final_progress": 0.2833333333333333,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.29166666666666663,
       "final_progress": 0.29166666666666663,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 319,
       "return": 1.91216479781931,
       "final_progress": 0.9291666666666666
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    },
    "aloha": {
     "gym_id": "4e29ad5bd391-aloha",
     "video": "media/sim-4e29ad5bd391-aloha-s0.mp4",
     "poster": "media/sim-4e29ad5bd391-aloha-s0.jpg",
     "trajectory": "trajectories/4e29ad5bd391-aloha.json",
     "recipe": "recipes/4e29ad5bd391-aloha.json",
     "seed": 0,
     "steps": 525,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0007
      ],
      [
       0.12,
       0.0019
      ],
      [
       0.18,
       0.0032
      ],
      [
       0.24,
       0.0048
      ],
      [
       0.3,
       0.0067
      ],
      [
       0.36,
       0.009
      ],
      [
       0.42,
       0.0117
      ],
      [
       0.48,
       0.015
      ],
      [
       0.54,
       0.0192
      ],
      [
       0.6,
       0.0244
      ],
      [
       0.66,
       0.0305
      ],
      [
       0.72,
       0.0375
      ],
      [
       0.78,
       0.0452
      ],
      [
       0.84,
       0.0536
      ],
      [
       0.9,
       0.0629
      ],
      [
       0.96,
       0.073
      ],
      [
       1.02,
       0.0841
      ],
      [
       1.08,
       0.0965
      ],
      [
       1.14,
       0.1103
      ],
      [
       1.2,
       0.126
      ],
      [
       1.26,
       0.138
      ],
      [
       1.32,
       0.142
      ],
      [
       1.38,
       0.1436
      ],
      [
       1.44,
       0.145
      ],
      [
       1.5,
       0.1463
      ],
      [
       1.56,
       0.1476
      ],
      [
       1.62,
       0.1492
      ],
      [
       1.68,
       0.15
      ],
      [
       1.74,
       0.3625
      ],
      [
       1.8,
       0.3625
      ],
      [
       1.86,
       0.3625
      ],
      [
       1.92,
       0.3625
      ],
      [
       1.98,
       0.3625
      ],
      [
       2.04,
       0.3625
      ],
      [
       2.1,
       0.3625
      ],
      [
       2.16,
       0.3625
      ],
      [
       2.22,
       0.3625
      ],
      [
       2.28,
       0.3625
      ],
      [
       2.34,
       0.3625
      ],
      [
       2.4,
       0.3625
      ],
      [
       2.46,
       0.3625
      ],
      [
       2.52,
       0.3625
      ],
      [
       2.58,
       0.3625
      ],
      [
       2.64,
       0.3625
      ],
      [
       2.7,
       0.3625
      ],
      [
       2.76,
       0.3625
      ],
      [
       2.82,
       0.3625
      ],
      [
       2.88,
       0.3625
      ],
      [
       2.94,
       0.3625
      ],
      [
       3.0,
       0.3625
      ],
      [
       3.06,
       0.3625
      ],
      [
       3.12,
       0.3979
      ],
      [
       3.18,
       0.3979
      ],
      [
       3.24,
       0.4333
      ],
      [
       3.3,
       0.4333
      ],
      [
       3.36,
       0.4333
      ],
      [
       3.42,
       0.4333
      ],
      [
       3.48,
       0.4333
      ],
      [
       3.54,
       0.4333
      ],
      [
       3.6,
       0.4333
      ],
      [
       3.66,
       0.4333
      ],
      [
       3.72,
       0.4333
      ],
      [
       3.78,
       0.4333
      ],
      [
       3.84,
       0.4306
      ],
      [
       3.9,
       0.4278
      ],
      [
       3.96,
       0.4251
      ],
      [
       4.02,
       0.4227
      ],
      [
       4.08,
       0.4206
      ],
      [
       4.14,
       0.4188
      ],
      [
       4.2,
       0.4171
      ],
      [
       4.26,
       0.4157
      ],
      [
       4.32,
       0.4147
      ],
      [
       4.38,
       0.4142
      ],
      [
       4.44,
       0.4138
      ],
      [
       4.5,
       0.4137
      ],
      [
       4.56,
       0.4141
      ],
      [
       4.62,
       0.415
      ],
      [
       4.68,
       0.4159
      ],
      [
       4.74,
       0.4168
      ],
      [
       4.8,
       0.4184
      ],
      [
       4.86,
       0.4216
      ],
      [
       4.92,
       0.4262
      ],
      [
       4.98,
       0.4309
      ],
      [
       5.04,
       0.4333
      ],
      [
       5.1,
       0.4333
      ],
      [
       5.16,
       0.4333
      ],
      [
       5.22,
       0.4333
      ],
      [
       5.28,
       0.4333
      ],
      [
       5.34,
       0.4333
      ],
      [
       5.4,
       0.4333
      ],
      [
       5.46,
       0.4333
      ],
      [
       5.52,
       0.4333
      ],
      [
       5.58,
       0.4333
      ],
      [
       5.64,
       0.4333
      ],
      [
       5.7,
       0.4333
      ],
      [
       5.76,
       0.4333
      ],
      [
       5.82,
       0.4333
      ],
      [
       5.88,
       0.4333
      ],
      [
       5.94,
       0.4333
      ],
      [
       6.0,
       0.4688
      ],
      [
       6.06,
       0.4688
      ],
      [
       6.12,
       0.4688
      ],
      [
       6.18,
       0.4688
      ],
      [
       6.24,
       0.4688
      ],
      [
       6.3,
       0.4688
      ],
      [
       6.36,
       0.4688
      ],
      [
       6.42,
       0.4688
      ],
      [
       6.48,
       0.4688
      ],
      [
       6.54,
       0.4688
      ],
      [
       6.6,
       0.4688
      ],
      [
       6.66,
       0.4688
      ],
      [
       6.72,
       0.4688
      ],
      [
       6.78,
       0.4688
      ],
      [
       6.84,
       0.4688
      ],
      [
       6.9,
       0.4688
      ],
      [
       6.96,
       0.4688
      ],
      [
       7.02,
       0.575
      ],
      [
       7.08,
       0.575
      ],
      [
       7.14,
       0.575
      ],
      [
       7.2,
       0.575
      ],
      [
       7.26,
       0.575
      ],
      [
       7.32,
       0.575
      ],
      [
       7.38,
       0.575
      ],
      [
       7.44,
       0.575
      ],
      [
       7.5,
       0.6813
      ],
      [
       7.56,
       0.6813
      ],
      [
       7.62,
       0.6813
      ],
      [
       7.68,
       0.6813
      ],
      [
       7.74,
       0.6813
      ],
      [
       7.8,
       0.6813
      ],
      [
       7.86,
       0.6813
      ],
      [
       7.92,
       0.6813
      ],
      [
       7.98,
       0.6813
      ],
      [
       8.04,
       0.6813
      ],
      [
       8.1,
       0.6813
      ],
      [
       8.16,
       0.6813
      ],
      [
       8.22,
       0.6813
      ],
      [
       8.28,
       0.7875
      ],
      [
       8.34,
       0.7875
      ],
      [
       8.4,
       0.7875
      ],
      [
       8.46,
       0.7875
      ],
      [
       8.52,
       0.7875
      ],
      [
       8.58,
       0.7875
      ],
      [
       8.64,
       0.7875
      ],
      [
       8.7,
       0.7875
      ],
      [
       8.76,
       0.7875
      ],
      [
       8.82,
       0.7875
      ],
      [
       8.88,
       0.7875
      ],
      [
       8.94,
       0.7875
      ],
      [
       9.0,
       0.7875
      ],
      [
       9.06,
       0.7875
      ],
      [
       9.12,
       0.8229
      ],
      [
       9.18,
       0.8229
      ],
      [
       9.24,
       0.8229
      ],
      [
       9.3,
       0.8229
      ],
      [
       9.36,
       0.8229
      ],
      [
       9.42,
       0.8229
      ],
      [
       9.48,
       0.8229
      ],
      [
       9.54,
       0.8229
      ],
      [
       9.6,
       0.8229
      ],
      [
       9.66,
       0.8229
      ],
      [
       9.72,
       0.8583
      ],
      [
       9.78,
       0.8583
      ],
      [
       9.84,
       0.8583
      ],
      [
       9.9,
       0.8583
      ],
      [
       9.96,
       0.8583
      ],
      [
       10.02,
       0.8583
      ],
      [
       10.08,
       0.8583
      ],
      [
       10.14,
       0.8583
      ],
      [
       10.2,
       0.8583
      ],
      [
       10.26,
       0.8583
      ],
      [
       10.32,
       0.8938
      ],
      [
       10.38,
       0.8938
      ],
      [
       10.44,
       0.8938
      ],
      [
       10.5,
       0.9292
      ]
     ],
     "total_reward": 1.9292,
     "initial_progress": 0.0,
     "final_progress": 0.9292,
     "physics_sha256": "5a4243aecd53fd6e1ac1fdc7aaffd3526e29a5c58073e02167751938a62985ac",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.001313253467402059,
       "final_progress": 0.001313253467402059,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.09579666460634936,
       "final_progress": 0.09579666460634936,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.43333333333333335,
       "final_progress": 0.43333333333333335,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 525,
       "return": 1.9291666666666665,
       "final_progress": 0.9291666666666666
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    }
   }
  },
  {
   "example_id": "9a3285ca0d33a474c5394b41dab71da7ccc1cd0327d5cf1e346ca4977dd61336",
   "recording_id": 8237,
   "task_number": 2,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "blue worktable",
   "human_action": false,
   "description": "Pick up the puzzle cube and balance it on top of the gelatin box on the blue worktable among the mug and the spatula.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the puzzle cube and balance it on top of the gelatin box on the blue worktable among the mug and the spatula.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 8237,
    "contributor_id": 11,
    "video": "media/source-8237-12a38fb693fe.mp4",
    "poster": "media/source-8237.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8237,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8237_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 147.44,
      "original_end_s": 167.44,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "86aa5005aacc7c9d8a544384f4ac1a2a41827459cf0cbff668b48f56d43089a4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
      "duration_s": 6.88,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 5,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "9a3285ca0d33-panda",
     "video": "media/sim-9a3285ca0d33-panda-s0.mp4",
     "poster": "media/sim-9a3285ca0d33-panda-s0.jpg",
     "trajectory": "trajectories/9a3285ca0d33-panda.json",
     "recipe": "recipes/9a3285ca0d33-panda.json",
     "seed": 0,
     "steps": 288,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0006
      ],
      [
       0.22,
       0.0027
      ],
      [
       0.24,
       0.005
      ],
      [
       0.26,
       0.0077
      ],
      [
       0.28,
       0.0105
      ],
      [
       0.3,
       0.0132
      ],
      [
       0.32,
       0.0154
      ],
      [
       0.34,
       0.0172
      ],
      [
       0.36,
       0.0186
      ],
      [
       0.38,
       0.0201
      ],
      [
       0.4,
       0.0216
      ],
      [
       0.42,
       0.0234
      ],
      [
       0.44,
       0.0254
      ],
      [
       0.46,
       0.0274
      ],
      [
       0.48,
       0.0294
      ],
      [
       0.5,
       0.0314
      ],
      [
       0.52,
       0.0334
      ],
      [
       0.54,
       0.0354
      ],
      [
       0.56,
       0.0374
      ],
      [
       0.58,
       0.0395
      ],
      [
       0.6,
       0.0416
      ],
      [
       0.62,
       0.0437
      ],
      [
       0.64,
       0.0458
      ],
      [
       0.66,
       0.048
      ],
      [
       0.68,
       0.0502
      ],
      [
       0.7,
       0.0524
      ],
      [
       0.72,
       0.0546
      ],
      [
       0.74,
       0.0568
      ],
      [
       0.76,
       0.059
      ],
      [
       0.78,
       0.0613
      ],
      [
       0.8,
       0.0635
      ],
      [
       0.82,
       0.0658
      ],
      [
       0.84,
       0.068
      ],
      [
       0.86,
       0.0703
      ],
      [
       0.88,
       0.0725
      ],
      [
       0.9,
       0.0748
      ],
      [
       0.92,
       0.077
      ],
      [
       0.94,
       0.0792
      ],
      [
       0.96,
       0.0814
      ],
      [
       0.98,
       0.0835
      ],
      [
       1.0,
       0.0856
      ],
      [
       1.02,
       0.0877
      ],
      [
       1.04,
       0.0897
      ],
      [
       1.06,
       0.0917
      ],
      [
       1.08,
       0.0935
      ],
      [
       1.1,
       0.0953
      ],
      [
       1.12,
       0.0971
      ],
      [
       1.14,
       0.0991
      ],
      [
       1.16,
       0.1009
      ],
      [
       1.18,
       0.1026
      ],
      [
       1.2,
       0.1042
      ],
      [
       1.22,
       0.1058
      ],
      [
       1.24,
       0.1073
      ],
      [
       1.26,
       0.109
      ],
      [
       1.28,
       0.1107
      ],
      [
       1.3,
       0.1124
      ],
      [
       1.32,
       0.1142
      ],
      [
       1.34,
       0.1159
      ],
      [
       1.36,
       0.1176
      ],
      [
       1.38,
       0.1194
      ],
      [
       1.4,
       0.1211
      ],
      [
       1.42,
       0.1229
      ],
      [
       1.44,
       0.1247
      ],
      [
       1.46,
       0.1266
      ],
      [
       1.48,
       0.1285
      ],
      [
       1.5,
       0.1304
      ],
      [
       1.52,
       0.1325
      ],
      [
       1.54,
       0.1346
      ],
      [
       1.56,
       0.1367
      ],
      [
       1.58,
       0.139
      ],
      [
       1.6,
       0.1414
      ],
      [
       1.62,
       0.144
      ],
      [
       1.64,
       0.1472
      ],
      [
       1.66,
       0.1493
      ],
      [
       1.68,
       0.1461
      ],
      [
       1.7,
       0.1457
      ],
      [
       1.72,
       0.1457
      ],
      [
       1.74,
       0.1462
      ],
      [
       1.76,
       0.1465
      ],
      [
       1.78,
       0.1467
      ],
      [
       1.8,
       0.147
      ],
      [
       1.82,
       0.1472
      ],
      [
       1.84,
       0.1473
      ],
      [
       1.86,
       0.1473
      ],
      [
       1.88,
       0.1473
      ],
      [
       1.9,
       0.1474
      ],
      [
       1.92,
       0.1474
      ],
      [
       1.94,
       0.1474
      ],
      [
       1.96,
       0.1474
      ],
      [
       1.98,
       0.1474
      ],
      [
       2.0,
       0.1474
      ],
      [
       2.02,
       0.1474
      ],
      [
       2.04,
       0.1474
      ],
      [
       2.06,
       0.1474
      ],
      [
       2.08,
       0.1474
      ],
      [
       2.1,
       0.1475
      ],
      [
       2.12,
       0.1475
      ],
      [
       2.14,
       0.1475
      ],
      [
       2.16,
       0.1475
      ],
      [
       2.18,
       0.1475
      ],
      [
       2.2,
       0.1474
      ],
      [
       2.22,
       0.1474
      ],
      [
       2.24,
       0.1474
      ],
      [
       2.26,
       0.1474
      ],
      [
       2.28,
       0.1475
      ],
      [
       2.3,
       0.1475
      ],
      [
       2.32,
       0.1475
      ],
      [
       2.34,
       0.1475
      ],
      [
       2.36,
       0.1476
      ],
      [
       2.38,
       0.1476
      ],
      [
       2.4,
       0.1476
      ],
      [
       2.42,
       0.1477
      ],
      [
       2.44,
       0.1477
      ],
      [
       2.46,
       0.1477
      ],
      [
       2.48,
       0.1477
      ],
      [
       2.5,
       0.1477
      ],
      [
       2.52,
       0.1478
      ],
      [
       2.54,
       0.1478
      ],
      [
       2.56,
       0.1478
      ],
      [
       2.58,
       0.1478
      ],
      [
       2.6,
       0.1479
      ],
      [
       2.62,
       0.1479
      ],
      [
       2.64,
       0.1479
      ],
      [
       2.66,
       0.1479
      ],
      [
       2.68,
       0.4
      ],
      [
       2.7,
       0.4
      ],
      [
       2.72,
       0.4
      ],
      [
       2.74,
       0.4
      ],
      [
       2.76,
       0.4
      ],
      [
       2.78,
       0.4
      ],
      [
       2.8,
       0.4
      ],
      [
       2.82,
       0.4
      ],
      [
       2.84,
       0.4
      ],
      [
       2.86,
       0.4
      ],
      [
       2.88,
       0.4
      ],
      [
       2.9,
       0.4
      ],
      [
       2.92,
       0.4
      ],
      [
       2.94,
       0.4
      ],
      [
       2.96,
       0.4
      ],
      [
       2.98,
       0.4
      ],
      [
       3.0,
       0.4
      ],
      [
       3.02,
       0.4
      ],
      [
       3.04,
       0.4
      ],
      [
       3.06,
       0.4
      ],
      [
       3.08,
       0.4
      ],
      [
       3.1,
       0.4
      ],
      [
       3.12,
       0.4
      ],
      [
       3.14,
       0.4
      ],
      [
       3.16,
       0.4
      ],
      [
       3.18,
       0.4
      ],
      [
       3.2,
       0.4
      ],
      [
       3.22,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.26,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.3,
       0.4
      ],
      [
       3.32,
       0.4056
      ],
      [
       3.34,
       0.4171
      ],
      [
       3.36,
       0.4317
      ],
      [
       3.38,
       0.4485
      ],
      [
       3.4,
       0.4672
      ],
      [
       3.42,
       0.4872
      ],
      [
       3.44,
       0.5085
      ],
      [
       3.46,
       0.5308
      ],
      [
       3.48,
       0.554
      ],
      [
       3.5,
       0.578
      ],
      [
       3.52,
       0.6026
      ],
      [
       3.54,
       0.6278
      ],
      [
       3.56,
       0.6537
      ],
      [
       3.58,
       0.68
      ],
      [
       3.6,
       0.707
      ],
      [
       3.62,
       0.7344
      ],
      [
       3.64,
       0.7624
      ],
      [
       3.66,
       0.7909
      ],
      [
       3.68,
       0.8199
      ],
      [
       3.7,
       0.8493
      ],
      [
       3.72,
       0.8791
      ],
      [
       3.74,
       0.9
      ],
      [
       3.76,
       0.9
      ],
      [
       3.78,
       0.9
      ],
      [
       3.8,
       0.9
      ],
      [
       3.82,
       0.9
      ],
      [
       3.84,
       0.9
      ],
      [
       3.86,
       0.9
      ],
      [
       3.88,
       0.9
      ],
      [
       3.9,
       0.9
      ],
      [
       3.92,
       0.9
      ],
      [
       3.94,
       0.9
      ],
      [
       3.96,
       0.9
      ],
      [
       3.98,
       0.9
      ],
      [
       4.0,
       0.9
      ],
      [
       4.02,
       0.9
      ],
      [
       4.04,
       0.9
      ],
      [
       4.06,
       0.9
      ],
      [
       4.08,
       0.9
      ],
      [
       4.1,
       0.9
      ],
      [
       4.12,
       0.9
      ],
      [
       4.14,
       0.9
      ],
      [
       4.16,
       0.9
      ],
      [
       4.18,
       0.9
      ],
      [
       4.2,
       0.9
      ],
      [
       4.22,
       0.9
      ],
      [
       4.24,
       0.9
      ],
      [
       4.26,
       0.9
      ],
      [
       4.28,
       0.9
      ],
      [
       4.3,
       0.9
      ],
      [
       4.32,
       0.9
      ],
      [
       4.34,
       0.9
      ],
      [
       4.36,
       0.9
      ],
      [
       4.38,
       0.9
      ],
      [
       4.4,
       0.9
      ],
      [
       4.42,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.46,
       0.9
      ],
      [
       4.48,
       1.0
      ],
      [
       4.5,
       1.0
      ],
      [
       4.52,
       1.0
      ],
      [
       4.54,
       1.0
      ],
      [
       4.56,
       1.0
      ],
      [
       4.58,
       1.0
      ],
      [
       4.6,
       1.0
      ],
      [
       4.62,
       1.0
      ],
      [
       4.64,
       1.0
      ],
      [
       4.66,
       1.0
      ],
      [
       4.68,
       1.0
      ],
      [
       4.7,
       1.0
      ],
      [
       4.72,
       1.0
      ],
      [
       4.74,
       1.0
      ],
      [
       4.76,
       1.0
      ],
      [
       4.78,
       1.0
      ],
      [
       4.8,
       1.0
      ],
      [
       4.82,
       1.0
      ],
      [
       4.84,
       0.9
      ],
      [
       4.86,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.9,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.94,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       4.98,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.02,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.06,
       1.0
      ],
      [
       5.08,
       1.0
      ],
      [
       5.1,
       0.9
      ],
      [
       5.12,
       1.0
      ],
      [
       5.14,
       0.9
      ],
      [
       5.16,
       1.0
      ],
      [
       5.18,
       0.9
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.26,
       0.9
      ],
      [
       5.28,
       1.0
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       1.0
      ],
      [
       5.34,
       1.0
      ],
      [
       5.36,
       1.0
      ],
      [
       5.38,
       1.0
      ],
      [
       5.4,
       1.0
      ],
      [
       5.42,
       1.0
      ],
      [
       5.44,
       1.0
      ],
      [
       5.46,
       1.0
      ],
      [
       5.48,
       1.0
      ],
      [
       5.5,
       1.0
      ],
      [
       5.52,
       1.0
      ],
      [
       5.54,
       1.0
      ],
      [
       5.56,
       1.0
      ],
      [
       5.58,
       1.0
      ],
      [
       5.6,
       1.0
      ],
      [
       5.62,
       1.0
      ],
      [
       5.64,
       1.0
      ],
      [
       5.66,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.7,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.74,
       1.0
      ],
      [
       5.76,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "9f14ecb89b0d94babdee15da5d2fed1ff50688697c2167821109987355578781",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.035729604362504414,
       "final_progress": 0.035729604362504414,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 288,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx89",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "gelatin_box_ctx89",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    },
    "aloha": {
     "gym_id": "9a3285ca0d33-aloha",
     "video": "media/sim-9a3285ca0d33-aloha-s4.mp4",
     "poster": "media/sim-9a3285ca0d33-aloha-s4.jpg",
     "trajectory": "trajectories/9a3285ca0d33-aloha.json",
     "recipe": "recipes/9a3285ca0d33-aloha.json",
     "seed": 4,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0033
      ],
      [
       0.28,
       0.0082
      ],
      [
       0.42,
       0.0146
      ],
      [
       0.56,
       0.0225
      ],
      [
       0.7,
       0.0321
      ],
      [
       0.84,
       0.0438
      ],
      [
       0.98,
       0.0587
      ],
      [
       1.12,
       0.0769
      ],
      [
       1.26,
       0.0941
      ],
      [
       1.4,
       0.1092
      ],
      [
       1.54,
       0.1169
      ],
      [
       1.68,
       0.1227
      ],
      [
       1.82,
       0.1249
      ],
      [
       1.96,
       0.1245
      ],
      [
       2.1,
       0.1253
      ],
      [
       2.24,
       0.1263
      ],
      [
       2.38,
       0.1274
      ],
      [
       2.52,
       0.1282
      ],
      [
       2.66,
       0.1289
      ],
      [
       2.8,
       0.1296
      ],
      [
       2.94,
       0.1301
      ],
      [
       3.08,
       0.1305
      ],
      [
       3.22,
       0.1307
      ],
      [
       3.36,
       0.131
      ],
      [
       3.5,
       0.1314
      ],
      [
       3.64,
       0.132
      ],
      [
       3.78,
       0.1336
      ],
      [
       3.92,
       0.1393
      ],
      [
       4.06,
       0.1405
      ],
      [
       4.2,
       0.1407
      ],
      [
       4.34,
       0.1406
      ],
      [
       4.48,
       0.1405
      ],
      [
       4.62,
       0.141
      ],
      [
       4.76,
       0.1419
      ],
      [
       4.9,
       0.143
      ],
      [
       5.04,
       0.1445
      ],
      [
       5.18,
       0.1463
      ],
      [
       5.32,
       0.146
      ],
      [
       5.46,
       0.1452
      ],
      [
       5.6,
       0.1442
      ],
      [
       5.74,
       0.1428
      ],
      [
       5.88,
       0.1421
      ],
      [
       6.02,
       0.1422
      ],
      [
       6.16,
       0.1422
      ],
      [
       6.3,
       0.1423
      ],
      [
       6.44,
       0.1423
      ],
      [
       6.58,
       0.1424
      ],
      [
       6.72,
       0.1424
      ],
      [
       6.86,
       0.1424
      ],
      [
       7.0,
       0.1424
      ],
      [
       7.14,
       0.1425
      ],
      [
       7.28,
       0.1426
      ],
      [
       7.42,
       0.1428
      ],
      [
       7.56,
       0.1428
      ],
      [
       7.7,
       0.143
      ],
      [
       7.84,
       0.1427
      ],
      [
       7.98,
       0.1426
      ],
      [
       8.12,
       0.1422
      ],
      [
       8.26,
       0.1418
      ],
      [
       8.4,
       0.1411
      ],
      [
       8.54,
       0.4
      ],
      [
       8.68,
       0.4
      ],
      [
       8.82,
       0.4
      ],
      [
       8.96,
       0.4
      ],
      [
       9.1,
       0.4
      ],
      [
       9.24,
       0.4
      ],
      [
       9.38,
       0.4
      ],
      [
       9.52,
       0.4
      ],
      [
       9.66,
       0.4
      ],
      [
       9.8,
       0.4
      ],
      [
       9.94,
       0.4
      ],
      [
       10.08,
       0.4
      ],
      [
       10.22,
       0.4
      ],
      [
       10.36,
       0.4
      ],
      [
       10.5,
       0.4
      ],
      [
       10.64,
       0.4
      ],
      [
       10.78,
       0.4
      ],
      [
       10.92,
       0.4
      ],
      [
       11.06,
       0.4
      ],
      [
       11.2,
       0.4
      ],
      [
       11.34,
       0.4
      ],
      [
       11.48,
       0.4
      ],
      [
       11.62,
       0.4
      ],
      [
       11.76,
       0.4
      ],
      [
       11.9,
       0.4
      ],
      [
       12.04,
       0.4
      ],
      [
       12.18,
       0.4
      ],
      [
       12.32,
       0.4
      ],
      [
       12.46,
       0.4
      ],
      [
       12.6,
       0.4
      ],
      [
       12.74,
       0.4
      ],
      [
       12.88,
       0.4
      ],
      [
       13.02,
       0.4937
      ],
      [
       13.16,
       0.6245
      ],
      [
       13.3,
       0.7119
      ],
      [
       13.44,
       0.7449
      ],
      [
       13.58,
       0.7167
      ],
      [
       13.72,
       0.6566
      ],
      [
       13.86,
       0.6007
      ],
      [
       14.0,
       0.5646
      ],
      [
       14.14,
       0.5495
      ],
      [
       14.28,
       0.5458
      ],
      [
       14.42,
       0.5526
      ],
      [
       14.56,
       0.5619
      ],
      [
       14.7,
       0.5723
      ],
      [
       14.84,
       0.5923
      ],
      [
       14.98,
       0.6131
      ],
      [
       15.12,
       0.6337
      ],
      [
       15.26,
       0.6639
      ],
      [
       15.4,
       0.7035
      ],
      [
       15.54,
       0.7528
      ],
      [
       15.68,
       0.8152
      ],
      [
       15.82,
       0.8755
      ],
      [
       15.96,
       0.9
      ],
      [
       16.1,
       0.9
      ],
      [
       16.24,
       0.9
      ],
      [
       16.38,
       0.9
      ],
      [
       16.52,
       0.9
      ],
      [
       16.66,
       0.9
      ],
      [
       16.8,
       0.9
      ],
      [
       16.94,
       0.9
      ],
      [
       17.08,
       0.9
      ],
      [
       17.22,
       0.9
      ],
      [
       17.36,
       0.9
      ],
      [
       17.5,
       0.9
      ],
      [
       17.64,
       0.9
      ],
      [
       17.78,
       0.9
      ],
      [
       17.92,
       0.9
      ],
      [
       18.06,
       0.9
      ],
      [
       18.2,
       0.9
      ],
      [
       18.34,
       0.9
      ],
      [
       18.48,
       0.9
      ],
      [
       18.62,
       0.9
      ],
      [
       18.76,
       0.9
      ],
      [
       18.9,
       0.9
      ],
      [
       19.04,
       0.9
      ],
      [
       19.18,
       0.9
      ],
      [
       19.32,
       0.9
      ],
      [
       19.46,
       0.9
      ],
      [
       19.6,
       0.9
      ],
      [
       19.74,
       0.9
      ],
      [
       19.88,
       0.9
      ],
      [
       20.02,
       0.9
      ],
      [
       20.16,
       0.9
      ],
      [
       20.3,
       0.8903
      ],
      [
       20.44,
       0.7546
      ],
      [
       20.58,
       0.7595
      ],
      [
       20.72,
       0.7671
      ],
      [
       20.86,
       0.768
      ],
      [
       21.0,
       0.7681
      ],
      [
       21.14,
       0.7681
      ],
      [
       21.28,
       0.7681
      ],
      [
       21.42,
       0.7681
      ],
      [
       21.56,
       0.7681
      ],
      [
       21.7,
       0.7681
      ],
      [
       21.84,
       0.7681
      ],
      [
       21.98,
       0.7681
      ],
      [
       22.12,
       0.7681
      ],
      [
       22.26,
       0.7681
      ],
      [
       22.4,
       0.7681
      ],
      [
       22.54,
       0.7681
      ],
      [
       22.68,
       0.7681
      ],
      [
       22.82,
       0.7681
      ],
      [
       22.96,
       0.7681
      ],
      [
       23.1,
       0.7681
      ],
      [
       23.24,
       0.7681
      ],
      [
       23.38,
       0.7681
      ],
      [
       23.52,
       0.7681
      ],
      [
       23.66,
       0.7681
      ],
      [
       23.8,
       0.7681
      ],
      [
       23.94,
       0.7681
      ],
      [
       24.0,
       0.7681
      ]
     ],
     "total_reward": 0.733,
     "initial_progress": 0.0,
     "final_progress": 0.7681,
     "physics_sha256": "f7d7a658fc259fc0bb2c030d0470daf845c7c5dbf412eb2d5f5f180584953e2b",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0006816465251951786,
       "final_progress": 0.0006816465251951786,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 1.0164395367051604e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.5123556501257993,
       "final_progress": 0.5474448203093386,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5313376052747913,
       "final_progress": 0.6824038245078655
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.47847956887831244,
       "final_progress": 0.47847956887831244
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8128993184457565,
       "final_progress": 0.8128993184457565
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7678034175570533,
       "final_progress": 0.7678034175570533
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.733047939836606,
       "final_progress": 0.7681371100201453
      },
      {
       "layout_seed": 5,
       "outcome": "layout_rejected",
       "reason": "No free table space for plate_0"
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "puzzle_cube_ctx89",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "gelatin_box_ctx89",
       "source": "ycb:009_gelatin_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "gelatin box"
      },
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    }
   }
  },
  {
   "example_id": "de21f5cdbe223d38808bd312eb99923270a970641cadc93e0abc761fb793e295",
   "recording_id": 8237,
   "task_number": 3,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "blue worktable",
   "human_action": false,
   "description": "Slide the mug across the blue worktable among the plate and the block onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the mug across the blue worktable among the plate and the block onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 8237,
    "contributor_id": 11,
    "video": "media/source-8237-12a38fb693fe.mp4",
    "poster": "media/source-8237.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8237,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8237_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 147.44,
      "original_end_s": 167.44,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "86aa5005aacc7c9d8a544384f4ac1a2a41827459cf0cbff668b48f56d43089a4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
      "duration_s": 6.88,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 5,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 5,
    "recording_observed": 0,
    "recording_added": 5,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "de21f5cdbe22-panda",
     "video": "media/sim-de21f5cdbe22-panda-s5.mp4",
     "poster": "media/sim-de21f5cdbe22-panda-s5.jpg",
     "trajectory": "trajectories/de21f5cdbe22-panda.json",
     "recipe": "recipes/de21f5cdbe22-panda.json",
     "seed": 5,
     "steps": 205,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0003
      ],
      [
       0.04,
       0.0009
      ],
      [
       0.06,
       0.0018
      ],
      [
       0.08,
       0.0029
      ],
      [
       0.1,
       0.0043
      ],
      [
       0.12,
       0.0059
      ],
      [
       0.14,
       0.0077
      ],
      [
       0.16,
       0.0097
      ],
      [
       0.18,
       0.0118
      ],
      [
       0.2,
       0.014
      ],
      [
       0.22,
       0.0164
      ],
      [
       0.24,
       0.0189
      ],
      [
       0.26,
       0.0216
      ],
      [
       0.28,
       0.0244
      ],
      [
       0.3,
       0.0273
      ],
      [
       0.32,
       0.0303
      ],
      [
       0.34,
       0.0334
      ],
      [
       0.36,
       0.0366
      ],
      [
       0.38,
       0.04
      ],
      [
       0.4,
       0.0434
      ],
      [
       0.42,
       0.0469
      ],
      [
       0.44,
       0.0505
      ],
      [
       0.46,
       0.0542
      ],
      [
       0.48,
       0.0579
      ],
      [
       0.5,
       0.0617
      ],
      [
       0.52,
       0.0655
      ],
      [
       0.54,
       0.0693
      ],
      [
       0.56,
       0.0731
      ],
      [
       0.58,
       0.0768
      ],
      [
       0.6,
       0.0805
      ],
      [
       0.62,
       0.0839
      ],
      [
       0.64,
       0.0872
      ],
      [
       0.66,
       0.0903
      ],
      [
       0.68,
       0.0935
      ],
      [
       0.7,
       0.0972
      ],
      [
       0.72,
       0.1009
      ],
      [
       0.74,
       0.104
      ],
      [
       0.76,
       0.1064
      ],
      [
       0.78,
       0.1087
      ],
      [
       0.8,
       0.1109
      ],
      [
       0.82,
       0.1131
      ],
      [
       0.84,
       0.1155
      ],
      [
       0.86,
       0.1181
      ],
      [
       0.88,
       0.1209
      ],
      [
       0.9,
       0.1239
      ],
      [
       0.92,
       0.1272
      ],
      [
       0.94,
       0.1305
      ],
      [
       0.96,
       0.1338
      ],
      [
       0.98,
       0.137
      ],
      [
       1.0,
       0.1399
      ],
      [
       1.02,
       0.1421
      ],
      [
       1.04,
       0.1488
      ],
      [
       1.06,
       0.1506
      ],
      [
       1.08,
       0.15
      ],
      [
       1.1,
       0.1517
      ],
      [
       1.12,
       0.1565
      ],
      [
       1.14,
       0.1577
      ],
      [
       1.16,
       0.1577
      ],
      [
       1.18,
       0.1584
      ],
      [
       1.2,
       0.1586
      ],
      [
       1.22,
       0.1583
      ],
      [
       1.24,
       0.1579
      ],
      [
       1.26,
       0.1575
      ],
      [
       1.28,
       0.1572
      ],
      [
       1.3,
       0.157
      ],
      [
       1.32,
       0.1566
      ],
      [
       1.34,
       0.1563
      ],
      [
       1.36,
       0.1559
      ],
      [
       1.38,
       0.1557
      ],
      [
       1.4,
       0.1555
      ],
      [
       1.42,
       0.1554
      ],
      [
       1.44,
       0.1555
      ],
      [
       1.46,
       0.1556
      ],
      [
       1.48,
       0.1557
      ],
      [
       1.5,
       0.1558
      ],
      [
       1.52,
       0.1559
      ],
      [
       1.54,
       0.1559
      ],
      [
       1.56,
       0.1558
      ],
      [
       1.58,
       0.1556
      ],
      [
       1.6,
       0.1553
      ],
      [
       1.62,
       0.1548
      ],
      [
       1.64,
       0.1542
      ],
      [
       1.66,
       0.1537
      ],
      [
       1.68,
       0.153
      ],
      [
       1.7,
       0.1525
      ],
      [
       1.72,
       0.1522
      ],
      [
       1.74,
       0.1523
      ],
      [
       1.76,
       0.1529
      ],
      [
       1.78,
       0.1536
      ],
      [
       1.8,
       0.1543
      ],
      [
       1.82,
       0.1548
      ],
      [
       1.84,
       0.1552
      ],
      [
       1.86,
       0.1555
      ],
      [
       1.88,
       0.1558
      ],
      [
       1.9,
       0.156
      ],
      [
       1.92,
       0.1563
      ],
      [
       1.94,
       0.1566
      ],
      [
       1.96,
       0.1569
      ],
      [
       1.98,
       0.1571
      ],
      [
       2.0,
       0.1572
      ],
      [
       2.02,
       0.1574
      ],
      [
       2.04,
       0.1577
      ],
      [
       2.06,
       0.1581
      ],
      [
       2.08,
       0.1588
      ],
      [
       2.1,
       0.1597
      ],
      [
       2.12,
       0.1608
      ],
      [
       2.14,
       0.1621
      ],
      [
       2.16,
       0.1637
      ],
      [
       2.18,
       0.1669
      ],
      [
       2.2,
       0.1736
      ],
      [
       2.22,
       0.1774
      ],
      [
       2.24,
       0.1805
      ],
      [
       2.26,
       0.1836
      ],
      [
       2.28,
       0.1866
      ],
      [
       2.3,
       0.1945
      ],
      [
       2.32,
       0.1977
      ],
      [
       2.34,
       0.2011
      ],
      [
       2.36,
       0.2045
      ],
      [
       2.38,
       0.208
      ],
      [
       2.4,
       0.2117
      ],
      [
       2.42,
       0.2155
      ],
      [
       2.44,
       0.2194
      ],
      [
       2.46,
       0.2234
      ],
      [
       2.48,
       0.2275
      ],
      [
       2.5,
       0.2318
      ],
      [
       2.52,
       0.2362
      ],
      [
       2.54,
       0.2409
      ],
      [
       2.56,
       0.2458
      ],
      [
       2.58,
       0.2507
      ],
      [
       2.6,
       0.2558
      ],
      [
       2.62,
       0.261
      ],
      [
       2.64,
       0.2665
      ],
      [
       2.66,
       0.2722
      ],
      [
       2.68,
       0.2781
      ],
      [
       2.7,
       0.2841
      ],
      [
       2.72,
       0.2903
      ],
      [
       2.74,
       0.2969
      ],
      [
       2.76,
       0.3035
      ],
      [
       2.78,
       0.3103
      ],
      [
       2.8,
       0.3172
      ],
      [
       2.82,
       0.3247
      ],
      [
       2.84,
       0.332
      ],
      [
       2.86,
       0.3397
      ],
      [
       2.88,
       0.3475
      ],
      [
       2.9,
       0.3557
      ],
      [
       2.92,
       0.3632
      ],
      [
       2.94,
       0.3711
      ],
      [
       2.96,
       0.3789
      ],
      [
       2.98,
       0.3872
      ],
      [
       3.0,
       0.3951
      ],
      [
       3.02,
       0.4031
      ],
      [
       3.04,
       0.4111
      ],
      [
       3.06,
       0.4193
      ],
      [
       3.08,
       0.4275
      ],
      [
       3.1,
       0.4359
      ],
      [
       3.12,
       0.4443
      ],
      [
       3.14,
       0.4529
      ],
      [
       3.16,
       0.4615
      ],
      [
       3.18,
       0.4703
      ],
      [
       3.2,
       0.4791
      ],
      [
       3.22,
       0.4881
      ],
      [
       3.24,
       0.4972
      ],
      [
       3.26,
       0.5064
      ],
      [
       3.28,
       0.5157
      ],
      [
       3.3,
       0.5252
      ],
      [
       3.32,
       0.5347
      ],
      [
       3.34,
       0.5444
      ],
      [
       3.36,
       0.5542
      ],
      [
       3.38,
       0.5647
      ],
      [
       3.4,
       0.5747
      ],
      [
       3.42,
       0.5848
      ],
      [
       3.44,
       0.5958
      ],
      [
       3.46,
       0.6061
      ],
      [
       3.48,
       0.6174
      ],
      [
       3.5,
       0.628
      ],
      [
       3.52,
       0.6395
      ],
      [
       3.54,
       0.6505
      ],
      [
       3.56,
       0.662
      ],
      [
       3.58,
       0.6735
      ],
      [
       3.6,
       0.6853
      ],
      [
       3.62,
       0.6969
      ],
      [
       3.64,
       0.7085
      ],
      [
       3.66,
       0.7209
      ],
      [
       3.68,
       0.7327
      ],
      [
       3.7,
       0.7454
      ],
      [
       3.72,
       0.7574
      ],
      [
       3.74,
       0.7703
      ],
      [
       3.76,
       0.7826
      ],
      [
       3.78,
       0.7958
      ],
      [
       3.8,
       0.8082
      ],
      [
       3.82,
       0.8216
      ],
      [
       3.84,
       0.8343
      ],
      [
       3.86,
       0.8472
      ],
      [
       3.88,
       0.8602
      ],
      [
       3.9,
       0.8733
      ],
      [
       3.92,
       0.8864
      ],
      [
       3.94,
       0.8995
      ],
      [
       3.96,
       0.9128
      ],
      [
       3.98,
       0.9262
      ],
      [
       4.0,
       0.9395
      ],
      [
       4.02,
       0.953
      ],
      [
       4.04,
       0.9671
      ],
      [
       4.06,
       0.9805
      ],
      [
       4.08,
       0.9939
      ],
      [
       4.1,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "87b4315210480ca76634f11b4f5ef7824831d392050420962ef06fba48504671",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.5,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.2600170382818075,
       "final_progress": 0.2600170382818075,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.10775077482674406,
       "final_progress": 0.10775077482674406
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.1507587228453859,
       "final_progress": 0.1349084027649691
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.09506127710013822,
       "final_progress": 0.028742460011982333
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.06173602498470188,
       "final_progress": 0.061736024984701855
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.06752895290319536,
       "final_progress": 0.06752895290319536
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 205,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "mug"
      },
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    },
    "aloha": {
     "gym_id": "de21f5cdbe22-aloha",
     "video": "media/sim-de21f5cdbe22-aloha-s5.mp4",
     "poster": "media/sim-de21f5cdbe22-aloha-s5.jpg",
     "trajectory": "trajectories/de21f5cdbe22-aloha.json",
     "recipe": "recipes/de21f5cdbe22-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0038
      ],
      [
       0.28,
       0.0091
      ],
      [
       0.42,
       0.0158
      ],
      [
       0.56,
       0.024
      ],
      [
       0.7,
       0.0335
      ],
      [
       0.84,
       0.044
      ],
      [
       0.98,
       0.0554
      ],
      [
       1.12,
       0.0711
      ],
      [
       1.26,
       0.0798
      ],
      [
       1.4,
       0.0808
      ],
      [
       1.54,
       0.0808
      ],
      [
       1.68,
       0.0804
      ],
      [
       1.82,
       0.0813
      ],
      [
       1.96,
       0.0841
      ],
      [
       2.1,
       0.0927
      ],
      [
       2.24,
       0.103
      ],
      [
       2.38,
       0.1036
      ],
      [
       2.52,
       0.1028
      ],
      [
       2.66,
       0.1024
      ],
      [
       2.8,
       0.1023
      ],
      [
       2.94,
       0.1109
      ],
      [
       3.08,
       0.1199
      ],
      [
       3.22,
       0.1121
      ],
      [
       3.36,
       0.1017
      ],
      [
       3.5,
       0.1013
      ],
      [
       3.64,
       0.1013
      ],
      [
       3.78,
       0.102
      ],
      [
       3.92,
       0.1029
      ],
      [
       4.06,
       0.1045
      ],
      [
       4.2,
       0.1071
      ],
      [
       4.34,
       0.1082
      ],
      [
       4.48,
       0.11
      ],
      [
       4.62,
       0.1102
      ],
      [
       4.76,
       0.11
      ],
      [
       4.9,
       0.11
      ],
      [
       5.04,
       0.1103
      ],
      [
       5.18,
       0.1105
      ],
      [
       5.32,
       0.1111
      ],
      [
       5.46,
       0.1121
      ],
      [
       5.6,
       0.1126
      ],
      [
       5.74,
       0.1158
      ],
      [
       5.88,
       0.1177
      ],
      [
       6.02,
       0.0957
      ],
      [
       6.16,
       0.0808
      ],
      [
       6.3,
       0.0633
      ],
      [
       6.44,
       0.0378
      ],
      [
       6.58,
       0.0268
      ],
      [
       6.72,
       0.0296
      ],
      [
       6.86,
       0.0303
      ],
      [
       7.0,
       0.0292
      ],
      [
       7.14,
       0.0247
      ],
      [
       7.28,
       0.0216
      ],
      [
       7.42,
       0.0119
      ],
      [
       7.56,
       0.0031
      ],
      [
       7.7,
       0.0
      ],
      [
       7.84,
       0.0
      ],
      [
       7.98,
       0.0
      ],
      [
       8.12,
       0.0
      ],
      [
       8.26,
       0.0
      ],
      [
       8.4,
       0.0
      ],
      [
       8.54,
       0.0016
      ],
      [
       8.68,
       0.0119
      ],
      [
       8.82,
       0.0234
      ],
      [
       8.96,
       0.036
      ],
      [
       9.1,
       0.0496
      ],
      [
       9.24,
       0.0644
      ],
      [
       9.38,
       0.0708
      ],
      [
       9.52,
       0.0692
      ],
      [
       9.66,
       0.0678
      ],
      [
       9.8,
       0.0657
      ],
      [
       9.94,
       0.0641
      ],
      [
       10.08,
       0.0653
      ],
      [
       10.22,
       0.0701
      ],
      [
       10.36,
       0.078
      ],
      [
       10.5,
       0.0896
      ],
      [
       10.64,
       0.1019
      ],
      [
       10.78,
       0.1004
      ],
      [
       10.92,
       0.0946
      ],
      [
       11.06,
       0.0949
      ],
      [
       11.2,
       0.0946
      ],
      [
       11.34,
       0.0945
      ],
      [
       11.48,
       0.0944
      ],
      [
       11.62,
       0.0944
      ],
      [
       11.76,
       0.0943
      ],
      [
       11.9,
       0.0944
      ],
      [
       12.04,
       0.0948
      ],
      [
       12.18,
       0.095
      ],
      [
       12.32,
       0.0934
      ],
      [
       12.46,
       0.0882
      ],
      [
       12.6,
       0.0772
      ],
      [
       12.74,
       0.0606
      ],
      [
       12.88,
       0.0529
      ],
      [
       13.02,
       0.0602
      ],
      [
       13.16,
       0.0703
      ],
      [
       13.3,
       0.0844
      ],
      [
       13.44,
       0.1008
      ],
      [
       13.58,
       0.1014
      ],
      [
       13.72,
       0.1006
      ],
      [
       13.86,
       0.099
      ],
      [
       14.0,
       0.0981
      ],
      [
       14.14,
       0.0969
      ],
      [
       14.28,
       0.0953
      ],
      [
       14.42,
       0.0933
      ],
      [
       14.56,
       0.0915
      ],
      [
       14.7,
       0.0899
      ],
      [
       14.84,
       0.0886
      ],
      [
       14.98,
       0.0883
      ],
      [
       15.12,
       0.0888
      ],
      [
       15.26,
       0.0896
      ],
      [
       15.4,
       0.0895
      ],
      [
       15.54,
       0.0895
      ],
      [
       15.68,
       0.0906
      ],
      [
       15.82,
       0.0924
      ],
      [
       15.96,
       0.0955
      ],
      [
       16.1,
       0.0984
      ],
      [
       16.24,
       0.0976
      ],
      [
       16.38,
       0.096
      ],
      [
       16.52,
       0.094
      ],
      [
       16.66,
       0.0922
      ],
      [
       16.8,
       0.0898
      ],
      [
       16.94,
       0.0883
      ],
      [
       17.08,
       0.0888
      ],
      [
       17.22,
       0.0915
      ],
      [
       17.36,
       0.0939
      ],
      [
       17.5,
       0.0942
      ],
      [
       17.64,
       0.0934
      ],
      [
       17.78,
       0.0933
      ],
      [
       17.92,
       0.0946
      ],
      [
       18.06,
       0.0951
      ],
      [
       18.2,
       0.094
      ],
      [
       18.34,
       0.0914
      ],
      [
       18.48,
       0.0877
      ],
      [
       18.62,
       0.0835
      ],
      [
       18.76,
       0.0789
      ],
      [
       18.9,
       0.074
      ],
      [
       19.04,
       0.0658
      ],
      [
       19.18,
       0.0607
      ],
      [
       19.32,
       0.0593
      ],
      [
       19.46,
       0.0572
      ],
      [
       19.6,
       0.0516
      ],
      [
       19.74,
       0.0431
      ],
      [
       19.88,
       0.033
      ],
      [
       20.02,
       0.0214
      ],
      [
       20.16,
       0.0085
      ],
      [
       20.3,
       0.0
      ],
      [
       20.44,
       0.0
      ],
      [
       20.58,
       0.0
      ],
      [
       20.72,
       0.0
      ],
      [
       20.86,
       0.0
      ],
      [
       21.0,
       0.0
      ],
      [
       21.14,
       0.0
      ],
      [
       21.28,
       0.0
      ],
      [
       21.42,
       0.0
      ],
      [
       21.56,
       0.0
      ],
      [
       21.7,
       0.0
      ],
      [
       21.84,
       0.0
      ],
      [
       21.98,
       0.0
      ],
      [
       22.12,
       0.0
      ],
      [
       22.26,
       0.0
      ],
      [
       22.4,
       0.0
      ],
      [
       22.54,
       0.0
      ],
      [
       22.68,
       0.0
      ],
      [
       22.82,
       0.0
      ],
      [
       22.96,
       0.0006
      ],
      [
       23.1,
       0.0126
      ],
      [
       23.24,
       0.0256
      ],
      [
       23.38,
       0.0399
      ],
      [
       23.52,
       0.0556
      ],
      [
       23.66,
       0.0725
      ],
      [
       23.8,
       0.0888
      ],
      [
       23.94,
       0.1017
      ],
      [
       24.0,
       0.105
      ]
     ],
     "total_reward": -0.0223,
     "initial_progress": 0.0,
     "final_progress": 0.105,
     "physics_sha256": "95e26cd92dbf6b38c729f5908347cad9e6750ed60092e86636db0763a937198d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0009178235108384835,
       "final_progress": 0.0009178235108384835,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 1.1326660095956065e-15,
       "final_progress": 1.1324274851176596e-15,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.017264695466415403,
       "final_progress": 0.05339680247477641
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.43823747542566016,
       "final_progress": 0.06176252457433982
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.03245438535604289,
       "final_progress": 0.07256084500967855
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.3626471749701983,
       "final_progress": 0.11907016189768106
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.28048680332315096,
       "final_progress": 0.02065545963947074
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.02233606980217298,
       "final_progress": 0.10500992152085015
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "mug"
      },
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    }
   }
  },
  {
   "example_id": "c1aa2e96621a32210641e19d3c6a600e71cc2565ee5afb733b282e0130a88285",
   "recording_id": 8237,
   "task_number": 4,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "blue worktable",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the blue worktable among the block and the mug and pull the drawer 8 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the blue worktable among the block and the mug and pull the drawer 8 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22658 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 8237,
    "contributor_id": 11,
    "video": "media/source-8237-12a38fb693fe.mp4",
    "poster": "media/source-8237.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     6.866667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8237,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8237_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 147.44,
      "original_end_s": 167.44,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "86aa5005aacc7c9d8a544384f4ac1a2a41827459cf0cbff668b48f56d43089a4",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u20136.87 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
      "duration_s": 6.88,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "12a38fb693fe8e9416dbdb7bb0afac8d83c7942951a4d23c7ae8678e9725366e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 5,
    "surface": "blue worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "c1aa2e96621a-panda",
     "video": "media/sim-c1aa2e96621a-panda-s0.mp4",
     "poster": "media/sim-c1aa2e96621a-panda-s0.jpg",
     "trajectory": "trajectories/c1aa2e96621a-panda.json",
     "recipe": "recipes/c1aa2e96621a-panda.json",
     "seed": 0,
     "steps": 273,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0
      ],
      [
       1.32,
       0.0
      ],
      [
       1.34,
       0.0
      ],
      [
       1.36,
       0.0015
      ],
      [
       1.38,
       0.0032
      ],
      [
       1.4,
       0.005
      ],
      [
       1.42,
       0.0069
      ],
      [
       1.44,
       0.009
      ],
      [
       1.46,
       0.0112
      ],
      [
       1.48,
       0.0135
      ],
      [
       1.5,
       0.0159
      ],
      [
       1.52,
       0.0185
      ],
      [
       1.54,
       0.0213
      ],
      [
       1.56,
       0.0242
      ],
      [
       1.58,
       0.0272
      ],
      [
       1.6,
       0.0303
      ],
      [
       1.62,
       0.0334
      ],
      [
       1.64,
       0.0365
      ],
      [
       1.66,
       0.0396
      ],
      [
       1.68,
       0.0426
      ],
      [
       1.7,
       0.0454
      ],
      [
       1.72,
       0.048
      ],
      [
       1.74,
       0.0505
      ],
      [
       1.76,
       0.0527
      ],
      [
       1.78,
       0.0548
      ],
      [
       1.8,
       0.0567
      ],
      [
       1.82,
       0.0584
      ],
      [
       1.84,
       0.06
      ],
      [
       1.86,
       0.0614
      ],
      [
       1.88,
       0.0626
      ],
      [
       1.9,
       0.0638
      ],
      [
       1.92,
       0.0648
      ],
      [
       1.94,
       0.0658
      ],
      [
       1.96,
       0.0667
      ],
      [
       1.98,
       0.0676
      ],
      [
       2.0,
       0.0685
      ],
      [
       2.02,
       0.0693
      ],
      [
       2.04,
       0.07
      ],
      [
       2.06,
       0.0708
      ],
      [
       2.08,
       0.0714
      ],
      [
       2.1,
       0.0721
      ],
      [
       2.12,
       0.0727
      ],
      [
       2.14,
       0.0733
      ],
      [
       2.16,
       0.0739
      ],
      [
       2.18,
       0.0745
      ],
      [
       2.2,
       0.0751
      ],
      [
       2.22,
       0.0757
      ],
      [
       2.24,
       0.0762
      ],
      [
       2.26,
       0.0768
      ],
      [
       2.28,
       0.0774
      ],
      [
       2.3,
       0.078
      ],
      [
       2.32,
       0.0786
      ],
      [
       2.34,
       0.0793
      ],
      [
       2.36,
       0.0799
      ],
      [
       2.38,
       0.0806
      ],
      [
       2.4,
       0.0813
      ],
      [
       2.42,
       0.082
      ],
      [
       2.44,
       0.0827
      ],
      [
       2.46,
       0.0835
      ],
      [
       2.48,
       0.0842
      ],
      [
       2.5,
       0.085
      ],
      [
       2.52,
       0.0858
      ],
      [
       2.54,
       0.0866
      ],
      [
       2.56,
       0.0875
      ],
      [
       2.58,
       0.0884
      ],
      [
       2.6,
       0.0893
      ],
      [
       2.62,
       0.0903
      ],
      [
       2.64,
       0.0914
      ],
      [
       2.66,
       0.0924
      ],
      [
       2.68,
       0.0936
      ],
      [
       2.7,
       0.0947
      ],
      [
       2.72,
       0.0959
      ],
      [
       2.74,
       0.0972
      ],
      [
       2.76,
       0.0985
      ],
      [
       2.78,
       0.0999
      ],
      [
       2.8,
       0.1014
      ],
      [
       2.82,
       0.1029
      ],
      [
       2.84,
       0.1044
      ],
      [
       2.86,
       0.1061
      ],
      [
       2.88,
       0.1078
      ],
      [
       2.9,
       0.1096
      ],
      [
       2.92,
       0.1116
      ],
      [
       2.94,
       0.1135
      ],
      [
       2.96,
       0.1153
      ],
      [
       2.98,
       0.1169
      ],
      [
       3.0,
       0.1182
      ],
      [
       3.02,
       0.1194
      ],
      [
       3.04,
       0.1204
      ],
      [
       3.06,
       0.1213
      ],
      [
       3.08,
       0.1221
      ],
      [
       3.1,
       0.1228
      ],
      [
       3.12,
       0.1234
      ],
      [
       3.14,
       0.1238
      ],
      [
       3.16,
       0.1244
      ],
      [
       3.18,
       0.1251
      ],
      [
       3.2,
       0.1261
      ],
      [
       3.22,
       0.1272
      ],
      [
       3.24,
       0.1284
      ],
      [
       3.26,
       0.1297
      ],
      [
       3.28,
       0.131
      ],
      [
       3.3,
       0.1324
      ],
      [
       3.32,
       0.1338
      ],
      [
       3.34,
       0.1353
      ],
      [
       3.36,
       0.1369
      ],
      [
       3.38,
       0.1386
      ],
      [
       3.4,
       0.1404
      ],
      [
       3.42,
       0.1423
      ],
      [
       3.44,
       0.1442
      ],
      [
       3.46,
       0.1463
      ],
      [
       3.48,
       0.1486
      ],
      [
       3.5,
       0.1483
      ],
      [
       3.52,
       0.1469
      ],
      [
       3.54,
       0.1467
      ],
      [
       3.56,
       0.1469
      ],
      [
       3.58,
       0.1471
      ],
      [
       3.6,
       0.1473
      ],
      [
       3.62,
       0.1474
      ],
      [
       3.64,
       0.1474
      ],
      [
       3.66,
       0.1474
      ],
      [
       3.68,
       0.1473
      ],
      [
       3.7,
       0.1472
      ],
      [
       3.72,
       0.1471
      ],
      [
       3.74,
       0.147
      ],
      [
       3.76,
       0.147
      ],
      [
       3.78,
       0.1469
      ],
      [
       3.8,
       0.1468
      ],
      [
       3.82,
       0.1468
      ],
      [
       3.84,
       0.1467
      ],
      [
       3.86,
       0.1467
      ],
      [
       3.88,
       0.1493
      ],
      [
       3.9,
       0.1542
      ],
      [
       3.92,
       0.16
      ],
      [
       3.94,
       0.1664
      ],
      [
       3.96,
       0.1731
      ],
      [
       3.98,
       0.1802
      ],
      [
       4.0,
       0.1878
      ],
      [
       4.02,
       0.1896
      ],
      [
       4.04,
       0.1867
      ],
      [
       4.06,
       0.1828
      ],
      [
       4.08,
       0.179
      ],
      [
       4.1,
       0.1758
      ],
      [
       4.12,
       0.1735
      ],
      [
       4.14,
       0.1734
      ],
      [
       4.16,
       0.176
      ],
      [
       4.18,
       0.181
      ],
      [
       4.2,
       0.1873
      ],
      [
       4.22,
       0.1944
      ],
      [
       4.24,
       0.2017
      ],
      [
       4.26,
       0.2092
      ],
      [
       4.28,
       0.217
      ],
      [
       4.3,
       0.225
      ],
      [
       4.32,
       0.2335
      ],
      [
       4.34,
       0.2423
      ],
      [
       4.36,
       0.2572
      ],
      [
       4.38,
       0.267
      ],
      [
       4.4,
       0.2772
      ],
      [
       4.42,
       0.2879
      ],
      [
       4.44,
       0.2989
      ],
      [
       4.46,
       0.3103
      ],
      [
       4.48,
       0.3221
      ],
      [
       4.5,
       0.3343
      ],
      [
       4.52,
       0.3468
      ],
      [
       4.54,
       0.3598
      ],
      [
       4.56,
       0.3732
      ],
      [
       4.58,
       0.3871
      ],
      [
       4.6,
       0.4015
      ],
      [
       4.62,
       0.4163
      ],
      [
       4.64,
       0.4315
      ],
      [
       4.66,
       0.4473
      ],
      [
       4.68,
       0.4634
      ],
      [
       4.7,
       0.48
      ],
      [
       4.72,
       0.497
      ],
      [
       4.74,
       0.5145
      ],
      [
       4.76,
       0.5324
      ],
      [
       4.78,
       0.5508
      ],
      [
       4.8,
       0.5696
      ],
      [
       4.82,
       0.5889
      ],
      [
       4.84,
       0.6086
      ],
      [
       4.86,
       0.6286
      ],
      [
       4.88,
       0.6491
      ],
      [
       4.9,
       0.67
      ],
      [
       4.92,
       0.6913
      ],
      [
       4.94,
       0.7131
      ],
      [
       4.96,
       0.7355
      ],
      [
       4.98,
       0.7583
      ],
      [
       5.0,
       0.7815
      ],
      [
       5.02,
       0.8051
      ],
      [
       5.04,
       0.8291
      ],
      [
       5.06,
       0.8534
      ],
      [
       5.08,
       0.8781
      ],
      [
       5.1,
       0.9031
      ],
      [
       5.12,
       0.9284
      ],
      [
       5.14,
       0.9541
      ],
      [
       5.16,
       0.98
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       1.0
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       1.0
      ],
      [
       5.34,
       1.0
      ],
      [
       5.36,
       1.0
      ],
      [
       5.38,
       1.0
      ],
      [
       5.4,
       1.0
      ],
      [
       5.42,
       1.0
      ],
      [
       5.44,
       1.0
      ],
      [
       5.46,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "feacc13be9cab8121c7eb89ce106961b4077a511176ede87a6fc6bce0853845a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 4.932914259253007e-05,
       "final_progress": 5.3308935060586033e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 4.629632394796786e-05,
       "final_progress": 5.0276116416032424e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.08087874946432513,
       "final_progress": 0.08088272925679318,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 273,
       "return": 1.999996020207532,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx89",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    },
    "aloha": {
     "gym_id": "c1aa2e96621a-aloha",
     "video": "media/sim-c1aa2e96621a-aloha-s0.mp4",
     "poster": "media/sim-c1aa2e96621a-aloha-s0.jpg",
     "trajectory": "trajectories/c1aa2e96621a-aloha.json",
     "recipe": "recipes/c1aa2e96621a-aloha.json",
     "seed": 0,
     "steps": 343,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0018
      ],
      [
       0.08,
       0.0054
      ],
      [
       0.12,
       0.0099
      ],
      [
       0.16,
       0.0151
      ],
      [
       0.2,
       0.0207
      ],
      [
       0.24,
       0.0267
      ],
      [
       0.28,
       0.0331
      ],
      [
       0.32,
       0.0397
      ],
      [
       0.36,
       0.0463
      ],
      [
       0.4,
       0.0526
      ],
      [
       0.44,
       0.0566
      ],
      [
       0.48,
       0.0583
      ],
      [
       0.52,
       0.0605
      ],
      [
       0.56,
       0.063
      ],
      [
       0.6,
       0.0655
      ],
      [
       0.64,
       0.0681
      ],
      [
       0.68,
       0.0707
      ],
      [
       0.72,
       0.0735
      ],
      [
       0.76,
       0.0763
      ],
      [
       0.8,
       0.0793
      ],
      [
       0.84,
       0.0824
      ],
      [
       0.88,
       0.0856
      ],
      [
       0.92,
       0.089
      ],
      [
       0.96,
       0.0915
      ],
      [
       1.0,
       0.0949
      ],
      [
       1.04,
       0.0985
      ],
      [
       1.08,
       0.1022
      ],
      [
       1.12,
       0.106
      ],
      [
       1.16,
       0.1097
      ],
      [
       1.2,
       0.1133
      ],
      [
       1.24,
       0.1169
      ],
      [
       1.28,
       0.121
      ],
      [
       1.32,
       0.1257
      ],
      [
       1.36,
       0.1312
      ],
      [
       1.4,
       0.132
      ],
      [
       1.44,
       0.1323
      ],
      [
       1.48,
       0.1326
      ],
      [
       1.52,
       0.1329
      ],
      [
       1.56,
       0.1333
      ],
      [
       1.6,
       0.1338
      ],
      [
       1.64,
       0.1343
      ],
      [
       1.68,
       0.1348
      ],
      [
       1.72,
       0.1355
      ],
      [
       1.76,
       0.1364
      ],
      [
       1.8,
       0.1375
      ],
      [
       1.84,
       0.1388
      ],
      [
       1.88,
       0.14
      ],
      [
       1.92,
       0.1401
      ],
      [
       1.96,
       0.1404
      ],
      [
       2.0,
       0.1406
      ],
      [
       2.04,
       0.1408
      ],
      [
       2.08,
       0.141
      ],
      [
       2.12,
       0.1412
      ],
      [
       2.16,
       0.1413
      ],
      [
       2.2,
       0.1415
      ],
      [
       2.24,
       0.1416
      ],
      [
       2.28,
       0.1417
      ],
      [
       2.32,
       0.1419
      ],
      [
       2.36,
       0.142
      ],
      [
       2.4,
       0.1421
      ],
      [
       2.44,
       0.1421
      ],
      [
       2.48,
       0.1422
      ],
      [
       2.52,
       0.1423
      ],
      [
       2.56,
       0.1423
      ],
      [
       2.6,
       0.1424
      ],
      [
       2.64,
       0.1424
      ],
      [
       2.68,
       0.1425
      ],
      [
       2.72,
       0.1425
      ],
      [
       2.76,
       0.1425
      ],
      [
       2.8,
       0.1425
      ],
      [
       2.84,
       0.1426
      ],
      [
       2.88,
       0.1426
      ],
      [
       2.92,
       0.1426
      ],
      [
       2.96,
       0.1426
      ],
      [
       3.0,
       0.1426
      ],
      [
       3.04,
       0.1426
      ],
      [
       3.08,
       0.1426
      ],
      [
       3.12,
       0.1426
      ],
      [
       3.16,
       0.1426
      ],
      [
       3.2,
       0.1426
      ],
      [
       3.24,
       0.1426
      ],
      [
       3.28,
       0.1426
      ],
      [
       3.32,
       0.1426
      ],
      [
       3.36,
       0.1426
      ],
      [
       3.4,
       0.1425
      ],
      [
       3.44,
       0.1425
      ],
      [
       3.48,
       0.1425
      ],
      [
       3.52,
       0.1425
      ],
      [
       3.56,
       0.1425
      ],
      [
       3.6,
       0.1424
      ],
      [
       3.64,
       0.1424
      ],
      [
       3.68,
       0.1424
      ],
      [
       3.72,
       0.1423
      ],
      [
       3.76,
       0.1423
      ],
      [
       3.8,
       0.1422
      ],
      [
       3.84,
       0.1422
      ],
      [
       3.88,
       0.1421
      ],
      [
       3.92,
       0.1421
      ],
      [
       3.96,
       0.142
      ],
      [
       4.0,
       0.142
      ],
      [
       4.04,
       0.1419
      ],
      [
       4.08,
       0.1419
      ],
      [
       4.12,
       0.1418
      ],
      [
       4.16,
       0.1417
      ],
      [
       4.2,
       0.1417
      ],
      [
       4.24,
       0.1416
      ],
      [
       4.28,
       0.1415
      ],
      [
       4.32,
       0.1414
      ],
      [
       4.36,
       0.1413
      ],
      [
       4.4,
       0.1412
      ],
      [
       4.44,
       0.1411
      ],
      [
       4.48,
       0.141
      ],
      [
       4.52,
       0.1409
      ],
      [
       4.56,
       0.1408
      ],
      [
       4.6,
       0.1407
      ],
      [
       4.64,
       0.1406
      ],
      [
       4.68,
       0.1404
      ],
      [
       4.72,
       0.1403
      ],
      [
       4.76,
       0.1401
      ],
      [
       4.8,
       0.14
      ],
      [
       4.84,
       0.1398
      ],
      [
       4.88,
       0.1397
      ],
      [
       4.92,
       0.1395
      ],
      [
       4.96,
       0.1394
      ],
      [
       5.0,
       0.1391
      ],
      [
       5.04,
       0.139
      ],
      [
       5.08,
       0.1388
      ],
      [
       5.12,
       0.1386
      ],
      [
       5.16,
       0.1383
      ],
      [
       5.2,
       0.1431
      ],
      [
       5.24,
       0.1481
      ],
      [
       5.28,
       0.1533
      ],
      [
       5.32,
       0.1597
      ],
      [
       5.36,
       0.1699
      ],
      [
       5.4,
       0.1779
      ],
      [
       5.44,
       0.19
      ],
      [
       5.48,
       0.2002
      ],
      [
       5.52,
       0.2124
      ],
      [
       5.56,
       0.2318
      ],
      [
       5.6,
       0.2656
      ],
      [
       5.64,
       0.2879
      ],
      [
       5.68,
       0.311
      ],
      [
       5.72,
       0.335
      ],
      [
       5.76,
       0.36
      ],
      [
       5.8,
       0.3857
      ],
      [
       5.84,
       0.4123
      ],
      [
       5.88,
       0.4398
      ],
      [
       5.92,
       0.468
      ],
      [
       5.96,
       0.497
      ],
      [
       6.0,
       0.5268
      ],
      [
       6.04,
       0.5572
      ],
      [
       6.08,
       0.5882
      ],
      [
       6.12,
       0.6197
      ],
      [
       6.16,
       0.6518
      ],
      [
       6.2,
       0.6843
      ],
      [
       6.24,
       0.7173
      ],
      [
       6.28,
       0.7506
      ],
      [
       6.32,
       0.7842
      ],
      [
       6.36,
       0.8181
      ],
      [
       6.4,
       0.8522
      ],
      [
       6.44,
       0.8864
      ],
      [
       6.48,
       0.9207
      ],
      [
       6.52,
       0.9551
      ],
      [
       6.56,
       0.9877
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.86,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "b534d4ec3730cd98308885b40f32de1b8d7a686bb2e80b5d7fb0ec8d3a564843",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0015644489796992575,
       "final_progress": 0.0015652705278802904,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.054742383551359165,
       "final_progress": 0.054743205099540206,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 9.869535150608592e-06,
       "final_progress": 1.069108333164203e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 343,
       "return": 1.999999178451819,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx89",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "added_context",
       "role": "clutter",
       "label": "dish rack"
      },
      {
       "name": "plate_0",
       "source": "ycb:029_plate",
       "grounding": "added_context",
       "role": "clutter",
       "label": "plate"
      },
      {
       "name": "spatula_0",
       "source": "ycb:033_spatula",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spatula"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "block_0",
       "source": "ycb:036_wood_block",
       "grounding": "added_context",
       "role": "clutter",
       "label": "block"
      }
     ]
    }
   }
  },
  {
   "example_id": "00da1240a9c1602f9db2b233bcf12941eb6ba8286caee46157b2a25411955fac",
   "recording_id": 8248,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "turquoise worktable with plastic cover",
   "human_action": true,
   "description": "In the footage: Wipe the visible turquoise worktable with the pale green wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 10\u00d76 cm patch (turned 20\u00b0) on the turquoise worktable with plastic cover among the spray bottle and the cans and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 8248,
    "contributor_id": 11,
    "video": "media/source-8248-7f11d49496d1.mp4",
    "poster": "media/source-8248.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8248,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8248_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 289.17,
      "original_end_s": 309.17,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e9ec515dd45cca66efc2c99cf069ac5c245b9919018c8fd23b016b28d9d26a87",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 6,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "turquoise worktable with plastic cover",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "00da1240a9c1-panda",
     "video": "media/sim-00da1240a9c1-panda-s0.mp4",
     "poster": "media/sim-00da1240a9c1-panda-s0.jpg",
     "trajectory": "trajectories/00da1240a9c1-panda.json",
     "recipe": "recipes/00da1240a9c1-panda.json",
     "seed": 0,
     "steps": 280,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0002
      ],
      [
       0.04,
       0.0006
      ],
      [
       0.06,
       0.0013
      ],
      [
       0.08,
       0.0027
      ],
      [
       0.1,
       0.0045
      ],
      [
       0.12,
       0.0066
      ],
      [
       0.14,
       0.0088
      ],
      [
       0.16,
       0.0109
      ],
      [
       0.18,
       0.013
      ],
      [
       0.2,
       0.0151
      ],
      [
       0.22,
       0.0172
      ],
      [
       0.24,
       0.0194
      ],
      [
       0.26,
       0.0218
      ],
      [
       0.28,
       0.0242
      ],
      [
       0.3,
       0.0267
      ],
      [
       0.32,
       0.0292
      ],
      [
       0.34,
       0.0318
      ],
      [
       0.36,
       0.0344
      ],
      [
       0.38,
       0.037
      ],
      [
       0.4,
       0.0397
      ],
      [
       0.42,
       0.0425
      ],
      [
       0.44,
       0.0452
      ],
      [
       0.46,
       0.0481
      ],
      [
       0.48,
       0.0509
      ],
      [
       0.5,
       0.0538
      ],
      [
       0.52,
       0.0567
      ],
      [
       0.54,
       0.0596
      ],
      [
       0.56,
       0.0626
      ],
      [
       0.58,
       0.0655
      ],
      [
       0.6,
       0.0685
      ],
      [
       0.62,
       0.0715
      ],
      [
       0.64,
       0.0744
      ],
      [
       0.66,
       0.0774
      ],
      [
       0.68,
       0.0803
      ],
      [
       0.7,
       0.0832
      ],
      [
       0.72,
       0.0862
      ],
      [
       0.74,
       0.0891
      ],
      [
       0.76,
       0.092
      ],
      [
       0.78,
       0.0949
      ],
      [
       0.8,
       0.0978
      ],
      [
       0.82,
       0.1008
      ],
      [
       0.84,
       0.1037
      ],
      [
       0.86,
       0.1067
      ],
      [
       0.88,
       0.1096
      ],
      [
       0.9,
       0.1126
      ],
      [
       0.92,
       0.1155
      ],
      [
       0.94,
       0.1185
      ],
      [
       0.96,
       0.1214
      ],
      [
       0.98,
       0.1243
      ],
      [
       1.0,
       0.1271
      ],
      [
       1.02,
       0.1299
      ],
      [
       1.04,
       0.1327
      ],
      [
       1.06,
       0.1354
      ],
      [
       1.08,
       0.1382
      ],
      [
       1.1,
       0.1408
      ],
      [
       1.12,
       0.1431
      ],
      [
       1.14,
       0.144
      ],
      [
       1.16,
       0.1424
      ],
      [
       1.18,
       0.1409
      ],
      [
       1.2,
       0.1407
      ],
      [
       1.22,
       0.1417
      ],
      [
       1.24,
       0.143
      ],
      [
       1.26,
       0.1439
      ],
      [
       1.28,
       0.1442
      ],
      [
       1.3,
       0.1441
      ],
      [
       1.32,
       0.1439
      ],
      [
       1.34,
       0.1437
      ],
      [
       1.36,
       0.1434
      ],
      [
       1.38,
       0.1428
      ],
      [
       1.4,
       0.1421
      ],
      [
       1.42,
       0.1414
      ],
      [
       1.44,
       0.1407
      ],
      [
       1.46,
       0.1402
      ],
      [
       1.48,
       0.1398
      ],
      [
       1.5,
       0.1396
      ],
      [
       1.52,
       0.1395
      ],
      [
       1.54,
       0.1396
      ],
      [
       1.56,
       0.1398
      ],
      [
       1.58,
       0.14
      ],
      [
       1.6,
       0.1403
      ],
      [
       1.62,
       0.1405
      ],
      [
       1.64,
       0.1407
      ],
      [
       1.66,
       0.1408
      ],
      [
       1.68,
       0.1409
      ],
      [
       1.7,
       0.141
      ],
      [
       1.72,
       0.1412
      ],
      [
       1.74,
       0.1414
      ],
      [
       1.76,
       0.1417
      ],
      [
       1.78,
       0.1422
      ],
      [
       1.8,
       0.1427
      ],
      [
       1.82,
       0.1433
      ],
      [
       1.84,
       0.1439
      ],
      [
       1.86,
       0.1445
      ],
      [
       1.88,
       0.1451
      ],
      [
       1.9,
       0.1456
      ],
      [
       1.92,
       0.1461
      ],
      [
       1.94,
       0.1466
      ],
      [
       1.96,
       0.147
      ],
      [
       1.98,
       0.1473
      ],
      [
       2.0,
       0.1476
      ],
      [
       2.02,
       0.1478
      ],
      [
       2.04,
       0.148
      ],
      [
       2.06,
       0.1481
      ],
      [
       2.08,
       0.1483
      ],
      [
       2.1,
       0.1485
      ],
      [
       2.12,
       0.1487
      ],
      [
       2.14,
       0.149
      ],
      [
       2.16,
       0.1492
      ],
      [
       2.18,
       0.1495
      ],
      [
       2.2,
       0.1497
      ],
      [
       2.22,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.26,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.3,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.34,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.38,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.42,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.46,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.5,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.54,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.58,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.62,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.66,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.7,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.74,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.78,
       0.15
      ],
      [
       2.8,
       0.3767
      ],
      [
       2.82,
       0.3767
      ],
      [
       2.84,
       0.3767
      ],
      [
       2.86,
       0.3767
      ],
      [
       2.88,
       0.3767
      ],
      [
       2.9,
       0.3767
      ],
      [
       2.92,
       0.3767
      ],
      [
       2.94,
       0.3767
      ],
      [
       2.96,
       0.3767
      ],
      [
       2.98,
       0.3767
      ],
      [
       3.0,
       0.3767
      ],
      [
       3.02,
       0.3767
      ],
      [
       3.04,
       0.3767
      ],
      [
       3.06,
       0.3767
      ],
      [
       3.08,
       0.3767
      ],
      [
       3.1,
       0.3767
      ],
      [
       3.12,
       0.3767
      ],
      [
       3.14,
       0.3767
      ],
      [
       3.16,
       0.3767
      ],
      [
       3.18,
       0.3767
      ],
      [
       3.2,
       0.3767
      ],
      [
       3.22,
       0.3767
      ],
      [
       3.24,
       0.3767
      ],
      [
       3.26,
       0.3767
      ],
      [
       3.28,
       0.3767
      ],
      [
       3.3,
       0.3767
      ],
      [
       3.32,
       0.3767
      ],
      [
       3.34,
       0.3767
      ],
      [
       3.36,
       0.3767
      ],
      [
       3.38,
       0.3767
      ],
      [
       3.4,
       0.3767
      ],
      [
       3.42,
       0.3767
      ],
      [
       3.44,
       0.3767
      ],
      [
       3.46,
       0.3767
      ],
      [
       3.48,
       0.3767
      ],
      [
       3.5,
       0.3767
      ],
      [
       3.52,
       0.3767
      ],
      [
       3.54,
       0.3767
      ],
      [
       3.56,
       0.3767
      ],
      [
       3.58,
       0.3767
      ],
      [
       3.6,
       0.3767
      ],
      [
       3.62,
       0.3767
      ],
      [
       3.64,
       0.3767
      ],
      [
       3.66,
       0.3767
      ],
      [
       3.68,
       0.3767
      ],
      [
       3.7,
       0.3767
      ],
      [
       3.72,
       0.3767
      ],
      [
       3.74,
       0.3767
      ],
      [
       3.76,
       0.3767
      ],
      [
       3.78,
       0.3767
      ],
      [
       3.8,
       0.3767
      ],
      [
       3.82,
       0.3767
      ],
      [
       3.84,
       0.3767
      ],
      [
       3.86,
       0.3767
      ],
      [
       3.88,
       0.3767
      ],
      [
       3.9,
       0.3767
      ],
      [
       3.92,
       0.3767
      ],
      [
       3.94,
       0.3767
      ],
      [
       3.96,
       0.3767
      ],
      [
       3.98,
       0.3767
      ],
      [
       4.0,
       0.3767
      ],
      [
       4.02,
       0.3767
      ],
      [
       4.04,
       0.3767
      ],
      [
       4.06,
       0.3767
      ],
      [
       4.08,
       0.3767
      ],
      [
       4.1,
       0.6033
      ],
      [
       4.12,
       0.6033
      ],
      [
       4.14,
       0.6033
      ],
      [
       4.16,
       0.6033
      ],
      [
       4.18,
       0.6033
      ],
      [
       4.2,
       0.6033
      ],
      [
       4.22,
       0.6033
      ],
      [
       4.24,
       0.6033
      ],
      [
       4.26,
       0.6033
      ],
      [
       4.28,
       0.6033
      ],
      [
       4.3,
       0.6033
      ],
      [
       4.32,
       0.6033
      ],
      [
       4.34,
       0.6033
      ],
      [
       4.36,
       0.66
      ],
      [
       4.38,
       0.66
      ],
      [
       4.4,
       0.7167
      ],
      [
       4.42,
       0.7167
      ],
      [
       4.44,
       0.7167
      ],
      [
       4.46,
       0.7167
      ],
      [
       4.48,
       0.7167
      ],
      [
       4.5,
       0.7167
      ],
      [
       4.52,
       0.7167
      ],
      [
       4.54,
       0.7167
      ],
      [
       4.56,
       0.7167
      ],
      [
       4.58,
       0.7167
      ],
      [
       4.6,
       0.7167
      ],
      [
       4.62,
       0.7167
      ],
      [
       4.64,
       0.7167
      ],
      [
       4.66,
       0.7167
      ],
      [
       4.68,
       0.7167
      ],
      [
       4.7,
       0.7167
      ],
      [
       4.72,
       0.7167
      ],
      [
       4.74,
       0.7167
      ],
      [
       4.76,
       0.7167
      ],
      [
       4.78,
       0.7733
      ],
      [
       4.8,
       0.7733
      ],
      [
       4.82,
       0.7733
      ],
      [
       4.84,
       0.7733
      ],
      [
       4.86,
       0.7733
      ],
      [
       4.88,
       0.7733
      ],
      [
       4.9,
       0.7733
      ],
      [
       4.92,
       0.7733
      ],
      [
       4.94,
       0.7733
      ],
      [
       4.96,
       0.83
      ],
      [
       4.98,
       0.83
      ],
      [
       5.0,
       0.83
      ],
      [
       5.02,
       0.83
      ],
      [
       5.04,
       0.83
      ],
      [
       5.06,
       0.83
      ],
      [
       5.08,
       0.83
      ],
      [
       5.1,
       0.83
      ],
      [
       5.12,
       0.83
      ],
      [
       5.14,
       0.83
      ],
      [
       5.16,
       0.83
      ],
      [
       5.18,
       0.83
      ],
      [
       5.2,
       0.8867
      ],
      [
       5.22,
       0.8867
      ],
      [
       5.24,
       0.8867
      ],
      [
       5.26,
       0.8867
      ],
      [
       5.28,
       0.8867
      ],
      [
       5.3,
       0.8867
      ],
      [
       5.32,
       0.8867
      ],
      [
       5.34,
       0.8867
      ],
      [
       5.36,
       0.8867
      ],
      [
       5.38,
       0.8867
      ],
      [
       5.4,
       0.8867
      ],
      [
       5.42,
       0.8867
      ],
      [
       5.44,
       0.8867
      ],
      [
       5.46,
       0.8867
      ],
      [
       5.48,
       0.8867
      ],
      [
       5.5,
       0.8867
      ],
      [
       5.52,
       0.8867
      ],
      [
       5.54,
       0.8867
      ],
      [
       5.56,
       0.8867
      ],
      [
       5.58,
       0.8867
      ],
      [
       5.6,
       0.9433
      ]
     ],
     "total_reward": 1.9008,
     "initial_progress": 0.0,
     "final_progress": 0.9433,
     "physics_sha256": "f440942813bce574aacde3cc33dafc2fb20f2696a711b98dbc76a120b0d08bd1",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": -0.010035762072162346,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.2600357620721607,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3666309045945043,
       "final_progress": 0.37666666666666665,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 280,
       "return": 1.90083637326171,
       "final_progress": 0.9433333333333334
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "00da1240a9c1-aloha",
     "video": "media/sim-00da1240a9c1-aloha-s0.mp4",
     "poster": "media/sim-00da1240a9c1-aloha-s0.jpg",
     "trajectory": "trajectories/00da1240a9c1-aloha.json",
     "recipe": "recipes/00da1240a9c1-aloha.json",
     "seed": 0,
     "steps": 455,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0007
      ],
      [
       0.08,
       0.0018
      ],
      [
       0.12,
       0.003
      ],
      [
       0.16,
       0.0043
      ],
      [
       0.2,
       0.0057
      ],
      [
       0.24,
       0.0073
      ],
      [
       0.28,
       0.0091
      ],
      [
       0.32,
       0.0111
      ],
      [
       0.36,
       0.0133
      ],
      [
       0.4,
       0.0156
      ],
      [
       0.44,
       0.0182
      ],
      [
       0.48,
       0.0209
      ],
      [
       0.52,
       0.0238
      ],
      [
       0.56,
       0.0269
      ],
      [
       0.6,
       0.03
      ],
      [
       0.64,
       0.0334
      ],
      [
       0.68,
       0.037
      ],
      [
       0.72,
       0.0408
      ],
      [
       0.76,
       0.0446
      ],
      [
       0.8,
       0.0485
      ],
      [
       0.84,
       0.0524
      ],
      [
       0.88,
       0.0564
      ],
      [
       0.92,
       0.0604
      ],
      [
       0.96,
       0.0647
      ],
      [
       1.0,
       0.0691
      ],
      [
       1.04,
       0.0739
      ],
      [
       1.08,
       0.0788
      ],
      [
       1.12,
       0.084
      ],
      [
       1.16,
       0.0896
      ],
      [
       1.2,
       0.0961
      ],
      [
       1.24,
       0.1037
      ],
      [
       1.28,
       0.1125
      ],
      [
       1.32,
       0.1229
      ],
      [
       1.36,
       0.1329
      ],
      [
       1.4,
       0.1393
      ],
      [
       1.44,
       0.1423
      ],
      [
       1.48,
       0.1436
      ],
      [
       1.52,
       0.1443
      ],
      [
       1.56,
       0.1448
      ],
      [
       1.6,
       0.1452
      ],
      [
       1.64,
       0.1455
      ],
      [
       1.68,
       0.1455
      ],
      [
       1.72,
       0.1454
      ],
      [
       1.76,
       0.1451
      ],
      [
       1.8,
       0.1445
      ],
      [
       1.84,
       0.1439
      ],
      [
       1.88,
       0.1435
      ],
      [
       1.92,
       0.1431
      ],
      [
       1.96,
       0.1424
      ],
      [
       2.0,
       0.1414
      ],
      [
       2.04,
       0.1399
      ],
      [
       2.08,
       0.1386
      ],
      [
       2.12,
       0.1376
      ],
      [
       2.16,
       0.1372
      ],
      [
       2.2,
       0.137
      ],
      [
       2.24,
       0.1369
      ],
      [
       2.28,
       0.1368
      ],
      [
       2.32,
       0.1368
      ],
      [
       2.36,
       0.1368
      ],
      [
       2.4,
       0.1368
      ],
      [
       2.44,
       0.1368
      ],
      [
       2.48,
       0.1368
      ],
      [
       2.52,
       0.1368
      ],
      [
       2.56,
       0.1368
      ],
      [
       2.6,
       0.1368
      ],
      [
       2.64,
       0.1367
      ],
      [
       2.68,
       0.1367
      ],
      [
       2.72,
       0.1367
      ],
      [
       2.76,
       0.1367
      ],
      [
       2.8,
       0.1367
      ],
      [
       2.84,
       0.1367
      ],
      [
       2.88,
       0.1367
      ],
      [
       2.92,
       0.1367
      ],
      [
       2.96,
       0.1366
      ],
      [
       3.0,
       0.1365
      ],
      [
       3.04,
       0.1363
      ],
      [
       3.08,
       0.1362
      ],
      [
       3.12,
       0.136
      ],
      [
       3.16,
       0.1357
      ],
      [
       3.2,
       0.1355
      ],
      [
       3.24,
       0.1355
      ],
      [
       3.28,
       0.1356
      ],
      [
       3.32,
       0.1358
      ],
      [
       3.36,
       0.136
      ],
      [
       3.4,
       0.1362
      ],
      [
       3.44,
       0.1364
      ],
      [
       3.48,
       0.1365
      ],
      [
       3.52,
       0.1366
      ],
      [
       3.56,
       0.1366
      ],
      [
       3.6,
       0.1367
      ],
      [
       3.64,
       0.1368
      ],
      [
       3.68,
       0.1374
      ],
      [
       3.72,
       0.1385
      ],
      [
       3.76,
       0.1404
      ],
      [
       3.8,
       0.1433
      ],
      [
       3.84,
       0.1468
      ],
      [
       3.88,
       0.15
      ],
      [
       3.92,
       0.15
      ],
      [
       3.96,
       0.15
      ],
      [
       4.0,
       0.15
      ],
      [
       4.04,
       0.15
      ],
      [
       4.08,
       0.15
      ],
      [
       4.12,
       0.15
      ],
      [
       4.16,
       0.15
      ],
      [
       4.2,
       0.15
      ],
      [
       4.24,
       0.15
      ],
      [
       4.28,
       0.15
      ],
      [
       4.32,
       0.15
      ],
      [
       4.36,
       0.15
      ],
      [
       4.4,
       0.15
      ],
      [
       4.44,
       0.15
      ],
      [
       4.48,
       0.3767
      ],
      [
       4.52,
       0.3767
      ],
      [
       4.56,
       0.3767
      ],
      [
       4.6,
       0.3767
      ],
      [
       4.64,
       0.3767
      ],
      [
       4.68,
       0.3767
      ],
      [
       4.72,
       0.3767
      ],
      [
       4.76,
       0.3767
      ],
      [
       4.8,
       0.3767
      ],
      [
       4.84,
       0.3767
      ],
      [
       4.88,
       0.3767
      ],
      [
       4.92,
       0.3767
      ],
      [
       4.96,
       0.3767
      ],
      [
       5.0,
       0.49
      ],
      [
       5.04,
       0.49
      ],
      [
       5.08,
       0.49
      ],
      [
       5.12,
       0.49
      ],
      [
       5.16,
       0.49
      ],
      [
       5.2,
       0.49
      ],
      [
       5.24,
       0.49
      ],
      [
       5.28,
       0.49
      ],
      [
       5.32,
       0.49
      ],
      [
       5.36,
       0.49
      ],
      [
       5.4,
       0.49
      ],
      [
       5.44,
       0.49
      ],
      [
       5.48,
       0.49
      ],
      [
       5.52,
       0.49
      ],
      [
       5.56,
       0.5467
      ],
      [
       5.6,
       0.6033
      ],
      [
       5.64,
       0.6033
      ],
      [
       5.68,
       0.6033
      ],
      [
       5.72,
       0.6033
      ],
      [
       5.76,
       0.6033
      ],
      [
       5.8,
       0.6033
      ],
      [
       5.84,
       0.6033
      ],
      [
       5.88,
       0.6033
      ],
      [
       5.92,
       0.6033
      ],
      [
       5.96,
       0.66
      ],
      [
       6.0,
       0.66
      ],
      [
       6.04,
       0.7167
      ],
      [
       6.08,
       0.7167
      ],
      [
       6.12,
       0.7167
      ],
      [
       6.16,
       0.7167
      ],
      [
       6.2,
       0.83
      ],
      [
       6.24,
       0.83
      ],
      [
       6.28,
       0.83
      ],
      [
       6.32,
       0.83
      ],
      [
       6.36,
       0.83
      ],
      [
       6.4,
       0.83
      ],
      [
       6.44,
       0.83
      ],
      [
       6.48,
       0.83
      ],
      [
       6.52,
       0.83
      ],
      [
       6.56,
       0.83
      ],
      [
       6.6,
       0.83
      ],
      [
       6.64,
       0.83
      ],
      [
       6.68,
       0.83
      ],
      [
       6.72,
       0.83
      ],
      [
       6.76,
       0.83
      ],
      [
       6.8,
       0.83
      ],
      [
       6.84,
       0.83
      ],
      [
       6.88,
       0.83
      ],
      [
       6.92,
       0.83
      ],
      [
       6.96,
       0.83
      ],
      [
       7.0,
       0.83
      ],
      [
       7.04,
       0.83
      ],
      [
       7.08,
       0.83
      ],
      [
       7.12,
       0.83
      ],
      [
       7.16,
       0.83
      ],
      [
       7.2,
       0.83
      ],
      [
       7.24,
       0.83
      ],
      [
       7.28,
       0.83
      ],
      [
       7.32,
       0.83
      ],
      [
       7.36,
       0.83
      ],
      [
       7.4,
       0.83
      ],
      [
       7.44,
       0.83
      ],
      [
       7.48,
       0.83
      ],
      [
       7.52,
       0.83
      ],
      [
       7.56,
       0.83
      ],
      [
       7.6,
       0.83
      ],
      [
       7.64,
       0.83
      ],
      [
       7.68,
       0.83
      ],
      [
       7.72,
       0.83
      ],
      [
       7.76,
       0.83
      ],
      [
       7.8,
       0.83
      ],
      [
       7.84,
       0.83
      ],
      [
       7.88,
       0.83
      ],
      [
       7.92,
       0.83
      ],
      [
       7.96,
       0.83
      ],
      [
       8.0,
       0.83
      ],
      [
       8.04,
       0.83
      ],
      [
       8.08,
       0.83
      ],
      [
       8.12,
       0.83
      ],
      [
       8.16,
       0.83
      ],
      [
       8.2,
       0.83
      ],
      [
       8.24,
       0.83
      ],
      [
       8.28,
       0.83
      ],
      [
       8.32,
       0.83
      ],
      [
       8.36,
       0.83
      ],
      [
       8.4,
       0.83
      ],
      [
       8.44,
       0.83
      ],
      [
       8.48,
       0.83
      ],
      [
       8.52,
       0.83
      ],
      [
       8.56,
       0.83
      ],
      [
       8.6,
       0.83
      ],
      [
       8.64,
       0.83
      ],
      [
       8.68,
       0.8867
      ],
      [
       8.72,
       0.8867
      ],
      [
       8.76,
       0.8867
      ],
      [
       8.8,
       0.8867
      ],
      [
       8.84,
       0.8867
      ],
      [
       8.88,
       0.8867
      ],
      [
       8.92,
       0.8867
      ],
      [
       8.96,
       0.8867
      ],
      [
       9.0,
       0.8867
      ],
      [
       9.04,
       0.8867
      ],
      [
       9.08,
       0.8867
      ],
      [
       9.1,
       0.9433
      ]
     ],
     "total_reward": 1.9,
     "initial_progress": 0.0,
     "final_progress": 0.9433,
     "physics_sha256": "ca5ce31938103e808c6adb75f32c7f5cd6012720731e3e271e2faf234b725678",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013248978433464175,
       "final_progress": 0.0013248978433464175,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.1545000833354898,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.43333333333333335,
       "final_progress": 0.43333333333333335,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 455,
       "return": 1.899962187870024,
       "final_progress": 0.9433333333333334
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "081f2bbb1297745964cd2e0063efb3240d424f6344c754c4bb838ff7e1b85869",
   "recording_id": 8248,
   "task_number": 2,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "turquoise worktable with plastic cover",
   "human_action": false,
   "description": "Pick up the paper cup and balance it on top of the tissue box on the turquoise worktable with plastic cover among the food box and the sponge.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the paper cup and balance it on top of the tissue box on the turquoise worktable with plastic cover among the food box and the sponge.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 8248,
    "contributor_id": 11,
    "video": "media/source-8248-7f11d49496d1.mp4",
    "poster": "media/source-8248.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8248,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8248_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 289.17,
      "original_end_s": 309.17,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e9ec515dd45cca66efc2c99cf069ac5c245b9919018c8fd23b016b28d9d26a87",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "turquoise worktable with plastic cover",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "081f2bbb1297-panda",
     "video": "media/sim-081f2bbb1297-panda-s0.mp4",
     "poster": "media/sim-081f2bbb1297-panda-s0.jpg",
     "trajectory": "trajectories/081f2bbb1297-panda.json",
     "recipe": "recipes/081f2bbb1297-panda.json",
     "seed": 0,
     "steps": 338,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0001
      ],
      [
       0.88,
       0.0046
      ],
      [
       0.92,
       0.0094
      ],
      [
       0.96,
       0.0146
      ],
      [
       1.0,
       0.0203
      ],
      [
       1.04,
       0.0264
      ],
      [
       1.08,
       0.0331
      ],
      [
       1.12,
       0.0401
      ],
      [
       1.16,
       0.0473
      ],
      [
       1.2,
       0.0541
      ],
      [
       1.24,
       0.0605
      ],
      [
       1.28,
       0.0663
      ],
      [
       1.32,
       0.0712
      ],
      [
       1.36,
       0.0752
      ],
      [
       1.4,
       0.0786
      ],
      [
       1.44,
       0.0817
      ],
      [
       1.48,
       0.0848
      ],
      [
       1.52,
       0.088
      ],
      [
       1.56,
       0.0911
      ],
      [
       1.6,
       0.0944
      ],
      [
       1.64,
       0.0981
      ],
      [
       1.68,
       0.1023
      ],
      [
       1.72,
       0.1058
      ],
      [
       1.76,
       0.1091
      ],
      [
       1.8,
       0.1126
      ],
      [
       1.84,
       0.1165
      ],
      [
       1.88,
       0.1206
      ],
      [
       1.92,
       0.1248
      ],
      [
       1.96,
       0.1293
      ],
      [
       2.0,
       0.1342
      ],
      [
       2.04,
       0.1395
      ],
      [
       2.08,
       0.1456
      ],
      [
       2.12,
       0.147
      ],
      [
       2.16,
       0.1447
      ],
      [
       2.2,
       0.1453
      ],
      [
       2.24,
       0.1464
      ],
      [
       2.28,
       0.1472
      ],
      [
       2.32,
       0.1475
      ],
      [
       2.36,
       0.1476
      ],
      [
       2.4,
       0.1476
      ],
      [
       2.44,
       0.1476
      ],
      [
       2.48,
       0.1476
      ],
      [
       2.52,
       0.1476
      ],
      [
       2.56,
       0.1477
      ],
      [
       2.6,
       0.1478
      ],
      [
       2.64,
       0.1472
      ],
      [
       2.68,
       0.1465
      ],
      [
       2.72,
       0.1464
      ],
      [
       2.76,
       0.1464
      ],
      [
       2.8,
       0.1464
      ],
      [
       2.84,
       0.1464
      ],
      [
       2.88,
       0.1464
      ],
      [
       2.92,
       0.1464
      ],
      [
       2.96,
       0.1464
      ],
      [
       3.0,
       0.1464
      ],
      [
       3.04,
       0.1464
      ],
      [
       3.08,
       0.1464
      ],
      [
       3.12,
       0.1463
      ],
      [
       3.16,
       0.1463
      ],
      [
       3.2,
       0.4826
      ],
      [
       3.24,
       0.4838
      ],
      [
       3.28,
       0.4841
      ],
      [
       3.32,
       0.4834
      ],
      [
       3.36,
       0.4818
      ],
      [
       3.4,
       0.4791
      ],
      [
       3.44,
       0.4755
      ],
      [
       3.48,
       0.4712
      ],
      [
       3.52,
       0.4664
      ],
      [
       3.56,
       0.4616
      ],
      [
       3.6,
       0.4566
      ],
      [
       3.64,
       0.4513
      ],
      [
       3.68,
       0.4458
      ],
      [
       3.72,
       0.4401
      ],
      [
       3.76,
       0.4343
      ],
      [
       3.8,
       0.4284
      ],
      [
       3.84,
       0.4225
      ],
      [
       3.88,
       0.4169
      ],
      [
       3.92,
       0.4116
      ],
      [
       3.96,
       0.4065
      ],
      [
       4.0,
       0.401
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4149
      ],
      [
       4.12,
       0.4443
      ],
      [
       4.16,
       0.4825
      ],
      [
       4.2,
       0.5248
      ],
      [
       4.24,
       0.5693
      ],
      [
       4.28,
       0.6159
      ],
      [
       4.32,
       0.6644
      ],
      [
       4.36,
       0.715
      ],
      [
       4.4,
       0.767
      ],
      [
       4.44,
       0.8203
      ],
      [
       4.48,
       0.8741
      ],
      [
       4.52,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.88,
       1.0
      ],
      [
       5.92,
       1.0
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       1.0
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       1.0
      ],
      [
       6.24,
       1.0
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "57ada9675fa9a855b501b0e05338916b562f332490e84bd0e6a98d8983d1c918",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 3.2526065174565133e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.6037821446890629,
       "final_progress": 0.6037821446890629,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 338,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx3",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "081f2bbb1297-aloha",
     "video": "media/sim-081f2bbb1297-aloha-s5.mp4",
     "poster": "media/sim-081f2bbb1297-aloha-s5.jpg",
     "trajectory": "trajectories/081f2bbb1297-aloha.json",
     "recipe": "recipes/081f2bbb1297-aloha.json",
     "seed": 5,
     "steps": 745,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0015
      ],
      [
       0.16,
       0.0039
      ],
      [
       0.24,
       0.0067
      ],
      [
       0.32,
       0.0099
      ],
      [
       0.4,
       0.0137
      ],
      [
       0.48,
       0.0179
      ],
      [
       0.56,
       0.0225
      ],
      [
       0.64,
       0.0276
      ],
      [
       0.72,
       0.0331
      ],
      [
       0.8,
       0.0391
      ],
      [
       0.88,
       0.0454
      ],
      [
       0.96,
       0.0522
      ],
      [
       1.04,
       0.0593
      ],
      [
       1.12,
       0.067
      ],
      [
       1.2,
       0.0756
      ],
      [
       1.28,
       0.0864
      ],
      [
       1.36,
       0.093
      ],
      [
       1.44,
       0.0965
      ],
      [
       1.52,
       0.0994
      ],
      [
       1.6,
       0.1016
      ],
      [
       1.68,
       0.1029
      ],
      [
       1.76,
       0.1033
      ],
      [
       1.84,
       0.1035
      ],
      [
       1.92,
       0.1035
      ],
      [
       2.0,
       0.1033
      ],
      [
       2.08,
       0.1026
      ],
      [
       2.16,
       0.1012
      ],
      [
       2.24,
       0.0993
      ],
      [
       2.32,
       0.0973
      ],
      [
       2.4,
       0.0951
      ],
      [
       2.48,
       0.0922
      ],
      [
       2.56,
       0.0894
      ],
      [
       2.64,
       0.0887
      ],
      [
       2.72,
       0.0893
      ],
      [
       2.8,
       0.0916
      ],
      [
       2.88,
       0.0955
      ],
      [
       2.96,
       0.1011
      ],
      [
       3.04,
       0.1077
      ],
      [
       3.12,
       0.1144
      ],
      [
       3.2,
       0.1205
      ],
      [
       3.28,
       0.1257
      ],
      [
       3.36,
       0.1317
      ],
      [
       3.44,
       0.1371
      ],
      [
       3.52,
       0.1404
      ],
      [
       3.6,
       0.141
      ],
      [
       3.68,
       0.1414
      ],
      [
       3.76,
       0.1418
      ],
      [
       3.84,
       0.1421
      ],
      [
       3.92,
       0.1424
      ],
      [
       4.0,
       0.1426
      ],
      [
       4.08,
       0.1428
      ],
      [
       4.16,
       0.1429
      ],
      [
       4.24,
       0.143
      ],
      [
       4.32,
       0.1432
      ],
      [
       4.4,
       0.1433
      ],
      [
       4.48,
       0.1434
      ],
      [
       4.56,
       0.1435
      ],
      [
       4.64,
       0.1436
      ],
      [
       4.72,
       0.1435
      ],
      [
       4.8,
       0.1433
      ],
      [
       4.88,
       0.1432
      ],
      [
       4.96,
       0.143
      ],
      [
       5.04,
       0.1429
      ],
      [
       5.12,
       0.1428
      ],
      [
       5.2,
       0.1428
      ],
      [
       5.28,
       0.1427
      ],
      [
       5.36,
       0.1426
      ],
      [
       5.44,
       0.1426
      ],
      [
       5.52,
       0.1426
      ],
      [
       5.6,
       0.1425
      ],
      [
       5.68,
       0.1425
      ],
      [
       5.76,
       0.1425
      ],
      [
       5.84,
       0.1425
      ],
      [
       5.92,
       0.1425
      ],
      [
       6.0,
       0.1424
      ],
      [
       6.08,
       0.1428
      ],
      [
       6.16,
       0.1429
      ],
      [
       6.24,
       0.143
      ],
      [
       6.32,
       0.143
      ],
      [
       6.4,
       0.1431
      ],
      [
       6.48,
       0.1431
      ],
      [
       6.56,
       0.1433
      ],
      [
       6.64,
       0.1433
      ],
      [
       6.72,
       0.1435
      ],
      [
       6.8,
       0.1437
      ],
      [
       6.88,
       0.1438
      ],
      [
       6.96,
       0.1438
      ],
      [
       7.04,
       0.1439
      ],
      [
       7.12,
       0.144
      ],
      [
       7.2,
       0.144
      ],
      [
       7.28,
       0.1441
      ],
      [
       7.36,
       0.1442
      ],
      [
       7.44,
       0.1443
      ],
      [
       7.52,
       0.1444
      ],
      [
       7.6,
       0.1446
      ],
      [
       7.68,
       0.1447
      ],
      [
       7.76,
       0.1448
      ],
      [
       7.84,
       0.1449
      ],
      [
       7.92,
       0.145
      ],
      [
       8.0,
       0.1452
      ],
      [
       8.08,
       0.1453
      ],
      [
       8.16,
       0.1454
      ],
      [
       8.24,
       0.1455
      ],
      [
       8.32,
       0.1456
      ],
      [
       8.4,
       0.1456
      ],
      [
       8.48,
       0.1457
      ],
      [
       8.56,
       0.1457
      ],
      [
       8.64,
       0.1458
      ],
      [
       8.72,
       0.1458
      ],
      [
       8.8,
       0.1458
      ],
      [
       8.88,
       0.1458
      ],
      [
       8.96,
       0.1459
      ],
      [
       9.04,
       0.4774
      ],
      [
       9.12,
       0.4957
      ],
      [
       9.2,
       0.5229
      ],
      [
       9.28,
       0.5491
      ],
      [
       9.36,
       0.5731
      ],
      [
       9.44,
       0.5951
      ],
      [
       9.52,
       0.6159
      ],
      [
       9.6,
       0.6363
      ],
      [
       9.68,
       0.6571
      ],
      [
       9.76,
       0.6788
      ],
      [
       9.84,
       0.7016
      ],
      [
       9.92,
       0.7258
      ],
      [
       10.0,
       0.752
      ],
      [
       10.08,
       0.7808
      ],
      [
       10.16,
       0.8124
      ],
      [
       10.24,
       0.847
      ],
      [
       10.32,
       0.8843
      ],
      [
       10.4,
       0.9
      ],
      [
       10.48,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.72,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.88,
       0.9
      ],
      [
       10.96,
       0.9
      ],
      [
       11.04,
       0.8979
      ],
      [
       11.12,
       0.8812
      ],
      [
       11.2,
       0.8723
      ],
      [
       11.28,
       0.8754
      ],
      [
       11.36,
       0.8921
      ],
      [
       11.44,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.6,
       0.9
      ],
      [
       11.68,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.84,
       0.9
      ],
      [
       11.92,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.08,
       0.9
      ],
      [
       12.16,
       0.9
      ],
      [
       12.24,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.4,
       0.9
      ],
      [
       12.48,
       0.9
      ],
      [
       12.56,
       0.9
      ],
      [
       12.64,
       0.9
      ],
      [
       12.72,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       12.96,
       0.9
      ],
      [
       13.04,
       0.9
      ],
      [
       13.12,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.28,
       1.0
      ],
      [
       13.36,
       1.0
      ],
      [
       13.44,
       1.0
      ],
      [
       13.52,
       1.0
      ],
      [
       13.6,
       1.0
      ],
      [
       13.68,
       0.9
      ],
      [
       13.76,
       1.0
      ],
      [
       13.84,
       1.0
      ],
      [
       13.92,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.08,
       0.9
      ],
      [
       14.16,
       0.9
      ],
      [
       14.24,
       0.9
      ],
      [
       14.32,
       1.0
      ],
      [
       14.4,
       0.9
      ],
      [
       14.48,
       1.0
      ],
      [
       14.56,
       1.0
      ],
      [
       14.64,
       1.0
      ],
      [
       14.72,
       1.0
      ],
      [
       14.8,
       1.0
      ],
      [
       14.88,
       1.0
      ],
      [
       14.9,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "422e81a7bcb56b24e585dfe29462b8b2afdcc9990364e9290b8b3d300ef24b69",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0006152144228564693,
       "final_progress": 0.0006152144228564693,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.04468557645191371,
       "final_progress": 0.03959465094428439,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 1.0,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5453847848647144,
       "final_progress": 0.5453847848647144
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 5.421010862427522e-20,
       "final_progress": 0.0
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6749658471777976,
       "final_progress": 0.6749658471777976
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8440068605583406,
       "final_progress": 0.8440068605583406
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 745,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "paper_cup_ctx3",
       "source": "ycb:065-a_cups",
       "grounding": "added_context",
       "role": "task_object",
       "label": "paper cup"
      },
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "7dfea11205b918f17fce0a6edf39c910cd34c0b61cbe8c6d5f35e9e46f189cc4",
   "recording_id": 8248,
   "task_number": 3,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "turquoise worktable with plastic cover",
   "human_action": false,
   "description": "Lift the puzzle cube off the red spot on the turquoise worktable with plastic cover, set it aside among the tissue box and the sponge, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the puzzle cube off the red spot on the turquoise worktable with plastic cover, set it aside among the tissue box and the sponge, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 8248,
    "contributor_id": 11,
    "video": "media/source-8248-7f11d49496d1.mp4",
    "poster": "media/source-8248.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8248,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8248_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 289.17,
      "original_end_s": 309.17,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e9ec515dd45cca66efc2c99cf069ac5c245b9919018c8fd23b016b28d9d26a87",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "turquoise worktable with plastic cover",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "7dfea11205b9-panda",
     "video": "media/sim-7dfea11205b9-panda-s0.mp4",
     "poster": "media/sim-7dfea11205b9-panda-s0.jpg",
     "trajectory": "trajectories/7dfea11205b9-panda.json",
     "recipe": "recipes/7dfea11205b9-panda.json",
     "seed": 0,
     "steps": 477,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0023
      ],
      [
       0.84,
       0.0066
      ],
      [
       0.88,
       0.0113
      ],
      [
       0.92,
       0.0164
      ],
      [
       0.96,
       0.0219
      ],
      [
       1.0,
       0.0277
      ],
      [
       1.04,
       0.0334
      ],
      [
       1.08,
       0.0389
      ],
      [
       1.12,
       0.044
      ],
      [
       1.16,
       0.0483
      ],
      [
       1.2,
       0.0517
      ],
      [
       1.24,
       0.0541
      ],
      [
       1.28,
       0.056
      ],
      [
       1.32,
       0.0578
      ],
      [
       1.36,
       0.0601
      ],
      [
       1.4,
       0.0628
      ],
      [
       1.44,
       0.0656
      ],
      [
       1.48,
       0.0682
      ],
      [
       1.52,
       0.0708
      ],
      [
       1.56,
       0.0738
      ],
      [
       1.6,
       0.0769
      ],
      [
       1.64,
       0.0801
      ],
      [
       1.68,
       0.0835
      ],
      [
       1.72,
       0.0871
      ],
      [
       1.76,
       0.0911
      ],
      [
       1.8,
       0.0955
      ],
      [
       1.84,
       0.0985
      ],
      [
       1.88,
       0.0965
      ],
      [
       1.92,
       0.0969
      ],
      [
       1.96,
       0.0975
      ],
      [
       2.0,
       0.0979
      ],
      [
       2.04,
       0.098
      ],
      [
       2.08,
       0.098
      ],
      [
       2.12,
       0.098
      ],
      [
       2.16,
       0.098
      ],
      [
       2.2,
       0.098
      ],
      [
       2.24,
       0.098
      ],
      [
       2.28,
       0.098
      ],
      [
       2.32,
       0.098
      ],
      [
       2.36,
       0.0979
      ],
      [
       2.4,
       0.0977
      ],
      [
       2.44,
       0.0975
      ],
      [
       2.48,
       0.0976
      ],
      [
       2.52,
       0.0976
      ],
      [
       2.56,
       0.0977
      ],
      [
       2.6,
       0.0977
      ],
      [
       2.64,
       0.0977
      ],
      [
       2.68,
       0.0977
      ],
      [
       2.72,
       0.0977
      ],
      [
       2.76,
       0.0978
      ],
      [
       2.8,
       0.0978
      ],
      [
       2.84,
       0.0978
      ],
      [
       2.88,
       0.0978
      ],
      [
       2.92,
       0.5259
      ],
      [
       2.96,
       0.5226
      ],
      [
       3.0,
       0.5153
      ],
      [
       3.04,
       0.5037
      ],
      [
       3.08,
       0.4897
      ],
      [
       3.12,
       0.4757
      ],
      [
       3.16,
       0.4618
      ],
      [
       3.2,
       0.448
      ],
      [
       3.24,
       0.4336
      ],
      [
       3.28,
       0.4183
      ],
      [
       3.32,
       0.4034
      ],
      [
       3.36,
       0.3885
      ],
      [
       3.4,
       0.373
      ],
      [
       3.44,
       0.3547
      ],
      [
       3.48,
       0.3294
      ],
      [
       3.52,
       0.3077
      ],
      [
       3.56,
       0.3264
      ],
      [
       3.6,
       0.3634
      ],
      [
       3.64,
       0.413
      ],
      [
       3.68,
       0.4688
      ],
      [
       3.72,
       0.5251
      ],
      [
       3.76,
       0.5837
      ],
      [
       3.8,
       0.6
      ],
      [
       3.84,
       0.6
      ],
      [
       3.88,
       0.6
      ],
      [
       3.92,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.0,
       0.6
      ],
      [
       4.04,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.12,
       0.6
      ],
      [
       4.16,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.24,
       0.6
      ],
      [
       4.28,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.68,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.84,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.92,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.04,
       0.6
      ],
      [
       9.08,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.16,
       0.6
      ],
      [
       9.2,
       0.6533
      ],
      [
       9.24,
       0.6
      ],
      [
       9.28,
       0.6533
      ],
      [
       9.32,
       0.7067
      ],
      [
       9.36,
       0.76
      ],
      [
       9.4,
       0.8133
      ],
      [
       9.44,
       0.8667
      ],
      [
       9.48,
       0.92
      ],
      [
       9.52,
       0.9733
      ],
      [
       9.54,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "ba8f71c8f084d46e8486d6a54c5ab511a59d3a4028a158353a8df2be585a20d7",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": -0.027020250701433008,
       "final_progress": 4.769411688421155e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.027025020113120406,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": -0.9116336116771461,
       "final_progress": 0.08674801841669742,
       "steps": 171,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 477,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx3",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "7dfea11205b9-aloha",
     "video": "media/sim-7dfea11205b9-aloha-s3.mp4",
     "poster": "media/sim-7dfea11205b9-aloha-s3.jpg",
     "trajectory": "trajectories/7dfea11205b9-aloha.json",
     "recipe": "recipes/7dfea11205b9-aloha.json",
     "seed": 3,
     "steps": 707,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0012
      ],
      [
       0.16,
       0.0035
      ],
      [
       0.24,
       0.0062
      ],
      [
       0.32,
       0.0089
      ],
      [
       0.4,
       0.0118
      ],
      [
       0.48,
       0.0149
      ],
      [
       0.56,
       0.0183
      ],
      [
       0.64,
       0.022
      ],
      [
       0.72,
       0.0261
      ],
      [
       0.8,
       0.0307
      ],
      [
       0.88,
       0.0358
      ],
      [
       0.96,
       0.0415
      ],
      [
       1.04,
       0.048
      ],
      [
       1.12,
       0.0531
      ],
      [
       1.2,
       0.0586
      ],
      [
       1.28,
       0.0651
      ],
      [
       1.36,
       0.0718
      ],
      [
       1.44,
       0.0768
      ],
      [
       1.52,
       0.0799
      ],
      [
       1.6,
       0.0823
      ],
      [
       1.68,
       0.083
      ],
      [
       1.76,
       0.0832
      ],
      [
       1.84,
       0.0844
      ],
      [
       1.92,
       0.0866
      ],
      [
       2.0,
       0.0904
      ],
      [
       2.08,
       0.0938
      ],
      [
       2.16,
       0.0971
      ],
      [
       2.24,
       0.0951
      ],
      [
       2.32,
       0.095
      ],
      [
       2.4,
       0.0951
      ],
      [
       2.48,
       0.0949
      ],
      [
       2.56,
       0.0945
      ],
      [
       2.64,
       0.094
      ],
      [
       2.72,
       0.0935
      ],
      [
       2.8,
       0.0933
      ],
      [
       2.88,
       0.0933
      ],
      [
       2.96,
       0.0932
      ],
      [
       3.04,
       0.0932
      ],
      [
       3.12,
       0.0932
      ],
      [
       3.2,
       0.0932
      ],
      [
       3.28,
       0.0932
      ],
      [
       3.36,
       0.0932
      ],
      [
       3.44,
       0.0932
      ],
      [
       3.52,
       0.0932
      ],
      [
       3.6,
       0.0931
      ],
      [
       3.68,
       0.0931
      ],
      [
       3.76,
       0.0931
      ],
      [
       3.84,
       0.0931
      ],
      [
       3.92,
       0.0931
      ],
      [
       4.0,
       0.3577
      ],
      [
       4.08,
       0.3751
      ],
      [
       4.16,
       0.3934
      ],
      [
       4.24,
       0.405
      ],
      [
       4.32,
       0.4057
      ],
      [
       4.4,
       0.3978
      ],
      [
       4.48,
       0.3747
      ],
      [
       4.56,
       0.3478
      ],
      [
       4.64,
       0.3164
      ],
      [
       4.72,
       0.3366
      ],
      [
       4.8,
       0.3905
      ],
      [
       4.88,
       0.4503
      ],
      [
       4.96,
       0.5146
      ],
      [
       5.04,
       0.5819
      ],
      [
       5.12,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.04,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.28,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.44,
       0.6
      ],
      [
       9.52,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.68,
       0.6
      ],
      [
       9.76,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.92,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.08,
       0.6
      ],
      [
       10.16,
       0.6
      ],
      [
       10.24,
       0.6
      ],
      [
       10.32,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.48,
       0.6
      ],
      [
       10.56,
       0.6
      ],
      [
       10.64,
       0.6
      ],
      [
       10.72,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.88,
       0.6
      ],
      [
       10.96,
       0.6
      ],
      [
       11.04,
       0.6
      ],
      [
       11.12,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.28,
       0.6
      ],
      [
       11.36,
       0.6
      ],
      [
       11.44,
       0.6
      ],
      [
       11.52,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.68,
       0.6
      ],
      [
       11.76,
       0.6
      ],
      [
       11.84,
       0.6
      ],
      [
       11.92,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.08,
       0.6
      ],
      [
       12.16,
       0.6
      ],
      [
       12.24,
       0.6
      ],
      [
       12.32,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.48,
       0.6
      ],
      [
       12.56,
       0.6
      ],
      [
       12.64,
       0.6
      ],
      [
       12.72,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.88,
       0.6
      ],
      [
       12.96,
       0.6
      ],
      [
       13.04,
       0.6
      ],
      [
       13.12,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.28,
       0.6
      ],
      [
       13.36,
       0.6
      ],
      [
       13.44,
       0.6
      ],
      [
       13.52,
       0.6
      ],
      [
       13.6,
       0.7067
      ],
      [
       13.68,
       0.6
      ],
      [
       13.76,
       0.6
      ],
      [
       13.84,
       0.6
      ],
      [
       13.92,
       0.7067
      ],
      [
       14.0,
       0.8133
      ],
      [
       14.08,
       0.92
      ],
      [
       14.14,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "d05474f87e7c0f5e665a7e648ee60195e3df8dcb2a34110cda2626e7dcaf01fe",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0007999911701121021,
       "final_progress": 0.0007999911701121021,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -1.0842021724855044e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": -1.0842021724855044e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6709923430750958,
       "final_progress": 0.9466666666666667
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.1266666666666667,
       "final_progress": 0.6266666666666667
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6240004613574885,
       "final_progress": 1.0
      },
      {
       "layout_seed": 3,
       "outcome": "success",
       "steps": 707,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "puzzle_cube_ctx3",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "102c0e1a2ae1ec11b1a50ccf1524d6495e32b8dc1a6f5726374703a653866ad0",
   "recording_id": 8248,
   "task_number": 4,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "turquoise worktable with plastic cover",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the turquoise worktable with plastic cover among the food box and the tissue box and pull the drawer 8 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the turquoise worktable with plastic cover among the food box and the tissue box and pull the drawer 8 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u22658 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 8248,
    "contributor_id": 11,
    "video": "media/source-8248-7f11d49496d1.mp4",
    "poster": "media/source-8248.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 8248,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/008/8248_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 289.17,
      "original_end_s": 309.17,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e9ec515dd45cca66efc2c99cf069ac5c245b9919018c8fd23b016b28d9d26a87",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "7f11d49496d1e482f847c820ba55b70ffe6cf7440baf86653aec4e5484b4803e",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 0,
    "added_context": 7,
    "recording_observed": 0,
    "recording_added": 6,
    "surface": "turquoise worktable with plastic cover",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "102c0e1a2ae1-panda",
     "video": "media/sim-102c0e1a2ae1-panda-s0.mp4",
     "poster": "media/sim-102c0e1a2ae1-panda-s0.jpg",
     "trajectory": "trajectories/102c0e1a2ae1-panda.json",
     "recipe": "recipes/102c0e1a2ae1-panda.json",
     "seed": 0,
     "steps": 238,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0
      ],
      [
       1.32,
       0.0025
      ],
      [
       1.34,
       0.005
      ],
      [
       1.36,
       0.0076
      ],
      [
       1.38,
       0.0103
      ],
      [
       1.4,
       0.0131
      ],
      [
       1.42,
       0.016
      ],
      [
       1.44,
       0.019
      ],
      [
       1.46,
       0.0221
      ],
      [
       1.48,
       0.0252
      ],
      [
       1.5,
       0.0284
      ],
      [
       1.52,
       0.0315
      ],
      [
       1.54,
       0.0347
      ],
      [
       1.56,
       0.0379
      ],
      [
       1.58,
       0.0409
      ],
      [
       1.6,
       0.0439
      ],
      [
       1.62,
       0.0468
      ],
      [
       1.64,
       0.0496
      ],
      [
       1.66,
       0.0523
      ],
      [
       1.68,
       0.0548
      ],
      [
       1.7,
       0.0572
      ],
      [
       1.72,
       0.0595
      ],
      [
       1.74,
       0.0617
      ],
      [
       1.76,
       0.0637
      ],
      [
       1.78,
       0.0656
      ],
      [
       1.8,
       0.0673
      ],
      [
       1.82,
       0.0689
      ],
      [
       1.84,
       0.0705
      ],
      [
       1.86,
       0.0721
      ],
      [
       1.88,
       0.0735
      ],
      [
       1.9,
       0.0749
      ],
      [
       1.92,
       0.0763
      ],
      [
       1.94,
       0.0775
      ],
      [
       1.96,
       0.0786
      ],
      [
       1.98,
       0.0796
      ],
      [
       2.0,
       0.0804
      ],
      [
       2.02,
       0.0811
      ],
      [
       2.04,
       0.0818
      ],
      [
       2.06,
       0.0824
      ],
      [
       2.08,
       0.083
      ],
      [
       2.1,
       0.0837
      ],
      [
       2.12,
       0.0844
      ],
      [
       2.14,
       0.0851
      ],
      [
       2.16,
       0.0858
      ],
      [
       2.18,
       0.0865
      ],
      [
       2.2,
       0.0873
      ],
      [
       2.22,
       0.088
      ],
      [
       2.24,
       0.0887
      ],
      [
       2.26,
       0.0894
      ],
      [
       2.28,
       0.0901
      ],
      [
       2.3,
       0.0908
      ],
      [
       2.32,
       0.0915
      ],
      [
       2.34,
       0.0922
      ],
      [
       2.36,
       0.0929
      ],
      [
       2.38,
       0.0937
      ],
      [
       2.4,
       0.0946
      ],
      [
       2.42,
       0.0957
      ],
      [
       2.44,
       0.0969
      ],
      [
       2.46,
       0.0984
      ],
      [
       2.48,
       0.1001
      ],
      [
       2.5,
       0.102
      ],
      [
       2.52,
       0.1042
      ],
      [
       2.54,
       0.1067
      ],
      [
       2.56,
       0.1092
      ],
      [
       2.58,
       0.1115
      ],
      [
       2.6,
       0.1136
      ],
      [
       2.62,
       0.1155
      ],
      [
       2.64,
       0.1172
      ],
      [
       2.66,
       0.1188
      ],
      [
       2.68,
       0.1203
      ],
      [
       2.7,
       0.1216
      ],
      [
       2.72,
       0.1229
      ],
      [
       2.74,
       0.1243
      ],
      [
       2.76,
       0.1259
      ],
      [
       2.78,
       0.1278
      ],
      [
       2.8,
       0.1299
      ],
      [
       2.82,
       0.1321
      ],
      [
       2.84,
       0.1344
      ],
      [
       2.86,
       0.1368
      ],
      [
       2.88,
       0.1392
      ],
      [
       2.9,
       0.1418
      ],
      [
       2.92,
       0.1444
      ],
      [
       2.94,
       0.1466
      ],
      [
       2.96,
       0.1508
      ],
      [
       2.98,
       0.1507
      ],
      [
       3.0,
       0.1463
      ],
      [
       3.02,
       0.1466
      ],
      [
       3.04,
       0.1468
      ],
      [
       3.06,
       0.1468
      ],
      [
       3.08,
       0.1468
      ],
      [
       3.1,
       0.1468
      ],
      [
       3.12,
       0.1468
      ],
      [
       3.14,
       0.1467
      ],
      [
       3.16,
       0.1467
      ],
      [
       3.18,
       0.1467
      ],
      [
       3.2,
       0.1467
      ],
      [
       3.22,
       0.1467
      ],
      [
       3.24,
       0.1467
      ],
      [
       3.26,
       0.1481
      ],
      [
       3.28,
       0.1519
      ],
      [
       3.3,
       0.1566
      ],
      [
       3.32,
       0.1622
      ],
      [
       3.34,
       0.1685
      ],
      [
       3.36,
       0.1756
      ],
      [
       3.38,
       0.1835
      ],
      [
       3.4,
       0.192
      ],
      [
       3.42,
       0.2013
      ],
      [
       3.44,
       0.2112
      ],
      [
       3.46,
       0.2218
      ],
      [
       3.48,
       0.233
      ],
      [
       3.5,
       0.2448
      ],
      [
       3.52,
       0.2511
      ],
      [
       3.54,
       0.2564
      ],
      [
       3.56,
       0.2577
      ],
      [
       3.58,
       0.2591
      ],
      [
       3.6,
       0.2612
      ],
      [
       3.62,
       0.264
      ],
      [
       3.64,
       0.2674
      ],
      [
       3.66,
       0.2724
      ],
      [
       3.68,
       0.2799
      ],
      [
       3.7,
       0.2901
      ],
      [
       3.72,
       0.302
      ],
      [
       3.74,
       0.3147
      ],
      [
       3.76,
       0.3278
      ],
      [
       3.78,
       0.3411
      ],
      [
       3.8,
       0.3543
      ],
      [
       3.82,
       0.3677
      ],
      [
       3.84,
       0.3816
      ],
      [
       3.86,
       0.3959
      ],
      [
       3.88,
       0.4108
      ],
      [
       3.9,
       0.4261
      ],
      [
       3.92,
       0.4419
      ],
      [
       3.94,
       0.458
      ],
      [
       3.96,
       0.4745
      ],
      [
       3.98,
       0.4913
      ],
      [
       4.0,
       0.5086
      ],
      [
       4.02,
       0.5262
      ],
      [
       4.04,
       0.5442
      ],
      [
       4.06,
       0.5625
      ],
      [
       4.08,
       0.5813
      ],
      [
       4.1,
       0.6003
      ],
      [
       4.12,
       0.6197
      ],
      [
       4.14,
       0.6393
      ],
      [
       4.16,
       0.6591
      ],
      [
       4.18,
       0.6792
      ],
      [
       4.2,
       0.6995
      ],
      [
       4.22,
       0.7203
      ],
      [
       4.24,
       0.7414
      ],
      [
       4.26,
       0.7629
      ],
      [
       4.28,
       0.7846
      ],
      [
       4.3,
       0.8067
      ],
      [
       4.32,
       0.8289
      ],
      [
       4.34,
       0.8514
      ],
      [
       4.36,
       0.8741
      ],
      [
       4.38,
       0.897
      ],
      [
       4.4,
       0.9201
      ],
      [
       4.42,
       0.9434
      ],
      [
       4.44,
       0.9668
      ],
      [
       4.46,
       0.9914
      ],
      [
       4.48,
       1.0
      ],
      [
       4.5,
       1.0
      ],
      [
       4.52,
       1.0
      ],
      [
       4.54,
       1.0
      ],
      [
       4.56,
       1.0
      ],
      [
       4.58,
       1.0
      ],
      [
       4.6,
       1.0
      ],
      [
       4.62,
       1.0
      ],
      [
       4.64,
       1.0
      ],
      [
       4.66,
       1.0
      ],
      [
       4.68,
       1.0
      ],
      [
       4.7,
       1.0
      ],
      [
       4.72,
       1.0
      ],
      [
       4.74,
       1.0
      ],
      [
       4.76,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "aa7a427b41566b8f28381ff86b1b4a9884a328fdcfd6a6b365d942033bb2eafa",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 4.932914417586522e-05,
       "final_progress": 5.343353106062076e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 8.203245821961343e-05,
       "final_progress": 8.613684510436456e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.06676255582566915,
       "final_progress": 0.0667666602125539,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 238,
       "return": 1.9999958956131154,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx3",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "102c0e1a2ae1-aloha",
     "video": "media/sim-102c0e1a2ae1-aloha-s0.mp4",
     "poster": "media/sim-102c0e1a2ae1-aloha-s0.jpg",
     "trajectory": "trajectories/102c0e1a2ae1-aloha.json",
     "recipe": "recipes/102c0e1a2ae1-aloha.json",
     "seed": 0,
     "steps": 372,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0014
      ],
      [
       0.08,
       0.0039
      ],
      [
       0.12,
       0.0068
      ],
      [
       0.16,
       0.0099
      ],
      [
       0.2,
       0.0131
      ],
      [
       0.24,
       0.0164
      ],
      [
       0.28,
       0.0198
      ],
      [
       0.32,
       0.0232
      ],
      [
       0.36,
       0.0266
      ],
      [
       0.4,
       0.0301
      ],
      [
       0.44,
       0.0335
      ],
      [
       0.48,
       0.0369
      ],
      [
       0.52,
       0.0403
      ],
      [
       0.56,
       0.0436
      ],
      [
       0.6,
       0.0467
      ],
      [
       0.64,
       0.0497
      ],
      [
       0.68,
       0.0525
      ],
      [
       0.72,
       0.055
      ],
      [
       0.76,
       0.0572
      ],
      [
       0.8,
       0.059
      ],
      [
       0.84,
       0.0593
      ],
      [
       0.88,
       0.0596
      ],
      [
       0.92,
       0.0601
      ],
      [
       0.96,
       0.0604
      ],
      [
       1.0,
       0.0606
      ],
      [
       1.04,
       0.0607
      ],
      [
       1.08,
       0.0607
      ],
      [
       1.12,
       0.0607
      ],
      [
       1.16,
       0.0606
      ],
      [
       1.2,
       0.0604
      ],
      [
       1.24,
       0.06
      ],
      [
       1.28,
       0.0597
      ],
      [
       1.32,
       0.0593
      ],
      [
       1.36,
       0.0589
      ],
      [
       1.4,
       0.0586
      ],
      [
       1.44,
       0.0583
      ],
      [
       1.48,
       0.0581
      ],
      [
       1.52,
       0.0579
      ],
      [
       1.56,
       0.0578
      ],
      [
       1.6,
       0.0578
      ],
      [
       1.64,
       0.0579
      ],
      [
       1.68,
       0.0581
      ],
      [
       1.72,
       0.0584
      ],
      [
       1.76,
       0.0588
      ],
      [
       1.8,
       0.0594
      ],
      [
       1.84,
       0.06
      ],
      [
       1.88,
       0.0608
      ],
      [
       1.92,
       0.0617
      ],
      [
       1.96,
       0.0627
      ],
      [
       2.0,
       0.0639
      ],
      [
       2.04,
       0.0652
      ],
      [
       2.08,
       0.0666
      ],
      [
       2.12,
       0.0682
      ],
      [
       2.16,
       0.0699
      ],
      [
       2.2,
       0.0717
      ],
      [
       2.24,
       0.0737
      ],
      [
       2.28,
       0.0758
      ],
      [
       2.32,
       0.0781
      ],
      [
       2.36,
       0.0804
      ],
      [
       2.4,
       0.083
      ],
      [
       2.44,
       0.0856
      ],
      [
       2.48,
       0.0884
      ],
      [
       2.52,
       0.0913
      ],
      [
       2.56,
       0.0943
      ],
      [
       2.6,
       0.0975
      ],
      [
       2.64,
       0.1009
      ],
      [
       2.68,
       0.1044
      ],
      [
       2.72,
       0.1077
      ],
      [
       2.76,
       0.11
      ],
      [
       2.8,
       0.1133
      ],
      [
       2.84,
       0.1175
      ],
      [
       2.88,
       0.1221
      ],
      [
       2.92,
       0.127
      ],
      [
       2.96,
       0.1308
      ],
      [
       3.0,
       0.1316
      ],
      [
       3.04,
       0.1323
      ],
      [
       3.08,
       0.1332
      ],
      [
       3.12,
       0.1343
      ],
      [
       3.16,
       0.1356
      ],
      [
       3.2,
       0.1372
      ],
      [
       3.24,
       0.139
      ],
      [
       3.28,
       0.1406
      ],
      [
       3.32,
       0.1408
      ],
      [
       3.36,
       0.1409
      ],
      [
       3.4,
       0.1411
      ],
      [
       3.44,
       0.1412
      ],
      [
       3.48,
       0.1412
      ],
      [
       3.52,
       0.1413
      ],
      [
       3.56,
       0.1414
      ],
      [
       3.6,
       0.1414
      ],
      [
       3.64,
       0.1414
      ],
      [
       3.68,
       0.1415
      ],
      [
       3.72,
       0.1416
      ],
      [
       3.76,
       0.1416
      ],
      [
       3.8,
       0.1417
      ],
      [
       3.84,
       0.142
      ],
      [
       3.88,
       0.1427
      ],
      [
       3.92,
       0.1427
      ],
      [
       3.96,
       0.1427
      ],
      [
       4.0,
       0.1427
      ],
      [
       4.04,
       0.1427
      ],
      [
       4.08,
       0.1427
      ],
      [
       4.12,
       0.1427
      ],
      [
       4.16,
       0.1426
      ],
      [
       4.2,
       0.1426
      ],
      [
       4.24,
       0.1426
      ],
      [
       4.28,
       0.1426
      ],
      [
       4.32,
       0.1426
      ],
      [
       4.36,
       0.1426
      ],
      [
       4.4,
       0.1426
      ],
      [
       4.44,
       0.1426
      ],
      [
       4.48,
       0.1426
      ],
      [
       4.52,
       0.1434
      ],
      [
       4.56,
       0.1451
      ],
      [
       4.6,
       0.1466
      ],
      [
       4.64,
       0.1485
      ],
      [
       4.68,
       0.1502
      ],
      [
       4.72,
       0.1517
      ],
      [
       4.76,
       0.1539
      ],
      [
       4.8,
       0.1559
      ],
      [
       4.84,
       0.1585
      ],
      [
       4.88,
       0.1613
      ],
      [
       4.92,
       0.1645
      ],
      [
       4.96,
       0.1681
      ],
      [
       5.0,
       0.1723
      ],
      [
       5.04,
       0.1778
      ],
      [
       5.08,
       0.1834
      ],
      [
       5.12,
       0.1905
      ],
      [
       5.16,
       0.1984
      ],
      [
       5.2,
       0.2081
      ],
      [
       5.24,
       0.2176
      ],
      [
       5.28,
       0.2297
      ],
      [
       5.32,
       0.2419
      ],
      [
       5.36,
       0.2624
      ],
      [
       5.4,
       0.2757
      ],
      [
       5.44,
       0.2911
      ],
      [
       5.48,
       0.3077
      ],
      [
       5.52,
       0.3286
      ],
      [
       5.56,
       0.3577
      ],
      [
       5.6,
       0.3882
      ],
      [
       5.64,
       0.4177
      ],
      [
       5.68,
       0.4471
      ],
      [
       5.72,
       0.4766
      ],
      [
       5.76,
       0.5059
      ],
      [
       5.8,
       0.5354
      ],
      [
       5.84,
       0.5649
      ],
      [
       5.88,
       0.5947
      ],
      [
       5.92,
       0.6246
      ],
      [
       5.96,
       0.6547
      ],
      [
       6.0,
       0.6848
      ],
      [
       6.04,
       0.715
      ],
      [
       6.08,
       0.7452
      ],
      [
       6.12,
       0.7753
      ],
      [
       6.16,
       0.8051
      ],
      [
       6.2,
       0.8306
      ],
      [
       6.24,
       0.8497
      ],
      [
       6.28,
       0.8639
      ],
      [
       6.32,
       0.875
      ],
      [
       6.36,
       0.8841
      ],
      [
       6.4,
       0.8919
      ],
      [
       6.44,
       0.8991
      ],
      [
       6.48,
       0.9058
      ],
      [
       6.52,
       0.9124
      ],
      [
       6.56,
       0.9188
      ],
      [
       6.6,
       0.9253
      ],
      [
       6.64,
       0.9317
      ],
      [
       6.68,
       0.9382
      ],
      [
       6.72,
       0.9442
      ],
      [
       6.76,
       0.9497
      ],
      [
       6.8,
       0.9551
      ],
      [
       6.84,
       0.9604
      ],
      [
       6.88,
       0.9658
      ],
      [
       6.92,
       0.9711
      ],
      [
       6.96,
       0.9764
      ],
      [
       7.0,
       0.9819
      ],
      [
       7.04,
       0.987
      ],
      [
       7.08,
       0.9921
      ],
      [
       7.12,
       0.9969
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "00a7423aa5b391f3f387956105a3425f79ed75020cc4041607b8cb22c4b7e0b4",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0016004355134753968,
       "final_progress": 0.0016012319526717386,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.016483357575882717,
       "final_progress": 0.01648415401507906,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 9.869535086771864e-06,
       "final_progress": 1.0665974283108252e-05,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 372,
       "return": 1.9999992035608036,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx3",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "tissue_box_0",
       "source": "primitive:tissue_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "tissue box"
      },
      {
       "name": "food_box_0",
       "source": "ycb:003_cracker_box",
       "grounding": "added_context",
       "role": "clutter",
       "label": "food box"
      },
      {
       "name": "sponge_0",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "clutter",
       "label": "sponge"
      },
      {
       "name": "cans_0",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "cans_1",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "clutter",
       "label": "cans"
      },
      {
       "name": "spray_bottle_0",
       "source": "primitive:spray_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spray bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "5764ffbd947003cc5a0f20469ce6bc3132ae5a7bc3c6d6eb66bca8183b91d8db",
   "recording_id": 10783,
   "task_number": 1,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "mint lattice table",
   "human_action": true,
   "description": "In the footage: Lift the handled storage case, carry it to the checked receiving surface, then release it while supported. Robot version: Case scaled to 24x16x9 cm with a fixed lid; grasped by its handle.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the translucent storage case with blue handle from among the small toiletries and the blue bottle, lift it clear and set it down on the marked zone on the mint lattice table.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 10783,
    "contributor_id": 24,
    "video": "media/source-10783-c0468ec36aae.mp4",
    "poster": "media/source-10783.jpg",
    "source_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
    "interval_s": [
     6.463378,
     20.503167
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 10783,
     "contributor_id": 24,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/010/10783_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
     "original_video_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
     "modifications": "Clipped to 6.46\u201320.50 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
      "duration_s": 14.04,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 7,
    "added_context": 0,
    "recording_observed": 7,
    "recording_added": 0,
    "surface": "mint lattice table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "5764ffbd9470-panda",
     "video": "media/sim-5764ffbd9470-panda-s0.mp4",
     "poster": "media/sim-5764ffbd9470-panda-s0.jpg",
     "trajectory": "trajectories/5764ffbd9470-panda.json",
     "recipe": "recipes/5764ffbd9470-panda.json",
     "seed": 0,
     "steps": 495,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.14,
       0.0038
      ],
      [
       1.2,
       0.013
      ],
      [
       1.26,
       0.0204
      ],
      [
       1.32,
       0.0264
      ],
      [
       1.38,
       0.0316
      ],
      [
       1.44,
       0.0366
      ],
      [
       1.5,
       0.0411
      ],
      [
       1.56,
       0.0452
      ],
      [
       1.62,
       0.0492
      ],
      [
       1.68,
       0.0532
      ],
      [
       1.74,
       0.0574
      ],
      [
       1.8,
       0.0625
      ],
      [
       1.86,
       0.0682
      ],
      [
       1.92,
       0.0741
      ],
      [
       1.98,
       0.0803
      ],
      [
       2.04,
       0.0877
      ],
      [
       2.1,
       0.096
      ],
      [
       2.16,
       0.1054
      ],
      [
       2.22,
       0.1102
      ],
      [
       2.28,
       0.1109
      ],
      [
       2.34,
       0.1108
      ],
      [
       2.4,
       0.1108
      ],
      [
       2.46,
       0.1108
      ],
      [
       2.52,
       0.1107
      ],
      [
       2.58,
       0.1107
      ],
      [
       2.64,
       0.1107
      ],
      [
       2.7,
       0.1107
      ],
      [
       2.76,
       0.1107
      ],
      [
       2.82,
       0.1107
      ],
      [
       2.88,
       0.1107
      ],
      [
       2.94,
       0.1107
      ],
      [
       3.0,
       0.1107
      ],
      [
       3.06,
       0.1107
      ],
      [
       3.12,
       0.1107
      ],
      [
       3.18,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.3,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.42,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.54,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.66,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.78,
       0.4105
      ],
      [
       3.84,
       0.4585
      ],
      [
       3.9,
       0.5281
      ],
      [
       3.96,
       0.6314
      ],
      [
       4.02,
       0.7616
      ],
      [
       4.08,
       0.9
      ],
      [
       4.14,
       0.9
      ],
      [
       4.2,
       0.9
      ],
      [
       4.26,
       0.9
      ],
      [
       4.32,
       0.9
      ],
      [
       4.38,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.5,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.62,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.74,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.86,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.98,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.1,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.22,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.34,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.46,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.58,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.7,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.82,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.94,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.06,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.18,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.3,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.42,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.54,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.66,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.78,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.9,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.02,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.14,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.26,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.38,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.5,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.62,
       0.9
      ],
      [
       7.68,
       0.9
      ],
      [
       7.74,
       0.9
      ],
      [
       7.8,
       0.9
      ],
      [
       7.86,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.9
      ],
      [
       8.34,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.46,
       0.9
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       0.9
      ],
      [
       8.76,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.94,
       0.9
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       1.0
      ],
      [
       9.3,
       1.0
      ],
      [
       9.36,
       0.9
      ],
      [
       9.42,
       1.0
      ],
      [
       9.48,
       1.0
      ],
      [
       9.54,
       1.0
      ],
      [
       9.6,
       1.0
      ],
      [
       9.66,
       1.0
      ],
      [
       9.72,
       1.0
      ],
      [
       9.78,
       1.0
      ],
      [
       9.84,
       1.0
      ],
      [
       9.9,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "4ed3ca0aac00e80344955de8bb74d93fde1e81bbf8d40e7530c897c17426ddbf",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.020164303586424803,
       "final_progress": 0.020164303586424803,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 495,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:handled_case",
       "grounding": "observed",
       "role": "task_object",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "green tin box"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    },
    "aloha": {
     "gym_id": "5764ffbd9470-aloha",
     "video": "media/sim-5764ffbd9470-aloha-s0.mp4",
     "poster": "media/sim-5764ffbd9470-aloha-s0.jpg",
     "trajectory": "trajectories/5764ffbd9470-aloha.json",
     "recipe": "recipes/5764ffbd9470-aloha.json",
     "seed": 0,
     "steps": 630,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0011
      ],
      [
       0.12,
       0.0028
      ],
      [
       0.18,
       0.0048
      ],
      [
       0.24,
       0.0071
      ],
      [
       0.3,
       0.0096
      ],
      [
       0.36,
       0.0124
      ],
      [
       0.42,
       0.0154
      ],
      [
       0.48,
       0.0187
      ],
      [
       0.54,
       0.0222
      ],
      [
       0.6,
       0.0261
      ],
      [
       0.66,
       0.0302
      ],
      [
       0.72,
       0.0346
      ],
      [
       0.78,
       0.0394
      ],
      [
       0.84,
       0.0441
      ],
      [
       0.9,
       0.047
      ],
      [
       0.96,
       0.0475
      ],
      [
       1.02,
       0.046
      ],
      [
       1.08,
       0.0431
      ],
      [
       1.14,
       0.0394
      ],
      [
       1.2,
       0.0383
      ],
      [
       1.26,
       0.0401
      ],
      [
       1.32,
       0.043
      ],
      [
       1.38,
       0.0476
      ],
      [
       1.44,
       0.0541
      ],
      [
       1.5,
       0.0628
      ],
      [
       1.56,
       0.074
      ],
      [
       1.62,
       0.0755
      ],
      [
       1.68,
       0.0759
      ],
      [
       1.74,
       0.0763
      ],
      [
       1.8,
       0.0767
      ],
      [
       1.86,
       0.077
      ],
      [
       1.92,
       0.0774
      ],
      [
       1.98,
       0.0778
      ],
      [
       2.04,
       0.0781
      ],
      [
       2.1,
       0.0785
      ],
      [
       2.16,
       0.0788
      ],
      [
       2.22,
       0.0791
      ],
      [
       2.28,
       0.0794
      ],
      [
       2.34,
       0.0798
      ],
      [
       2.4,
       0.0801
      ],
      [
       2.46,
       0.0805
      ],
      [
       2.52,
       0.0809
      ],
      [
       2.58,
       0.0813
      ],
      [
       2.64,
       0.0817
      ],
      [
       2.7,
       0.0822
      ],
      [
       2.76,
       0.0827
      ],
      [
       2.82,
       0.0831
      ],
      [
       2.88,
       0.0836
      ],
      [
       2.94,
       0.0842
      ],
      [
       3.0,
       0.0847
      ],
      [
       3.06,
       0.0852
      ],
      [
       3.12,
       0.0856
      ],
      [
       3.18,
       0.086
      ],
      [
       3.24,
       0.0865
      ],
      [
       3.3,
       0.0869
      ],
      [
       3.36,
       0.0873
      ],
      [
       3.42,
       0.0877
      ],
      [
       3.48,
       0.088
      ],
      [
       3.54,
       0.0883
      ],
      [
       3.6,
       0.0887
      ],
      [
       3.66,
       0.0888
      ],
      [
       3.72,
       0.0886
      ],
      [
       3.78,
       0.0883
      ],
      [
       3.84,
       0.0881
      ],
      [
       3.9,
       0.0879
      ],
      [
       3.96,
       0.0877
      ],
      [
       4.02,
       0.0876
      ],
      [
       4.08,
       0.0875
      ],
      [
       4.14,
       0.0872
      ],
      [
       4.2,
       0.087
      ],
      [
       4.26,
       0.0869
      ],
      [
       4.32,
       0.0868
      ],
      [
       4.38,
       0.0867
      ],
      [
       4.44,
       0.0867
      ],
      [
       4.5,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.62,
       0.4
      ],
      [
       4.68,
       0.4
      ],
      [
       4.74,
       0.4
      ],
      [
       4.8,
       0.4
      ],
      [
       4.86,
       0.4
      ],
      [
       4.92,
       0.4
      ],
      [
       4.98,
       0.4
      ],
      [
       5.04,
       0.4
      ],
      [
       5.1,
       0.4
      ],
      [
       5.16,
       0.4
      ],
      [
       5.22,
       0.4
      ],
      [
       5.28,
       0.4
      ],
      [
       5.34,
       0.4
      ],
      [
       5.4,
       0.4
      ],
      [
       5.46,
       0.4
      ],
      [
       5.52,
       0.4
      ],
      [
       5.58,
       0.4
      ],
      [
       5.64,
       0.4
      ],
      [
       5.7,
       0.4
      ],
      [
       5.76,
       0.4
      ],
      [
       5.82,
       0.4
      ],
      [
       5.88,
       0.4
      ],
      [
       5.94,
       0.4
      ],
      [
       6.0,
       0.4
      ],
      [
       6.06,
       0.4
      ],
      [
       6.12,
       0.4033
      ],
      [
       6.18,
       0.4196
      ],
      [
       6.24,
       0.4345
      ],
      [
       6.3,
       0.4484
      ],
      [
       6.36,
       0.4623
      ],
      [
       6.42,
       0.477
      ],
      [
       6.48,
       0.493
      ],
      [
       6.54,
       0.5103
      ],
      [
       6.6,
       0.5284
      ],
      [
       6.66,
       0.5472
      ],
      [
       6.72,
       0.5665
      ],
      [
       6.78,
       0.586
      ],
      [
       6.84,
       0.6055
      ],
      [
       6.9,
       0.625
      ],
      [
       6.96,
       0.6441
      ],
      [
       7.02,
       0.6628
      ],
      [
       7.08,
       0.681
      ],
      [
       7.14,
       0.6986
      ],
      [
       7.2,
       0.7153
      ],
      [
       7.26,
       0.7311
      ],
      [
       7.32,
       0.7464
      ],
      [
       7.38,
       0.7613
      ],
      [
       7.44,
       0.7763
      ],
      [
       7.5,
       0.7918
      ],
      [
       7.56,
       0.8081
      ],
      [
       7.62,
       0.8254
      ],
      [
       7.68,
       0.8439
      ],
      [
       7.74,
       0.8641
      ],
      [
       7.8,
       0.886
      ],
      [
       7.86,
       0.9
      ],
      [
       7.92,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.04,
       0.9
      ],
      [
       8.1,
       0.9
      ],
      [
       8.16,
       0.9
      ],
      [
       8.22,
       0.9
      ],
      [
       8.28,
       0.9
      ],
      [
       8.34,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.46,
       0.9
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       0.9
      ],
      [
       8.76,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.94,
       0.9
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       0.9
      ],
      [
       9.36,
       0.9
      ],
      [
       9.42,
       0.9
      ],
      [
       9.48,
       0.9
      ],
      [
       9.54,
       0.9
      ],
      [
       9.6,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.72,
       0.9
      ],
      [
       9.78,
       0.9
      ],
      [
       9.84,
       0.9
      ],
      [
       9.9,
       0.9
      ],
      [
       9.96,
       0.9
      ],
      [
       10.02,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.14,
       0.9
      ],
      [
       10.2,
       0.9
      ],
      [
       10.26,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.38,
       0.9
      ],
      [
       10.44,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.62,
       0.9
      ],
      [
       10.68,
       0.9
      ],
      [
       10.74,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.86,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       10.98,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.1,
       0.9
      ],
      [
       11.16,
       0.9
      ],
      [
       11.22,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.34,
       0.9
      ],
      [
       11.4,
       0.9
      ],
      [
       11.46,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.58,
       0.9
      ],
      [
       11.64,
       0.9
      ],
      [
       11.7,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.82,
       0.9
      ],
      [
       11.88,
       0.9
      ],
      [
       11.94,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.06,
       0.9
      ],
      [
       12.12,
       1.0
      ],
      [
       12.18,
       1.0
      ],
      [
       12.24,
       1.0
      ],
      [
       12.3,
       1.0
      ],
      [
       12.36,
       1.0
      ],
      [
       12.42,
       1.0
      ],
      [
       12.48,
       1.0
      ],
      [
       12.54,
       1.0
      ],
      [
       12.6,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "575b7a9000978b1756d301811d0a53d3916c5b0c0008d57a23e292c3d6cdd165",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0007080578764414979,
       "final_progress": 0.0007080578764414979,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.04592251433918706,
       "final_progress": 0.04592251433918706,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 630,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:handled_case",
       "grounding": "observed",
       "role": "task_object",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "green tin box"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    }
   }
  },
  {
   "example_id": "e15df9f9e83b30816c7c993e064638561156343849b41f505748edfff47bbb87",
   "recording_id": 10783,
   "task_number": 2,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "mint lattice table",
   "human_action": false,
   "description": "Slide the green tin box across the mint lattice table among the blue bottle and the translucent storage case with blue handle onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the green tin box across the mint lattice table among the blue bottle and the translucent storage case with blue handle onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 10783,
    "contributor_id": 24,
    "video": "media/source-10783-c0468ec36aae.mp4",
    "poster": "media/source-10783.jpg",
    "source_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
    "interval_s": [
     6.463378,
     20.503167
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 10783,
     "contributor_id": 24,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/010/10783_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
     "original_video_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
     "modifications": "Clipped to 6.46\u201320.50 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
      "duration_s": 14.04,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 7,
    "added_context": 0,
    "recording_observed": 7,
    "recording_added": 0,
    "surface": "mint lattice table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "e15df9f9e83b-panda",
     "video": "media/sim-e15df9f9e83b-panda-s0.mp4",
     "poster": "media/sim-e15df9f9e83b-panda-s0.jpg",
     "trajectory": "trajectories/e15df9f9e83b-panda.json",
     "recipe": "recipes/e15df9f9e83b-panda.json",
     "seed": 0,
     "steps": 179,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.001
      ],
      [
       0.58,
       0.0028
      ],
      [
       0.6,
       0.0046
      ],
      [
       0.62,
       0.0066
      ],
      [
       0.64,
       0.0086
      ],
      [
       0.66,
       0.0108
      ],
      [
       0.68,
       0.0131
      ],
      [
       0.7,
       0.0151
      ],
      [
       0.72,
       0.0166
      ],
      [
       0.74,
       0.0176
      ],
      [
       0.76,
       0.0181
      ],
      [
       0.78,
       0.0185
      ],
      [
       0.8,
       0.019
      ],
      [
       0.82,
       0.0196
      ],
      [
       0.84,
       0.0205
      ],
      [
       0.86,
       0.0215
      ],
      [
       0.88,
       0.0226
      ],
      [
       0.9,
       0.0236
      ],
      [
       0.92,
       0.0246
      ],
      [
       0.94,
       0.0256
      ],
      [
       0.96,
       0.0266
      ],
      [
       0.98,
       0.0276
      ],
      [
       1.0,
       0.0287
      ],
      [
       1.02,
       0.0299
      ],
      [
       1.04,
       0.0311
      ],
      [
       1.06,
       0.0323
      ],
      [
       1.08,
       0.0336
      ],
      [
       1.1,
       0.0349
      ],
      [
       1.12,
       0.0362
      ],
      [
       1.14,
       0.0376
      ],
      [
       1.16,
       0.039
      ],
      [
       1.18,
       0.0405
      ],
      [
       1.2,
       0.042
      ],
      [
       1.22,
       0.0435
      ],
      [
       1.24,
       0.0451
      ],
      [
       1.26,
       0.0468
      ],
      [
       1.28,
       0.0485
      ],
      [
       1.3,
       0.0502
      ],
      [
       1.32,
       0.052
      ],
      [
       1.34,
       0.0538
      ],
      [
       1.36,
       0.0557
      ],
      [
       1.38,
       0.0576
      ],
      [
       1.4,
       0.0596
      ],
      [
       1.42,
       0.0617
      ],
      [
       1.44,
       0.0637
      ],
      [
       1.46,
       0.0659
      ],
      [
       1.48,
       0.068
      ],
      [
       1.5,
       0.0701
      ],
      [
       1.52,
       0.0723
      ],
      [
       1.54,
       0.0745
      ],
      [
       1.56,
       0.0767
      ],
      [
       1.58,
       0.0789
      ],
      [
       1.6,
       0.0811
      ],
      [
       1.62,
       0.0833
      ],
      [
       1.64,
       0.0855
      ],
      [
       1.66,
       0.0877
      ],
      [
       1.68,
       0.09
      ],
      [
       1.7,
       0.0922
      ],
      [
       1.72,
       0.0943
      ],
      [
       1.74,
       0.0965
      ],
      [
       1.76,
       0.0985
      ],
      [
       1.78,
       0.1005
      ],
      [
       1.8,
       0.1023
      ],
      [
       1.82,
       0.1041
      ],
      [
       1.84,
       0.1057
      ],
      [
       1.86,
       0.1072
      ],
      [
       1.88,
       0.1086
      ],
      [
       1.9,
       0.1098
      ],
      [
       1.92,
       0.111
      ],
      [
       1.94,
       0.1122
      ],
      [
       1.96,
       0.1132
      ],
      [
       1.98,
       0.1141
      ],
      [
       2.0,
       0.1149
      ],
      [
       2.02,
       0.1157
      ],
      [
       2.04,
       0.1164
      ],
      [
       2.06,
       0.1173
      ],
      [
       2.08,
       0.1182
      ],
      [
       2.1,
       0.1192
      ],
      [
       2.12,
       0.1203
      ],
      [
       2.14,
       0.1214
      ],
      [
       2.16,
       0.1224
      ],
      [
       2.18,
       0.1234
      ],
      [
       2.2,
       0.1244
      ],
      [
       2.22,
       0.1254
      ],
      [
       2.24,
       0.1264
      ],
      [
       2.26,
       0.1274
      ],
      [
       2.28,
       0.1284
      ],
      [
       2.3,
       0.1295
      ],
      [
       2.32,
       0.1305
      ],
      [
       2.34,
       0.1315
      ],
      [
       2.36,
       0.1325
      ],
      [
       2.38,
       0.1334
      ],
      [
       2.4,
       0.1344
      ],
      [
       2.42,
       0.1353
      ],
      [
       2.44,
       0.1363
      ],
      [
       2.46,
       0.1373
      ],
      [
       2.48,
       0.1382
      ],
      [
       2.5,
       0.1391
      ],
      [
       2.52,
       0.1398
      ],
      [
       2.54,
       0.1402
      ],
      [
       2.56,
       0.1403
      ],
      [
       2.58,
       0.1397
      ],
      [
       2.6,
       0.1386
      ],
      [
       2.62,
       0.1374
      ],
      [
       2.64,
       0.137
      ],
      [
       2.66,
       0.1371
      ],
      [
       2.68,
       0.1373
      ],
      [
       2.7,
       0.1375
      ],
      [
       2.72,
       0.1377
      ],
      [
       2.74,
       0.138
      ],
      [
       2.76,
       0.1383
      ],
      [
       2.78,
       0.1386
      ],
      [
       2.8,
       0.1389
      ],
      [
       2.82,
       0.1393
      ],
      [
       2.84,
       0.1396
      ],
      [
       2.86,
       0.1402
      ],
      [
       2.88,
       0.1411
      ],
      [
       2.9,
       0.1423
      ],
      [
       2.92,
       0.1439
      ],
      [
       2.94,
       0.1545
      ],
      [
       2.96,
       0.1987
      ],
      [
       2.98,
       0.2371
      ],
      [
       3.0,
       0.2601
      ],
      [
       3.02,
       0.2963
      ],
      [
       3.04,
       0.331
      ],
      [
       3.06,
       0.3597
      ],
      [
       3.08,
       0.3997
      ],
      [
       3.1,
       0.4304
      ],
      [
       3.12,
       0.4673
      ],
      [
       3.14,
       0.5027
      ],
      [
       3.16,
       0.5364
      ],
      [
       3.18,
       0.5685
      ],
      [
       3.2,
       0.6041
      ],
      [
       3.22,
       0.6341
      ],
      [
       3.24,
       0.6653
      ],
      [
       3.26,
       0.6958
      ],
      [
       3.28,
       0.725
      ],
      [
       3.3,
       0.7536
      ],
      [
       3.32,
       0.7785
      ],
      [
       3.34,
       0.8028
      ],
      [
       3.36,
       0.827
      ],
      [
       3.38,
       0.8513
      ],
      [
       3.4,
       0.8724
      ],
      [
       3.42,
       0.891
      ],
      [
       3.44,
       0.9094
      ],
      [
       3.46,
       0.9235
      ],
      [
       3.48,
       0.9393
      ],
      [
       3.5,
       0.9519
      ],
      [
       3.52,
       0.9698
      ],
      [
       3.54,
       0.9789
      ],
      [
       3.56,
       0.9902
      ],
      [
       3.58,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8952b989c3e162185ca5fae05db284176de0a06285b05b8cc6f73a951dfff154",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.10574757414618495,
       "final_progress": 0.10574757414618495,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 179,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "green tin box"
      },
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:storage_case",
       "grounding": "observed",
       "role": "clutter",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    },
    "aloha": {
     "gym_id": "e15df9f9e83b-aloha",
     "video": "media/sim-e15df9f9e83b-aloha-s1.mp4",
     "poster": "media/sim-e15df9f9e83b-aloha-s1.jpg",
     "trajectory": "trajectories/e15df9f9e83b-aloha.json",
     "recipe": "recipes/e15df9f9e83b-aloha.json",
     "seed": 1,
     "steps": 273,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0004
      ],
      [
       0.04,
       0.0012
      ],
      [
       0.06,
       0.0023
      ],
      [
       0.08,
       0.0034
      ],
      [
       0.1,
       0.0045
      ],
      [
       0.12,
       0.0057
      ],
      [
       0.14,
       0.0069
      ],
      [
       0.16,
       0.0082
      ],
      [
       0.18,
       0.0094
      ],
      [
       0.2,
       0.0107
      ],
      [
       0.22,
       0.012
      ],
      [
       0.24,
       0.0133
      ],
      [
       0.26,
       0.0146
      ],
      [
       0.28,
       0.0159
      ],
      [
       0.3,
       0.0173
      ],
      [
       0.32,
       0.0186
      ],
      [
       0.34,
       0.02
      ],
      [
       0.36,
       0.0213
      ],
      [
       0.38,
       0.0227
      ],
      [
       0.4,
       0.0241
      ],
      [
       0.42,
       0.0256
      ],
      [
       0.44,
       0.027
      ],
      [
       0.46,
       0.0285
      ],
      [
       0.48,
       0.03
      ],
      [
       0.5,
       0.0314
      ],
      [
       0.52,
       0.0329
      ],
      [
       0.54,
       0.0344
      ],
      [
       0.56,
       0.0358
      ],
      [
       0.58,
       0.0373
      ],
      [
       0.6,
       0.0387
      ],
      [
       0.62,
       0.0402
      ],
      [
       0.64,
       0.0416
      ],
      [
       0.66,
       0.0431
      ],
      [
       0.68,
       0.0445
      ],
      [
       0.7,
       0.046
      ],
      [
       0.72,
       0.0474
      ],
      [
       0.74,
       0.0488
      ],
      [
       0.76,
       0.0502
      ],
      [
       0.78,
       0.0516
      ],
      [
       0.8,
       0.053
      ],
      [
       0.82,
       0.0544
      ],
      [
       0.84,
       0.0558
      ],
      [
       0.86,
       0.0572
      ],
      [
       0.88,
       0.0585
      ],
      [
       0.9,
       0.0599
      ],
      [
       0.92,
       0.0612
      ],
      [
       0.94,
       0.0625
      ],
      [
       0.96,
       0.0639
      ],
      [
       0.98,
       0.0652
      ],
      [
       1.0,
       0.0664
      ],
      [
       1.02,
       0.0677
      ],
      [
       1.04,
       0.069
      ],
      [
       1.06,
       0.0702
      ],
      [
       1.08,
       0.0714
      ],
      [
       1.1,
       0.0726
      ],
      [
       1.12,
       0.0737
      ],
      [
       1.14,
       0.0749
      ],
      [
       1.16,
       0.076
      ],
      [
       1.18,
       0.077
      ],
      [
       1.2,
       0.078
      ],
      [
       1.22,
       0.079
      ],
      [
       1.24,
       0.0799
      ],
      [
       1.26,
       0.0808
      ],
      [
       1.28,
       0.0815
      ],
      [
       1.3,
       0.0822
      ],
      [
       1.32,
       0.0828
      ],
      [
       1.34,
       0.0833
      ],
      [
       1.36,
       0.0837
      ],
      [
       1.38,
       0.0841
      ],
      [
       1.4,
       0.0844
      ],
      [
       1.42,
       0.0846
      ],
      [
       1.44,
       0.0846
      ],
      [
       1.46,
       0.0846
      ],
      [
       1.48,
       0.0845
      ],
      [
       1.5,
       0.0845
      ],
      [
       1.52,
       0.0845
      ],
      [
       1.54,
       0.0845
      ],
      [
       1.56,
       0.0843
      ],
      [
       1.58,
       0.0841
      ],
      [
       1.6,
       0.0838
      ],
      [
       1.62,
       0.0834
      ],
      [
       1.64,
       0.0829
      ],
      [
       1.66,
       0.0824
      ],
      [
       1.68,
       0.0818
      ],
      [
       1.7,
       0.0812
      ],
      [
       1.72,
       0.0805
      ],
      [
       1.74,
       0.0798
      ],
      [
       1.76,
       0.0792
      ],
      [
       1.78,
       0.0787
      ],
      [
       1.8,
       0.0783
      ],
      [
       1.82,
       0.0779
      ],
      [
       1.84,
       0.0775
      ],
      [
       1.86,
       0.0771
      ],
      [
       1.88,
       0.0768
      ],
      [
       1.9,
       0.0765
      ],
      [
       1.92,
       0.0763
      ],
      [
       1.94,
       0.0763
      ],
      [
       1.96,
       0.0763
      ],
      [
       1.98,
       0.0765
      ],
      [
       2.0,
       0.0767
      ],
      [
       2.02,
       0.0769
      ],
      [
       2.04,
       0.0772
      ],
      [
       2.06,
       0.0776
      ],
      [
       2.08,
       0.0779
      ],
      [
       2.1,
       0.0784
      ],
      [
       2.12,
       0.0789
      ],
      [
       2.14,
       0.0794
      ],
      [
       2.16,
       0.0799
      ],
      [
       2.18,
       0.0805
      ],
      [
       2.2,
       0.0811
      ],
      [
       2.22,
       0.0818
      ],
      [
       2.24,
       0.0824
      ],
      [
       2.26,
       0.0831
      ],
      [
       2.28,
       0.0837
      ],
      [
       2.3,
       0.0844
      ],
      [
       2.32,
       0.085
      ],
      [
       2.34,
       0.0857
      ],
      [
       2.36,
       0.0864
      ],
      [
       2.38,
       0.087
      ],
      [
       2.4,
       0.0877
      ],
      [
       2.42,
       0.0884
      ],
      [
       2.44,
       0.0891
      ],
      [
       2.46,
       0.0898
      ],
      [
       2.48,
       0.0905
      ],
      [
       2.5,
       0.0913
      ],
      [
       2.52,
       0.0921
      ],
      [
       2.54,
       0.0928
      ],
      [
       2.56,
       0.0936
      ],
      [
       2.58,
       0.0945
      ],
      [
       2.6,
       0.0953
      ],
      [
       2.62,
       0.0962
      ],
      [
       2.64,
       0.097
      ],
      [
       2.66,
       0.0979
      ],
      [
       2.68,
       0.0987
      ],
      [
       2.7,
       0.0995
      ],
      [
       2.72,
       0.1002
      ],
      [
       2.74,
       0.101
      ],
      [
       2.76,
       0.1017
      ],
      [
       2.78,
       0.1024
      ],
      [
       2.8,
       0.1031
      ],
      [
       2.82,
       0.1037
      ],
      [
       2.84,
       0.1043
      ],
      [
       2.86,
       0.1049
      ],
      [
       2.88,
       0.1055
      ],
      [
       2.9,
       0.106
      ],
      [
       2.92,
       0.1065
      ],
      [
       2.94,
       0.107
      ],
      [
       2.96,
       0.1075
      ],
      [
       2.98,
       0.108
      ],
      [
       3.0,
       0.1084
      ],
      [
       3.02,
       0.1089
      ],
      [
       3.04,
       0.1095
      ],
      [
       3.06,
       0.1105
      ],
      [
       3.08,
       0.1118
      ],
      [
       3.1,
       0.1131
      ],
      [
       3.12,
       0.1145
      ],
      [
       3.14,
       0.1159
      ],
      [
       3.16,
       0.1172
      ],
      [
       3.18,
       0.1185
      ],
      [
       3.2,
       0.1196
      ],
      [
       3.22,
       0.1206
      ],
      [
       3.24,
       0.1215
      ],
      [
       3.26,
       0.1219
      ],
      [
       3.28,
       0.122
      ],
      [
       3.3,
       0.1221
      ],
      [
       3.32,
       0.1223
      ],
      [
       3.34,
       0.1225
      ],
      [
       3.36,
       0.1227
      ],
      [
       3.38,
       0.1229
      ],
      [
       3.4,
       0.123
      ],
      [
       3.42,
       0.1232
      ],
      [
       3.44,
       0.1234
      ],
      [
       3.46,
       0.1235
      ],
      [
       3.48,
       0.1236
      ],
      [
       3.5,
       0.1237
      ],
      [
       3.52,
       0.1238
      ],
      [
       3.54,
       0.1238
      ],
      [
       3.56,
       0.1239
      ],
      [
       3.58,
       0.1239
      ],
      [
       3.6,
       0.1239
      ],
      [
       3.62,
       0.124
      ],
      [
       3.64,
       0.124
      ],
      [
       3.66,
       0.124
      ],
      [
       3.68,
       0.124
      ],
      [
       3.7,
       0.1241
      ],
      [
       3.72,
       0.1243
      ],
      [
       3.74,
       0.1245
      ],
      [
       3.76,
       0.1246
      ],
      [
       3.78,
       0.1247
      ],
      [
       3.8,
       0.1248
      ],
      [
       3.82,
       0.1249
      ],
      [
       3.84,
       0.125
      ],
      [
       3.86,
       0.125
      ],
      [
       3.88,
       0.1251
      ],
      [
       3.9,
       0.1252
      ],
      [
       3.92,
       0.1252
      ],
      [
       3.94,
       0.1253
      ],
      [
       3.96,
       0.1253
      ],
      [
       3.98,
       0.1254
      ],
      [
       4.0,
       0.1254
      ],
      [
       4.02,
       0.1255
      ],
      [
       4.04,
       0.1256
      ],
      [
       4.06,
       0.1257
      ],
      [
       4.08,
       0.1258
      ],
      [
       4.1,
       0.1259
      ],
      [
       4.12,
       0.1264
      ],
      [
       4.14,
       0.1274
      ],
      [
       4.16,
       0.1285
      ],
      [
       4.18,
       0.1297
      ],
      [
       4.2,
       0.1309
      ],
      [
       4.22,
       0.1319
      ],
      [
       4.24,
       0.1329
      ],
      [
       4.26,
       0.134
      ],
      [
       4.28,
       0.1348
      ],
      [
       4.3,
       0.1358
      ],
      [
       4.32,
       0.1367
      ],
      [
       4.34,
       0.1376
      ],
      [
       4.36,
       0.1387
      ],
      [
       4.38,
       0.1397
      ],
      [
       4.4,
       0.1406
      ],
      [
       4.42,
       0.1414
      ],
      [
       4.44,
       0.1421
      ],
      [
       4.46,
       0.1573
      ],
      [
       4.48,
       0.1695
      ],
      [
       4.5,
       0.1807
      ],
      [
       4.52,
       0.2051
      ],
      [
       4.54,
       0.2197
      ],
      [
       4.56,
       0.2334
      ],
      [
       4.58,
       0.2485
      ],
      [
       4.6,
       0.2601
      ],
      [
       4.62,
       0.2774
      ],
      [
       4.64,
       0.2942
      ],
      [
       4.66,
       0.3093
      ],
      [
       4.68,
       0.3225
      ],
      [
       4.7,
       0.3408
      ],
      [
       4.72,
       0.3568
      ],
      [
       4.74,
       0.3731
      ],
      [
       4.76,
       0.3873
      ],
      [
       4.78,
       0.4014
      ],
      [
       4.8,
       0.4154
      ],
      [
       4.82,
       0.4294
      ],
      [
       4.84,
       0.4429
      ],
      [
       4.86,
       0.4573
      ],
      [
       4.88,
       0.475
      ],
      [
       4.9,
       0.4914
      ],
      [
       4.92,
       0.5082
      ],
      [
       4.94,
       0.5177
      ],
      [
       4.96,
       0.5361
      ],
      [
       4.98,
       0.552
      ],
      [
       5.0,
       0.5693
      ],
      [
       5.02,
       0.586
      ],
      [
       5.04,
       0.6022
      ],
      [
       5.06,
       0.6219
      ],
      [
       5.08,
       0.637
      ],
      [
       5.1,
       0.6526
      ],
      [
       5.12,
       0.6718
      ],
      [
       5.14,
       0.6849
      ],
      [
       5.16,
       0.705
      ],
      [
       5.18,
       0.7251
      ],
      [
       5.2,
       0.744
      ],
      [
       5.22,
       0.7638
      ],
      [
       5.24,
       0.7833
      ],
      [
       5.26,
       0.8069
      ],
      [
       5.28,
       0.8233
      ],
      [
       5.3,
       0.8446
      ],
      [
       5.32,
       0.8625
      ],
      [
       5.34,
       0.8835
      ],
      [
       5.36,
       0.9027
      ],
      [
       5.38,
       0.922
      ],
      [
       5.4,
       0.9439
      ],
      [
       5.42,
       0.9662
      ],
      [
       5.44,
       0.9822
      ],
      [
       5.46,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "03143ca31ca153926abfc7ff1432a158e4a6b77f7fd396f44c362704da37750a",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0009254668782418151,
       "final_progress": 0.0009254668782418151,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.008964361093803769,
       "final_progress": 0.008964361093803769,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": -0.025868888195739403,
       "final_progress": 0.26904523833437965,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4657316199308782,
       "final_progress": 0.4657316199308782
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 273,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "task_object",
       "label": "green tin box"
      },
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:storage_case",
       "grounding": "observed",
       "role": "clutter",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    }
   }
  },
  {
   "example_id": "8a3780b641f60814c2fa83da35d08a107af205f84f4a90c068dee239cb74b7f3",
   "recording_id": 10783,
   "task_number": 3,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "mint lattice table",
   "human_action": false,
   "description": "Lift the small toiletries off the red spot on the mint lattice table, set them aside among the translucent storage case with blue handle and the blue bottle, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the small toiletries off the red spot on the mint lattice table, set them aside among the translucent storage case with blue handle and the blue bottle, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 10783,
    "contributor_id": 24,
    "video": "media/source-10783-c0468ec36aae.mp4",
    "poster": "media/source-10783.jpg",
    "source_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
    "interval_s": [
     6.463378,
     20.503167
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 10783,
     "contributor_id": 24,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/010/10783_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
     "original_video_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
     "modifications": "Clipped to 6.46\u201320.50 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
      "duration_s": 14.04,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 6,
    "flat_decor": 1,
    "observed": 7,
    "added_context": 0,
    "recording_observed": 7,
    "recording_added": 0,
    "surface": "mint lattice table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "8a3780b641f6-panda",
     "video": "media/sim-8a3780b641f6-panda-s0.mp4",
     "poster": "media/sim-8a3780b641f6-panda-s0.jpg",
     "trajectory": "trajectories/8a3780b641f6-panda.json",
     "recipe": "recipes/8a3780b641f6-panda.json",
     "seed": 0,
     "steps": 493,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0003
      ],
      [
       0.24,
       0.0036
      ],
      [
       0.3,
       0.0051
      ],
      [
       0.36,
       0.0064
      ],
      [
       0.42,
       0.0084
      ],
      [
       0.48,
       0.0104
      ],
      [
       0.54,
       0.0125
      ],
      [
       0.6,
       0.0148
      ],
      [
       0.66,
       0.0173
      ],
      [
       0.72,
       0.02
      ],
      [
       0.78,
       0.0229
      ],
      [
       0.84,
       0.026
      ],
      [
       0.9,
       0.0294
      ],
      [
       0.96,
       0.0331
      ],
      [
       1.02,
       0.037
      ],
      [
       1.08,
       0.0411
      ],
      [
       1.14,
       0.0455
      ],
      [
       1.2,
       0.0501
      ],
      [
       1.26,
       0.0549
      ],
      [
       1.32,
       0.0597
      ],
      [
       1.38,
       0.0646
      ],
      [
       1.44,
       0.0693
      ],
      [
       1.5,
       0.073
      ],
      [
       1.56,
       0.0755
      ],
      [
       1.62,
       0.0781
      ],
      [
       1.68,
       0.0808
      ],
      [
       1.74,
       0.0835
      ],
      [
       1.8,
       0.0865
      ],
      [
       1.86,
       0.0898
      ],
      [
       1.92,
       0.0935
      ],
      [
       1.98,
       0.0986
      ],
      [
       2.04,
       0.0974
      ],
      [
       2.1,
       0.0978
      ],
      [
       2.16,
       0.0983
      ],
      [
       2.22,
       0.0985
      ],
      [
       2.28,
       0.0987
      ],
      [
       2.34,
       0.0988
      ],
      [
       2.4,
       0.0988
      ],
      [
       2.46,
       0.0988
      ],
      [
       2.52,
       0.0988
      ],
      [
       2.58,
       0.0987
      ],
      [
       2.64,
       0.0988
      ],
      [
       2.7,
       0.0987
      ],
      [
       2.76,
       0.0987
      ],
      [
       2.82,
       0.0987
      ],
      [
       2.88,
       0.0987
      ],
      [
       2.94,
       0.0987
      ],
      [
       3.0,
       0.0987
      ],
      [
       3.06,
       0.6
      ],
      [
       3.12,
       0.6
      ],
      [
       3.18,
       0.5905
      ],
      [
       3.24,
       0.5672
      ],
      [
       3.3,
       0.5431
      ],
      [
       3.36,
       0.5183
      ],
      [
       3.42,
       0.4917
      ],
      [
       3.48,
       0.4639
      ],
      [
       3.54,
       0.4349
      ],
      [
       3.6,
       0.4027
      ],
      [
       3.66,
       0.3586
      ],
      [
       3.72,
       0.3083
      ],
      [
       3.78,
       0.4042
      ],
      [
       3.84,
       0.5288
      ],
      [
       3.9,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.02,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.14,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.26,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.38,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.5,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.62,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.74,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.86,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.98,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.1,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.22,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.34,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.46,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.68
      ],
      [
       9.3,
       0.6
      ],
      [
       9.36,
       0.6267
      ],
      [
       9.42,
       0.6533
      ],
      [
       9.48,
       0.7333
      ],
      [
       9.54,
       0.8133
      ],
      [
       9.6,
       0.6533
      ],
      [
       9.66,
       0.7333
      ],
      [
       9.72,
       0.8133
      ],
      [
       9.78,
       0.8933
      ],
      [
       9.84,
       0.9733
      ],
      [
       9.86,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "5813299f092e8a974c4ed2d7d11c19ee66e51e0c91ef9fd1cd83c80f85b97bf0",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.3537748956886999,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.08116871196221682,
       "final_progress": 0.08116871196221682,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 493,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "task_object",
       "label": "small toiletries"
      },
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:storage_case",
       "grounding": "observed",
       "role": "clutter",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "green tin box"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    },
    "aloha": {
     "gym_id": "8a3780b641f6-aloha",
     "video": "media/sim-8a3780b641f6-aloha-s0.mp4",
     "poster": "media/sim-8a3780b641f6-aloha-s0.jpg",
     "trajectory": "trajectories/8a3780b641f6-aloha.json",
     "recipe": "recipes/8a3780b641f6-aloha.json",
     "seed": 0,
     "steps": 839,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.001
      ],
      [
       0.2,
       0.0026
      ],
      [
       0.3,
       0.0044
      ],
      [
       0.4,
       0.0066
      ],
      [
       0.5,
       0.0092
      ],
      [
       0.6,
       0.0121
      ],
      [
       0.7,
       0.0161
      ],
      [
       0.8,
       0.0212
      ],
      [
       0.9,
       0.0275
      ],
      [
       1.0,
       0.0352
      ],
      [
       1.1,
       0.0444
      ],
      [
       1.2,
       0.0543
      ],
      [
       1.3,
       0.0612
      ],
      [
       1.4,
       0.0693
      ],
      [
       1.5,
       0.077
      ],
      [
       1.6,
       0.0836
      ],
      [
       1.7,
       0.0951
      ],
      [
       1.8,
       0.0967
      ],
      [
       1.9,
       0.0972
      ],
      [
       2.0,
       0.0975
      ],
      [
       2.1,
       0.0976
      ],
      [
       2.2,
       0.0976
      ],
      [
       2.3,
       0.0976
      ],
      [
       2.4,
       0.0974
      ],
      [
       2.5,
       0.097
      ],
      [
       2.6,
       0.0965
      ],
      [
       2.7,
       0.0962
      ],
      [
       2.8,
       0.0959
      ],
      [
       2.9,
       0.0955
      ],
      [
       3.0,
       0.0952
      ],
      [
       3.1,
       0.095
      ],
      [
       3.2,
       0.0948
      ],
      [
       3.3,
       0.0947
      ],
      [
       3.4,
       0.0946
      ],
      [
       3.5,
       0.0945
      ],
      [
       3.6,
       0.0944
      ],
      [
       3.7,
       0.0944
      ],
      [
       3.8,
       0.0943
      ],
      [
       3.9,
       0.0942
      ],
      [
       4.0,
       0.0942
      ],
      [
       4.1,
       0.0941
      ],
      [
       4.2,
       0.0941
      ],
      [
       4.3,
       0.0941
      ],
      [
       4.4,
       0.094
      ],
      [
       4.5,
       0.094
      ],
      [
       4.6,
       0.094
      ],
      [
       4.7,
       0.094
      ],
      [
       4.8,
       0.094
      ],
      [
       4.9,
       0.0937
      ],
      [
       5.0,
       0.0936
      ],
      [
       5.1,
       0.0936
      ],
      [
       5.2,
       0.0937
      ],
      [
       5.3,
       0.0937
      ],
      [
       5.4,
       0.0936
      ],
      [
       5.5,
       0.0936
      ],
      [
       5.6,
       0.0936
      ],
      [
       5.7,
       0.0936
      ],
      [
       5.8,
       0.0936
      ],
      [
       5.9,
       0.0936
      ],
      [
       6.0,
       0.0936
      ],
      [
       6.1,
       0.0935
      ],
      [
       6.2,
       0.0935
      ],
      [
       6.3,
       0.0934
      ],
      [
       6.4,
       0.0933
      ],
      [
       6.5,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.7,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.1,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.3,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.6,
       0.5639
      ],
      [
       7.7,
       0.4934
      ],
      [
       7.8,
       0.4671
      ],
      [
       7.9,
       0.4712
      ],
      [
       8.0,
       0.4915
      ],
      [
       8.1,
       0.5268
      ],
      [
       8.2,
       0.5747
      ],
      [
       8.3,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.5,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.9,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.1,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.4,
       0.6
      ],
      [
       9.5,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.7,
       0.6
      ],
      [
       9.8,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.6
      ],
      [
       15.9,
       0.6
      ],
      [
       16.0,
       0.6
      ],
      [
       16.1,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.3,
       0.6533
      ],
      [
       16.4,
       0.6267
      ],
      [
       16.5,
       0.6267
      ],
      [
       16.6,
       0.76
      ],
      [
       16.7,
       0.8933
      ],
      [
       16.78,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "273e2ff0857b24a532e0059e4db16d4efdbbcd0e045fd6b3ec05b132c8065725",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0005042202269834984,
       "final_progress": 0.0005042202269834984,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.030091100225202384,
       "final_progress": 0.030091100225202384,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.06770814112232752,
       "final_progress": 0.06770814112232752,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 839,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "task_object",
       "label": "small toiletries"
      },
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:storage_case",
       "grounding": "observed",
       "role": "clutter",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "green tin box"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    }
   }
  },
  {
   "example_id": "46c0faaa6108602938ed3ad61c650aaf01ce2191c25d19f8ca9226acac45ff08",
   "recording_id": 10783,
   "task_number": 4,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "mint lattice table",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the mint lattice table among the black charger and cables and the green tin box and pull the drawer 10 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the mint lattice table among the black charger and cables and the green tin box and pull the drawer 10 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u226510 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 10783,
    "contributor_id": 24,
    "video": "media/source-10783-c0468ec36aae.mp4",
    "poster": "media/source-10783.jpg",
    "source_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
    "interval_s": [
     6.463378,
     20.503167
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 10783,
     "contributor_id": 24,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/010/10783_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
     "original_video_sha256": "98c195fca34fc9d6552213877fb7c4c52c4a0dc6299c28e874be5f37f2138f42",
     "modifications": "Clipped to 6.46\u201320.50 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "metadata_not_used_as_action_evidence": true,
     "hosted_clip": {
      "sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
      "duration_s": 14.04,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "c0468ec36aaeba22e8f42af871ba0d012fbfb8fab247a2f727fb2df5f13b83de",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 7,
    "flat_decor": 1,
    "observed": 7,
    "added_context": 1,
    "recording_observed": 7,
    "recording_added": 0,
    "surface": "mint lattice table",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "46c0faaa6108-panda",
     "video": "media/sim-46c0faaa6108-panda-s0.mp4",
     "poster": "media/sim-46c0faaa6108-panda-s0.jpg",
     "trajectory": "trajectories/46c0faaa6108-panda.json",
     "recipe": "recipes/46c0faaa6108-panda.json",
     "seed": 0,
     "steps": 251,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0026
      ],
      [
       1.28,
       0.0055
      ],
      [
       1.3,
       0.0086
      ],
      [
       1.32,
       0.012
      ],
      [
       1.34,
       0.0154
      ],
      [
       1.36,
       0.0189
      ],
      [
       1.38,
       0.0224
      ],
      [
       1.4,
       0.0258
      ],
      [
       1.42,
       0.029
      ],
      [
       1.44,
       0.0321
      ],
      [
       1.46,
       0.0349
      ],
      [
       1.48,
       0.0375
      ],
      [
       1.5,
       0.0399
      ],
      [
       1.52,
       0.0422
      ],
      [
       1.54,
       0.0444
      ],
      [
       1.56,
       0.0465
      ],
      [
       1.58,
       0.0485
      ],
      [
       1.6,
       0.0503
      ],
      [
       1.62,
       0.0521
      ],
      [
       1.64,
       0.0538
      ],
      [
       1.66,
       0.0555
      ],
      [
       1.68,
       0.0571
      ],
      [
       1.7,
       0.0587
      ],
      [
       1.72,
       0.0603
      ],
      [
       1.74,
       0.0618
      ],
      [
       1.76,
       0.0632
      ],
      [
       1.78,
       0.0646
      ],
      [
       1.8,
       0.0659
      ],
      [
       1.82,
       0.0672
      ],
      [
       1.84,
       0.0684
      ],
      [
       1.86,
       0.0696
      ],
      [
       1.88,
       0.0708
      ],
      [
       1.9,
       0.0719
      ],
      [
       1.92,
       0.073
      ],
      [
       1.94,
       0.0741
      ],
      [
       1.96,
       0.0751
      ],
      [
       1.98,
       0.0762
      ],
      [
       2.0,
       0.0772
      ],
      [
       2.02,
       0.0782
      ],
      [
       2.04,
       0.0792
      ],
      [
       2.06,
       0.0802
      ],
      [
       2.08,
       0.0812
      ],
      [
       2.1,
       0.0822
      ],
      [
       2.12,
       0.0833
      ],
      [
       2.14,
       0.0843
      ],
      [
       2.16,
       0.0854
      ],
      [
       2.18,
       0.0865
      ],
      [
       2.2,
       0.0876
      ],
      [
       2.22,
       0.0888
      ],
      [
       2.24,
       0.09
      ],
      [
       2.26,
       0.0912
      ],
      [
       2.28,
       0.0925
      ],
      [
       2.3,
       0.0939
      ],
      [
       2.32,
       0.0953
      ],
      [
       2.34,
       0.0968
      ],
      [
       2.36,
       0.0983
      ],
      [
       2.38,
       0.1
      ],
      [
       2.4,
       0.1017
      ],
      [
       2.42,
       0.1035
      ],
      [
       2.44,
       0.1055
      ],
      [
       2.46,
       0.1076
      ],
      [
       2.48,
       0.1099
      ],
      [
       2.5,
       0.112
      ],
      [
       2.52,
       0.1138
      ],
      [
       2.54,
       0.1154
      ],
      [
       2.56,
       0.1168
      ],
      [
       2.58,
       0.118
      ],
      [
       2.6,
       0.1191
      ],
      [
       2.62,
       0.1201
      ],
      [
       2.64,
       0.121
      ],
      [
       2.66,
       0.1221
      ],
      [
       2.68,
       0.1234
      ],
      [
       2.7,
       0.1249
      ],
      [
       2.72,
       0.1265
      ],
      [
       2.74,
       0.1282
      ],
      [
       2.76,
       0.1299
      ],
      [
       2.78,
       0.1316
      ],
      [
       2.8,
       0.1334
      ],
      [
       2.82,
       0.1352
      ],
      [
       2.84,
       0.1372
      ],
      [
       2.86,
       0.1393
      ],
      [
       2.88,
       0.1415
      ],
      [
       2.9,
       0.1439
      ],
      [
       2.92,
       0.1463
      ],
      [
       2.94,
       0.1471
      ],
      [
       2.96,
       0.1525
      ],
      [
       2.98,
       0.1489
      ],
      [
       3.0,
       0.1465
      ],
      [
       3.02,
       0.1467
      ],
      [
       3.04,
       0.1468
      ],
      [
       3.06,
       0.1468
      ],
      [
       3.08,
       0.1468
      ],
      [
       3.1,
       0.1468
      ],
      [
       3.12,
       0.1468
      ],
      [
       3.14,
       0.1468
      ],
      [
       3.16,
       0.1468
      ],
      [
       3.18,
       0.1469
      ],
      [
       3.2,
       0.1469
      ],
      [
       3.22,
       0.1469
      ],
      [
       3.24,
       0.147
      ],
      [
       3.26,
       0.147
      ],
      [
       3.28,
       0.1471
      ],
      [
       3.3,
       0.1485
      ],
      [
       3.32,
       0.1511
      ],
      [
       3.34,
       0.1541
      ],
      [
       3.36,
       0.1576
      ],
      [
       3.38,
       0.1614
      ],
      [
       3.4,
       0.1657
      ],
      [
       3.42,
       0.1704
      ],
      [
       3.44,
       0.1755
      ],
      [
       3.46,
       0.1776
      ],
      [
       3.48,
       0.1779
      ],
      [
       3.5,
       0.178
      ],
      [
       3.52,
       0.1783
      ],
      [
       3.54,
       0.1787
      ],
      [
       3.56,
       0.1794
      ],
      [
       3.58,
       0.1806
      ],
      [
       3.6,
       0.1833
      ],
      [
       3.62,
       0.1881
      ],
      [
       3.64,
       0.1949
      ],
      [
       3.66,
       0.203
      ],
      [
       3.68,
       0.2117
      ],
      [
       3.7,
       0.2207
      ],
      [
       3.72,
       0.2298
      ],
      [
       3.74,
       0.2418
      ],
      [
       3.76,
       0.2513
      ],
      [
       3.78,
       0.261
      ],
      [
       3.8,
       0.2712
      ],
      [
       3.82,
       0.2817
      ],
      [
       3.84,
       0.2925
      ],
      [
       3.86,
       0.3037
      ],
      [
       3.88,
       0.3152
      ],
      [
       3.9,
       0.3271
      ],
      [
       3.92,
       0.3392
      ],
      [
       3.94,
       0.3517
      ],
      [
       3.96,
       0.3645
      ],
      [
       3.98,
       0.3775
      ],
      [
       4.0,
       0.3909
      ],
      [
       4.02,
       0.4046
      ],
      [
       4.04,
       0.4185
      ],
      [
       4.06,
       0.4327
      ],
      [
       4.08,
       0.4472
      ],
      [
       4.1,
       0.462
      ],
      [
       4.12,
       0.4771
      ],
      [
       4.14,
       0.4924
      ],
      [
       4.16,
       0.508
      ],
      [
       4.18,
       0.5238
      ],
      [
       4.2,
       0.5399
      ],
      [
       4.22,
       0.5562
      ],
      [
       4.24,
       0.5728
      ],
      [
       4.26,
       0.5896
      ],
      [
       4.28,
       0.6066
      ],
      [
       4.3,
       0.6239
      ],
      [
       4.32,
       0.6414
      ],
      [
       4.34,
       0.659
      ],
      [
       4.36,
       0.6768
      ],
      [
       4.38,
       0.6948
      ],
      [
       4.4,
       0.7128
      ],
      [
       4.42,
       0.7308
      ],
      [
       4.44,
       0.7489
      ],
      [
       4.46,
       0.767
      ],
      [
       4.48,
       0.785
      ],
      [
       4.5,
       0.803
      ],
      [
       4.52,
       0.8209
      ],
      [
       4.54,
       0.8387
      ],
      [
       4.56,
       0.8563
      ],
      [
       4.58,
       0.8736
      ],
      [
       4.6,
       0.8906
      ],
      [
       4.62,
       0.9074
      ],
      [
       4.64,
       0.9238
      ],
      [
       4.66,
       0.94
      ],
      [
       4.68,
       0.9559
      ],
      [
       4.7,
       0.9727
      ],
      [
       4.72,
       0.9917
      ],
      [
       4.74,
       1.0
      ],
      [
       4.76,
       1.0
      ],
      [
       4.78,
       1.0
      ],
      [
       4.8,
       1.0
      ],
      [
       4.82,
       1.0
      ],
      [
       4.84,
       1.0
      ],
      [
       4.86,
       1.0
      ],
      [
       4.88,
       1.0
      ],
      [
       4.9,
       1.0
      ],
      [
       4.92,
       1.0
      ],
      [
       4.94,
       1.0
      ],
      [
       4.96,
       1.0
      ],
      [
       4.98,
       1.0
      ],
      [
       5.0,
       1.0
      ],
      [
       5.02,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "f318097fc5f33bc53e834d951bddbcbdee65df07dbad2181f970797d1ed78e5b",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.946331534068857e-05,
       "final_progress": 4.274682484849099e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.19436747557328815,
       "final_progress": 0.014964490297026173,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.052316272447369874,
       "final_progress": 0.05231955595687768,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 251,
       "return": 1.9999967164904922,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx16",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:storage_case",
       "grounding": "observed",
       "role": "clutter",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "green tin box"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    },
    "aloha": {
     "gym_id": "46c0faaa6108-aloha",
     "video": "media/sim-46c0faaa6108-aloha-s3.mp4",
     "poster": "media/sim-46c0faaa6108-aloha-s3.jpg",
     "trajectory": "trajectories/46c0faaa6108-aloha.json",
     "recipe": "recipes/46c0faaa6108-aloha.json",
     "seed": 3,
     "steps": 856,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0035
      ],
      [
       0.2,
       0.0085
      ],
      [
       0.3,
       0.0135
      ],
      [
       0.4,
       0.0185
      ],
      [
       0.5,
       0.0236
      ],
      [
       0.6,
       0.0289
      ],
      [
       0.7,
       0.034
      ],
      [
       0.8,
       0.0391
      ],
      [
       0.9,
       0.0452
      ],
      [
       1.0,
       0.0517
      ],
      [
       1.1,
       0.0588
      ],
      [
       1.2,
       0.0666
      ],
      [
       1.3,
       0.0749
      ],
      [
       1.4,
       0.0829
      ],
      [
       1.5,
       0.0859
      ],
      [
       1.6,
       0.0868
      ],
      [
       1.7,
       0.0871
      ],
      [
       1.8,
       0.0856
      ],
      [
       1.9,
       0.0828
      ],
      [
       2.0,
       0.079
      ],
      [
       2.1,
       0.075
      ],
      [
       2.2,
       0.0726
      ],
      [
       2.3,
       0.0712
      ],
      [
       2.4,
       0.0699
      ],
      [
       2.5,
       0.069
      ],
      [
       2.6,
       0.0685
      ],
      [
       2.7,
       0.0693
      ],
      [
       2.8,
       0.071
      ],
      [
       2.9,
       0.0731
      ],
      [
       3.0,
       0.0752
      ],
      [
       3.1,
       0.0783
      ],
      [
       3.2,
       0.0815
      ],
      [
       3.3,
       0.0848
      ],
      [
       3.4,
       0.0885
      ],
      [
       3.5,
       0.0931
      ],
      [
       3.6,
       0.099
      ],
      [
       3.7,
       0.1065
      ],
      [
       3.8,
       0.1117
      ],
      [
       3.9,
       0.1165
      ],
      [
       4.0,
       0.1214
      ],
      [
       4.1,
       0.1224
      ],
      [
       4.2,
       0.1216
      ],
      [
       4.3,
       0.1209
      ],
      [
       4.4,
       0.1203
      ],
      [
       4.5,
       0.1199
      ],
      [
       4.6,
       0.1195
      ],
      [
       4.7,
       0.1194
      ],
      [
       4.8,
       0.1195
      ],
      [
       4.9,
       0.1205
      ],
      [
       5.0,
       0.1219
      ],
      [
       5.1,
       0.1213
      ],
      [
       5.2,
       0.1184
      ],
      [
       5.3,
       0.1143
      ],
      [
       5.4,
       0.1101
      ],
      [
       5.5,
       0.1063
      ],
      [
       5.6,
       0.1031
      ],
      [
       5.7,
       0.1003
      ],
      [
       5.8,
       0.0981
      ],
      [
       5.9,
       0.0964
      ],
      [
       6.0,
       0.0951
      ],
      [
       6.1,
       0.0942
      ],
      [
       6.2,
       0.0935
      ],
      [
       6.3,
       0.0931
      ],
      [
       6.4,
       0.0928
      ],
      [
       6.5,
       0.0925
      ],
      [
       6.6,
       0.0919
      ],
      [
       6.7,
       0.0908
      ],
      [
       6.8,
       0.0895
      ],
      [
       6.9,
       0.0879
      ],
      [
       7.0,
       0.0864
      ],
      [
       7.1,
       0.085
      ],
      [
       7.2,
       0.0838
      ],
      [
       7.3,
       0.083
      ],
      [
       7.4,
       0.0824
      ],
      [
       7.5,
       0.0844
      ],
      [
       7.6,
       0.0858
      ],
      [
       7.7,
       0.0881
      ],
      [
       7.8,
       0.0907
      ],
      [
       7.9,
       0.0935
      ],
      [
       8.0,
       0.0962
      ],
      [
       8.1,
       0.0987
      ],
      [
       8.2,
       0.1014
      ],
      [
       8.3,
       0.1024
      ],
      [
       8.4,
       0.1032
      ],
      [
       8.5,
       0.104
      ],
      [
       8.6,
       0.1048
      ],
      [
       8.7,
       0.1056
      ],
      [
       8.8,
       0.1063
      ],
      [
       8.9,
       0.1071
      ],
      [
       9.0,
       0.1077
      ],
      [
       9.1,
       0.1081
      ],
      [
       9.2,
       0.1084
      ],
      [
       9.3,
       0.1087
      ],
      [
       9.4,
       0.1089
      ],
      [
       9.5,
       0.1091
      ],
      [
       9.6,
       0.1093
      ],
      [
       9.7,
       0.1094
      ],
      [
       9.8,
       0.1095
      ],
      [
       9.9,
       0.1096
      ],
      [
       10.0,
       0.1097
      ],
      [
       10.1,
       0.1098
      ],
      [
       10.2,
       0.1098
      ],
      [
       10.3,
       0.1098
      ],
      [
       10.4,
       0.1098
      ],
      [
       10.5,
       0.1099
      ],
      [
       10.6,
       0.1099
      ],
      [
       10.7,
       0.11
      ],
      [
       10.8,
       0.11
      ],
      [
       10.9,
       0.11
      ],
      [
       11.0,
       0.1101
      ],
      [
       11.1,
       0.1101
      ],
      [
       11.2,
       0.1101
      ],
      [
       11.3,
       0.1102
      ],
      [
       11.4,
       0.1107
      ],
      [
       11.5,
       0.1115
      ],
      [
       11.6,
       0.1122
      ],
      [
       11.7,
       0.1144
      ],
      [
       11.8,
       0.1183
      ],
      [
       11.9,
       0.1233
      ],
      [
       12.0,
       0.1294
      ],
      [
       12.1,
       0.1366
      ],
      [
       12.2,
       0.1447
      ],
      [
       12.3,
       0.1539
      ],
      [
       12.4,
       0.1641
      ],
      [
       12.5,
       0.1764
      ],
      [
       12.6,
       0.1908
      ],
      [
       12.7,
       0.2437
      ],
      [
       12.8,
       0.2596
      ],
      [
       12.9,
       0.273
      ],
      [
       13.0,
       0.2847
      ],
      [
       13.1,
       0.2974
      ],
      [
       13.2,
       0.3093
      ],
      [
       13.3,
       0.3208
      ],
      [
       13.4,
       0.3323
      ],
      [
       13.5,
       0.3437
      ],
      [
       13.6,
       0.3532
      ],
      [
       13.7,
       0.3595
      ],
      [
       13.8,
       0.365
      ],
      [
       13.9,
       0.3708
      ],
      [
       14.0,
       0.3767
      ],
      [
       14.1,
       0.3831
      ],
      [
       14.2,
       0.3899
      ],
      [
       14.3,
       0.3973
      ],
      [
       14.4,
       0.4053
      ],
      [
       14.5,
       0.4138
      ],
      [
       14.6,
       0.428
      ],
      [
       14.7,
       0.4649
      ],
      [
       14.8,
       0.4935
      ],
      [
       14.9,
       0.5231
      ],
      [
       15.0,
       0.5537
      ],
      [
       15.1,
       0.5842
      ],
      [
       15.2,
       0.6022
      ],
      [
       15.3,
       0.6194
      ],
      [
       15.4,
       0.6371
      ],
      [
       15.5,
       0.6551
      ],
      [
       15.6,
       0.6735
      ],
      [
       15.7,
       0.6925
      ],
      [
       15.8,
       0.7119
      ],
      [
       15.9,
       0.7319
      ],
      [
       16.0,
       0.752
      ],
      [
       16.1,
       0.7717
      ],
      [
       16.2,
       0.7909
      ],
      [
       16.3,
       0.8104
      ],
      [
       16.4,
       0.8315
      ],
      [
       16.5,
       0.8505
      ],
      [
       16.6,
       0.8713
      ],
      [
       16.7,
       0.8937
      ],
      [
       16.8,
       0.9296
      ],
      [
       16.9,
       1.0
      ],
      [
       17.0,
       1.0
      ],
      [
       17.1,
       1.0
      ],
      [
       17.12,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "b397b33dfb2f3607c6771cf6d20da454562f704c9d8eb7975a2d475eceab0288",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0009346214609682475,
       "final_progress": 0.0009352586123254198,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 7.895628069406033e-06,
       "final_progress": 8.532779426580544e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 7.895628069405952e-06,
       "final_progress": 8.532779426580544e-06,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.024953959743684615,
       "final_progress": 0.024954596895041762
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 4.97470915360099e-06,
       "final_progress": 5.631947698480511e-06
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.03267872071873991,
       "final_progress": 0.03267935787009714
      },
      {
       "layout_seed": 3,
       "outcome": "success",
       "steps": 856,
       "return": 1.9999993628486428,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx16",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "translucent_storage_case_wit_0",
       "source": "primitive:storage_case",
       "grounding": "observed",
       "role": "clutter",
       "label": "translucent storage case with blue handle"
      },
      {
       "name": "papers_0",
       "source": "primitive:paper",
       "grounding": "observed",
       "role": "decor",
       "label": "papers"
      },
      {
       "name": "green_tin_box_0",
       "source": "ycb:008_pudding_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "green tin box"
      },
      {
       "name": "black_charger_and_cables_0",
       "source": "primitive:electronics_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "black charger and cables"
      },
      {
       "name": "blue_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue bottle"
      },
      {
       "name": "small_toiletries_0",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      },
      {
       "name": "small_toiletries_1",
       "source": "ycb:065-a_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "small toiletries"
      }
     ]
    }
   }
  },
  {
   "example_id": "c3da367e1269a98e4069b6489715bde8b301779f32f983d5a15126092aab66f4",
   "recording_id": 11725,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "turquoise patterned worktable",
   "human_action": true,
   "description": "In the footage: Wipe the visible turquoise worktable with the pink wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d76 cm patch (turned 40\u00b0) on the turquoise patterned worktable among the white kettle and the stacked boxes and sweep it row by row at 4\u201314 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 4\u201314 N, no object moved >2 cm, peak force \u226442 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 11725,
    "contributor_id": 11,
    "video": "media/source-11725-86f91f522f78.mp4",
    "poster": "media/source-11725.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 11725,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/011/11725_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbbb6ff550eab08c4a49f86353688425af91204cc8395add2bd6b40807840a36",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 3,
    "added_context": 3,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "c3da367e1269-panda",
     "video": "media/sim-c3da367e1269-panda-s0.mp4",
     "poster": "media/sim-c3da367e1269-panda-s0.jpg",
     "trajectory": "trajectories/c3da367e1269-panda.json",
     "recipe": "recipes/c3da367e1269-panda.json",
     "seed": 0,
     "steps": 410,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0003
      ],
      [
       0.08,
       0.0018
      ],
      [
       0.12,
       0.005
      ],
      [
       0.16,
       0.0086
      ],
      [
       0.2,
       0.012
      ],
      [
       0.24,
       0.0155
      ],
      [
       0.28,
       0.0194
      ],
      [
       0.32,
       0.0236
      ],
      [
       0.36,
       0.0279
      ],
      [
       0.4,
       0.0323
      ],
      [
       0.44,
       0.037
      ],
      [
       0.48,
       0.0418
      ],
      [
       0.52,
       0.0468
      ],
      [
       0.56,
       0.052
      ],
      [
       0.6,
       0.0573
      ],
      [
       0.64,
       0.0628
      ],
      [
       0.68,
       0.0683
      ],
      [
       0.72,
       0.074
      ],
      [
       0.76,
       0.0798
      ],
      [
       0.8,
       0.0856
      ],
      [
       0.84,
       0.0915
      ],
      [
       0.88,
       0.0973
      ],
      [
       0.92,
       0.103
      ],
      [
       0.96,
       0.1087
      ],
      [
       1.0,
       0.1145
      ],
      [
       1.04,
       0.1203
      ],
      [
       1.08,
       0.1262
      ],
      [
       1.12,
       0.132
      ],
      [
       1.16,
       0.1379
      ],
      [
       1.2,
       0.143
      ],
      [
       1.24,
       0.1437
      ],
      [
       1.28,
       0.1422
      ],
      [
       1.32,
       0.1444
      ],
      [
       1.36,
       0.145
      ],
      [
       1.4,
       0.1445
      ],
      [
       1.44,
       0.1439
      ],
      [
       1.48,
       0.1429
      ],
      [
       1.52,
       0.1415
      ],
      [
       1.56,
       0.1403
      ],
      [
       1.6,
       0.1397
      ],
      [
       1.64,
       0.1397
      ],
      [
       1.68,
       0.1401
      ],
      [
       1.72,
       0.1406
      ],
      [
       1.76,
       0.1409
      ],
      [
       1.8,
       0.1413
      ],
      [
       1.84,
       0.1419
      ],
      [
       1.88,
       0.1428
      ],
      [
       1.92,
       0.144
      ],
      [
       1.96,
       0.1451
      ],
      [
       2.0,
       0.1462
      ],
      [
       2.04,
       0.147
      ],
      [
       2.08,
       0.1476
      ],
      [
       2.12,
       0.148
      ],
      [
       2.16,
       0.1483
      ],
      [
       2.2,
       0.1487
      ],
      [
       2.24,
       0.1492
      ],
      [
       2.28,
       0.1497
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.3119
      ],
      [
       2.92,
       0.3119
      ],
      [
       2.96,
       0.3119
      ],
      [
       3.0,
       0.3119
      ],
      [
       3.04,
       0.3119
      ],
      [
       3.08,
       0.3119
      ],
      [
       3.12,
       0.3119
      ],
      [
       3.16,
       0.3119
      ],
      [
       3.2,
       0.3119
      ],
      [
       3.24,
       0.3119
      ],
      [
       3.28,
       0.3119
      ],
      [
       3.32,
       0.3119
      ],
      [
       3.36,
       0.3119
      ],
      [
       3.4,
       0.3119
      ],
      [
       3.44,
       0.3119
      ],
      [
       3.48,
       0.3119
      ],
      [
       3.52,
       0.3119
      ],
      [
       3.56,
       0.3119
      ],
      [
       3.6,
       0.3119
      ],
      [
       3.64,
       0.3119
      ],
      [
       3.68,
       0.3119
      ],
      [
       3.72,
       0.3119
      ],
      [
       3.76,
       0.3119
      ],
      [
       3.8,
       0.3119
      ],
      [
       3.84,
       0.3119
      ],
      [
       3.88,
       0.3119
      ],
      [
       3.92,
       0.3119
      ],
      [
       3.96,
       0.3119
      ],
      [
       4.0,
       0.3119
      ],
      [
       4.04,
       0.3119
      ],
      [
       4.08,
       0.3119
      ],
      [
       4.12,
       0.3119
      ],
      [
       4.16,
       0.3119
      ],
      [
       4.2,
       0.3119
      ],
      [
       4.24,
       0.3119
      ],
      [
       4.28,
       0.3119
      ],
      [
       4.32,
       0.3119
      ],
      [
       4.36,
       0.3119
      ],
      [
       4.4,
       0.3119
      ],
      [
       4.44,
       0.3119
      ],
      [
       4.48,
       0.3119
      ],
      [
       4.52,
       0.3119
      ],
      [
       4.56,
       0.3119
      ],
      [
       4.6,
       0.3119
      ],
      [
       4.64,
       0.3119
      ],
      [
       4.68,
       0.3119
      ],
      [
       4.72,
       0.3119
      ],
      [
       4.76,
       0.3119
      ],
      [
       4.8,
       0.3119
      ],
      [
       4.84,
       0.3119
      ],
      [
       4.88,
       0.3119
      ],
      [
       4.92,
       0.3119
      ],
      [
       4.96,
       0.3119
      ],
      [
       5.0,
       0.3119
      ],
      [
       5.04,
       0.3119
      ],
      [
       5.08,
       0.3119
      ],
      [
       5.12,
       0.3119
      ],
      [
       5.16,
       0.3119
      ],
      [
       5.2,
       0.5143
      ],
      [
       5.24,
       0.5143
      ],
      [
       5.28,
       0.5143
      ],
      [
       5.32,
       0.5143
      ],
      [
       5.36,
       0.5143
      ],
      [
       5.4,
       0.5143
      ],
      [
       5.44,
       0.5143
      ],
      [
       5.48,
       0.5548
      ],
      [
       5.52,
       0.5548
      ],
      [
       5.56,
       0.5548
      ],
      [
       5.6,
       0.5548
      ],
      [
       5.64,
       0.5548
      ],
      [
       5.68,
       0.5952
      ],
      [
       5.72,
       0.6357
      ],
      [
       5.76,
       0.6357
      ],
      [
       5.8,
       0.6357
      ],
      [
       5.84,
       0.6762
      ],
      [
       5.88,
       0.6762
      ],
      [
       5.92,
       0.6762
      ],
      [
       5.96,
       0.6762
      ],
      [
       6.0,
       0.6762
      ],
      [
       6.04,
       0.6762
      ],
      [
       6.08,
       0.6762
      ],
      [
       6.12,
       0.6762
      ],
      [
       6.16,
       0.7167
      ],
      [
       6.2,
       0.7571
      ],
      [
       6.24,
       0.7571
      ],
      [
       6.28,
       0.7571
      ],
      [
       6.32,
       0.7571
      ],
      [
       6.36,
       0.7571
      ],
      [
       6.4,
       0.7571
      ],
      [
       6.44,
       0.7571
      ],
      [
       6.48,
       0.7571
      ],
      [
       6.52,
       0.7571
      ],
      [
       6.56,
       0.7976
      ],
      [
       6.6,
       0.8381
      ],
      [
       6.64,
       0.8381
      ],
      [
       6.68,
       0.8381
      ],
      [
       6.72,
       0.8381
      ],
      [
       6.76,
       0.8381
      ],
      [
       6.8,
       0.8381
      ],
      [
       6.84,
       0.8381
      ],
      [
       6.88,
       0.8381
      ],
      [
       6.92,
       0.8381
      ],
      [
       6.96,
       0.8381
      ],
      [
       7.0,
       0.8381
      ],
      [
       7.04,
       0.8786
      ],
      [
       7.08,
       0.8786
      ],
      [
       7.12,
       0.8786
      ],
      [
       7.16,
       0.8786
      ],
      [
       7.2,
       0.8786
      ],
      [
       7.24,
       0.8786
      ],
      [
       7.28,
       0.8786
      ],
      [
       7.32,
       0.8786
      ],
      [
       7.36,
       0.8786
      ],
      [
       7.4,
       0.8786
      ],
      [
       7.44,
       0.8786
      ],
      [
       7.48,
       0.8786
      ],
      [
       7.52,
       0.8786
      ],
      [
       7.56,
       0.8786
      ],
      [
       7.6,
       0.8786
      ],
      [
       7.64,
       0.8786
      ],
      [
       7.68,
       0.8786
      ],
      [
       7.72,
       0.8786
      ],
      [
       7.76,
       0.8786
      ],
      [
       7.8,
       0.8786
      ],
      [
       7.84,
       0.8786
      ],
      [
       7.88,
       0.8786
      ],
      [
       7.92,
       0.8786
      ],
      [
       7.96,
       0.8786
      ],
      [
       8.0,
       0.8786
      ],
      [
       8.04,
       0.8786
      ],
      [
       8.08,
       0.8786
      ],
      [
       8.12,
       0.8786
      ],
      [
       8.16,
       0.8786
      ],
      [
       8.2,
       0.9595
      ]
     ],
     "total_reward": 1.9525,
     "initial_progress": 0.0,
     "final_progress": 0.9595,
     "physics_sha256": "d38e98c6470787fa79b39f167dbc8de046b8338320aafa282af0afd602f55b84",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.25,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3119047619047619,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 410,
       "return": 1.9525355149403512,
       "final_progress": 0.9595238095238094
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "c3da367e1269-aloha",
     "video": "media/sim-c3da367e1269-aloha-s0.mp4",
     "poster": "media/sim-c3da367e1269-aloha-s0.jpg",
     "trajectory": "trajectories/c3da367e1269-aloha.json",
     "recipe": "recipes/c3da367e1269-aloha.json",
     "seed": 0,
     "steps": 332,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0008
      ],
      [
       0.08,
       0.002
      ],
      [
       0.12,
       0.0033
      ],
      [
       0.16,
       0.0048
      ],
      [
       0.2,
       0.0064
      ],
      [
       0.24,
       0.0081
      ],
      [
       0.28,
       0.01
      ],
      [
       0.32,
       0.0121
      ],
      [
       0.36,
       0.0143
      ],
      [
       0.4,
       0.0167
      ],
      [
       0.44,
       0.0191
      ],
      [
       0.48,
       0.0218
      ],
      [
       0.52,
       0.0247
      ],
      [
       0.56,
       0.0278
      ],
      [
       0.6,
       0.0313
      ],
      [
       0.64,
       0.035
      ],
      [
       0.68,
       0.0389
      ],
      [
       0.72,
       0.043
      ],
      [
       0.76,
       0.0471
      ],
      [
       0.8,
       0.0513
      ],
      [
       0.84,
       0.0555
      ],
      [
       0.88,
       0.0597
      ],
      [
       0.92,
       0.064
      ],
      [
       0.96,
       0.0685
      ],
      [
       1.0,
       0.0732
      ],
      [
       1.04,
       0.0781
      ],
      [
       1.08,
       0.0833
      ],
      [
       1.12,
       0.0887
      ],
      [
       1.16,
       0.0943
      ],
      [
       1.2,
       0.1
      ],
      [
       1.24,
       0.106
      ],
      [
       1.28,
       0.1122
      ],
      [
       1.32,
       0.1185
      ],
      [
       1.36,
       0.1249
      ],
      [
       1.4,
       0.1316
      ],
      [
       1.44,
       0.1376
      ],
      [
       1.48,
       0.1418
      ],
      [
       1.52,
       0.1454
      ],
      [
       1.56,
       0.1489
      ],
      [
       1.6,
       0.15
      ],
      [
       1.64,
       0.3119
      ],
      [
       1.68,
       0.3119
      ],
      [
       1.72,
       0.3119
      ],
      [
       1.76,
       0.3119
      ],
      [
       1.8,
       0.3524
      ],
      [
       1.84,
       0.3524
      ],
      [
       1.88,
       0.3524
      ],
      [
       1.92,
       0.3524
      ],
      [
       1.96,
       0.3524
      ],
      [
       2.0,
       0.3524
      ],
      [
       2.04,
       0.3516
      ],
      [
       2.08,
       0.3484
      ],
      [
       2.12,
       0.3452
      ],
      [
       2.16,
       0.3424
      ],
      [
       2.2,
       0.3406
      ],
      [
       2.24,
       0.3396
      ],
      [
       2.28,
       0.3391
      ],
      [
       2.32,
       0.3389
      ],
      [
       2.36,
       0.3387
      ],
      [
       2.4,
       0.3384
      ],
      [
       2.44,
       0.3381
      ],
      [
       2.48,
       0.3377
      ],
      [
       2.52,
       0.3374
      ],
      [
       2.56,
       0.3371
      ],
      [
       2.6,
       0.3368
      ],
      [
       2.64,
       0.3365
      ],
      [
       2.68,
       0.3362
      ],
      [
       2.72,
       0.3359
      ],
      [
       2.76,
       0.3356
      ],
      [
       2.8,
       0.3353
      ],
      [
       2.84,
       0.335
      ],
      [
       2.88,
       0.3347
      ],
      [
       2.92,
       0.3346
      ],
      [
       2.96,
       0.3345
      ],
      [
       3.0,
       0.3345
      ],
      [
       3.04,
       0.3344
      ],
      [
       3.08,
       0.3342
      ],
      [
       3.12,
       0.3339
      ],
      [
       3.16,
       0.3339
      ],
      [
       3.2,
       0.3342
      ],
      [
       3.24,
       0.3348
      ],
      [
       3.28,
       0.3357
      ],
      [
       3.32,
       0.3367
      ],
      [
       3.36,
       0.3382
      ],
      [
       3.4,
       0.3402
      ],
      [
       3.44,
       0.3425
      ],
      [
       3.48,
       0.3456
      ],
      [
       3.52,
       0.3493
      ],
      [
       3.56,
       0.3524
      ],
      [
       3.6,
       0.3524
      ],
      [
       3.64,
       0.3524
      ],
      [
       3.68,
       0.3524
      ],
      [
       3.72,
       0.3524
      ],
      [
       3.76,
       0.3524
      ],
      [
       3.8,
       0.3524
      ],
      [
       3.84,
       0.3524
      ],
      [
       3.88,
       0.3524
      ],
      [
       3.92,
       0.3524
      ],
      [
       3.96,
       0.3524
      ],
      [
       4.0,
       0.3524
      ],
      [
       4.04,
       0.3524
      ],
      [
       4.08,
       0.3524
      ],
      [
       4.12,
       0.3524
      ],
      [
       4.16,
       0.3524
      ],
      [
       4.2,
       0.3524
      ],
      [
       4.24,
       0.3524
      ],
      [
       4.28,
       0.3524
      ],
      [
       4.32,
       0.3524
      ],
      [
       4.36,
       0.3524
      ],
      [
       4.4,
       0.3524
      ],
      [
       4.44,
       0.3524
      ],
      [
       4.48,
       0.3524
      ],
      [
       4.52,
       0.3524
      ],
      [
       4.56,
       0.3524
      ],
      [
       4.6,
       0.3524
      ],
      [
       4.64,
       0.3929
      ],
      [
       4.68,
       0.3929
      ],
      [
       4.72,
       0.3929
      ],
      [
       4.76,
       0.3929
      ],
      [
       4.8,
       0.3929
      ],
      [
       4.84,
       0.3929
      ],
      [
       4.88,
       0.3929
      ],
      [
       4.92,
       0.3929
      ],
      [
       4.96,
       0.3929
      ],
      [
       5.0,
       0.4333
      ],
      [
       5.04,
       0.4333
      ],
      [
       5.08,
       0.4333
      ],
      [
       5.12,
       0.4333
      ],
      [
       5.16,
       0.4333
      ],
      [
       5.2,
       0.5548
      ],
      [
       5.24,
       0.5548
      ],
      [
       5.28,
       0.5548
      ],
      [
       5.32,
       0.5548
      ],
      [
       5.36,
       0.5548
      ],
      [
       5.4,
       0.5548
      ],
      [
       5.44,
       0.5548
      ],
      [
       5.48,
       0.5548
      ],
      [
       5.52,
       0.5548
      ],
      [
       5.56,
       0.5548
      ],
      [
       5.6,
       0.5548
      ],
      [
       5.64,
       0.5952
      ],
      [
       5.68,
       0.5952
      ],
      [
       5.72,
       0.6762
      ],
      [
       5.76,
       0.6762
      ],
      [
       5.8,
       0.6762
      ],
      [
       5.84,
       0.6762
      ],
      [
       5.88,
       0.6762
      ],
      [
       5.92,
       0.6762
      ],
      [
       5.96,
       0.7571
      ],
      [
       6.0,
       0.7571
      ],
      [
       6.04,
       0.7976
      ],
      [
       6.08,
       0.7976
      ],
      [
       6.12,
       0.7976
      ],
      [
       6.16,
       0.7976
      ],
      [
       6.2,
       0.7976
      ],
      [
       6.24,
       0.7976
      ],
      [
       6.28,
       0.7976
      ],
      [
       6.32,
       0.7976
      ],
      [
       6.36,
       0.7976
      ],
      [
       6.4,
       0.7976
      ],
      [
       6.44,
       0.7976
      ],
      [
       6.48,
       0.7976
      ],
      [
       6.52,
       0.7976
      ],
      [
       6.56,
       0.7976
      ],
      [
       6.6,
       0.7976
      ],
      [
       6.64,
       0.919
      ]
     ],
     "total_reward": 1.919,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "f8a9fac77eeb0a8f6de9bbe8cd1017d88a72b96b7d0401b6b06526a944cfb8a8",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0014119195198903976,
       "final_progress": 0.0014119195198903976,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.1140175466524247,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.43333333333333335,
       "final_progress": 0.43333333333333335,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 332,
       "return": 1.919047619047619,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "b226c8d198ffcba4efd79d058bebe037504b95a4e1eaff11a1d9f99502f7fdd9",
   "recording_id": 11725,
   "task_number": 2,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Grasp the puzzle cube from among the white kettle and the stacked boxes, lift it clear and set it down on the marked zone on the turquoise patterned worktable.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the puzzle cube from among the white kettle and the stacked boxes, lift it clear and set it down on the marked zone on the turquoise patterned worktable.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 11725,
    "contributor_id": 11,
    "video": "media/source-11725-86f91f522f78.mp4",
    "poster": "media/source-11725.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 11725,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/011/11725_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbbb6ff550eab08c4a49f86353688425af91204cc8395add2bd6b40807840a36",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 3,
    "added_context": 4,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "b226c8d198ff-panda",
     "video": "media/sim-b226c8d198ff-panda-s0.mp4",
     "poster": "media/sim-b226c8d198ff-panda-s0.jpg",
     "trajectory": "trajectories/b226c8d198ff-panda.json",
     "recipe": "recipes/b226c8d198ff-panda.json",
     "seed": 0,
     "steps": 396,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.08,
       0.0028
      ],
      [
       1.12,
       0.0085
      ],
      [
       1.16,
       0.0149
      ],
      [
       1.2,
       0.0214
      ],
      [
       1.24,
       0.0274
      ],
      [
       1.28,
       0.0323
      ],
      [
       1.32,
       0.0365
      ],
      [
       1.36,
       0.0405
      ],
      [
       1.4,
       0.0446
      ],
      [
       1.44,
       0.049
      ],
      [
       1.48,
       0.0535
      ],
      [
       1.52,
       0.0579
      ],
      [
       1.56,
       0.0621
      ],
      [
       1.6,
       0.066
      ],
      [
       1.64,
       0.0698
      ],
      [
       1.68,
       0.0734
      ],
      [
       1.72,
       0.0767
      ],
      [
       1.76,
       0.0798
      ],
      [
       1.8,
       0.0827
      ],
      [
       1.84,
       0.0854
      ],
      [
       1.88,
       0.088
      ],
      [
       1.92,
       0.0905
      ],
      [
       1.96,
       0.0929
      ],
      [
       2.0,
       0.0953
      ],
      [
       2.04,
       0.0977
      ],
      [
       2.08,
       0.1003
      ],
      [
       2.12,
       0.1031
      ],
      [
       2.16,
       0.1065
      ],
      [
       2.2,
       0.1096
      ],
      [
       2.24,
       0.1118
      ],
      [
       2.28,
       0.1137
      ],
      [
       2.32,
       0.1161
      ],
      [
       2.36,
       0.1189
      ],
      [
       2.4,
       0.1218
      ],
      [
       2.44,
       0.1248
      ],
      [
       2.48,
       0.1281
      ],
      [
       2.52,
       0.1317
      ],
      [
       2.56,
       0.1356
      ],
      [
       2.6,
       0.1399
      ],
      [
       2.64,
       0.1448
      ],
      [
       2.68,
       0.1475
      ],
      [
       2.72,
       0.1457
      ],
      [
       2.76,
       0.1458
      ],
      [
       2.8,
       0.1466
      ],
      [
       2.84,
       0.1471
      ],
      [
       2.88,
       0.1474
      ],
      [
       2.92,
       0.1475
      ],
      [
       2.96,
       0.1475
      ],
      [
       3.0,
       0.1475
      ],
      [
       3.04,
       0.1475
      ],
      [
       3.08,
       0.1475
      ],
      [
       3.12,
       0.1475
      ],
      [
       3.16,
       0.1475
      ],
      [
       3.2,
       0.1475
      ],
      [
       3.24,
       0.1471
      ],
      [
       3.28,
       0.1468
      ],
      [
       3.32,
       0.1468
      ],
      [
       3.36,
       0.1468
      ],
      [
       3.4,
       0.1468
      ],
      [
       3.44,
       0.1469
      ],
      [
       3.48,
       0.1469
      ],
      [
       3.52,
       0.1469
      ],
      [
       3.56,
       0.1469
      ],
      [
       3.6,
       0.147
      ],
      [
       3.64,
       0.147
      ],
      [
       3.68,
       0.147
      ],
      [
       3.72,
       0.147
      ],
      [
       3.76,
       0.147
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4292
      ],
      [
       4.6,
       0.466
      ],
      [
       4.64,
       0.5036
      ],
      [
       4.68,
       0.545
      ],
      [
       4.72,
       0.5891
      ],
      [
       4.76,
       0.6327
      ],
      [
       4.8,
       0.6739
      ],
      [
       4.84,
       0.7123
      ],
      [
       4.88,
       0.7477
      ],
      [
       4.92,
       0.7801
      ],
      [
       4.96,
       0.8094
      ],
      [
       5.0,
       0.8364
      ],
      [
       5.04,
       0.862
      ],
      [
       5.08,
       0.8869
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       0.9
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.36,
       0.9
      ],
      [
       7.4,
       1.0
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "b1dc6ad79c84a9203b08fb25677f518add3db8e3520c6477a523b1ba75b52f91",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 2.7849736685675587e-05,
       "final_progress": 2.7849736685675584e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.3988337656108796,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 396,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx85",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "b226c8d198ff-aloha",
     "video": "media/sim-b226c8d198ff-aloha-s0.mp4",
     "poster": "media/sim-b226c8d198ff-aloha-s0.jpg",
     "trajectory": "trajectories/b226c8d198ff-aloha.json",
     "recipe": "recipes/b226c8d198ff-aloha.json",
     "seed": 0,
     "steps": 587,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0029
      ],
      [
       0.12,
       0.0086
      ],
      [
       0.18,
       0.0151
      ],
      [
       0.24,
       0.0217
      ],
      [
       0.3,
       0.0279
      ],
      [
       0.36,
       0.0334
      ],
      [
       0.42,
       0.0384
      ],
      [
       0.48,
       0.0427
      ],
      [
       0.54,
       0.0468
      ],
      [
       0.6,
       0.051
      ],
      [
       0.66,
       0.0552
      ],
      [
       0.72,
       0.0597
      ],
      [
       0.78,
       0.0646
      ],
      [
       0.84,
       0.0694
      ],
      [
       0.9,
       0.0743
      ],
      [
       0.96,
       0.0794
      ],
      [
       1.02,
       0.0848
      ],
      [
       1.08,
       0.0906
      ],
      [
       1.14,
       0.0967
      ],
      [
       1.2,
       0.1029
      ],
      [
       1.26,
       0.1092
      ],
      [
       1.32,
       0.1138
      ],
      [
       1.38,
       0.1184
      ],
      [
       1.44,
       0.1203
      ],
      [
       1.5,
       0.1209
      ],
      [
       1.56,
       0.1211
      ],
      [
       1.62,
       0.1218
      ],
      [
       1.68,
       0.1228
      ],
      [
       1.74,
       0.1239
      ],
      [
       1.8,
       0.1253
      ],
      [
       1.86,
       0.1274
      ],
      [
       1.92,
       0.1306
      ],
      [
       1.98,
       0.138
      ],
      [
       2.04,
       0.1442
      ],
      [
       2.1,
       0.1424
      ],
      [
       2.16,
       0.1416
      ],
      [
       2.22,
       0.1402
      ],
      [
       2.28,
       0.1385
      ],
      [
       2.34,
       0.1372
      ],
      [
       2.4,
       0.1365
      ],
      [
       2.46,
       0.1358
      ],
      [
       2.52,
       0.1358
      ],
      [
       2.58,
       0.1357
      ],
      [
       2.64,
       0.1357
      ],
      [
       2.7,
       0.1359
      ],
      [
       2.76,
       0.1358
      ],
      [
       2.82,
       0.1359
      ],
      [
       2.88,
       0.1359
      ],
      [
       2.94,
       0.136
      ],
      [
       3.0,
       0.1361
      ],
      [
       3.06,
       0.1361
      ],
      [
       3.12,
       0.1362
      ],
      [
       3.18,
       0.1362
      ],
      [
       3.24,
       0.1363
      ],
      [
       3.3,
       0.1365
      ],
      [
       3.36,
       0.1365
      ],
      [
       3.42,
       0.1365
      ],
      [
       3.48,
       0.1366
      ],
      [
       3.54,
       0.1367
      ],
      [
       3.6,
       0.1367
      ],
      [
       3.66,
       0.1368
      ],
      [
       3.72,
       0.1369
      ],
      [
       3.78,
       0.1369
      ],
      [
       3.84,
       0.137
      ],
      [
       3.9,
       0.1371
      ],
      [
       3.96,
       0.1371
      ],
      [
       4.02,
       0.1372
      ],
      [
       4.08,
       0.1372
      ],
      [
       4.14,
       0.1372
      ],
      [
       4.2,
       0.1373
      ],
      [
       4.26,
       0.1373
      ],
      [
       4.32,
       0.1373
      ],
      [
       4.38,
       0.1374
      ],
      [
       4.44,
       0.4305
      ],
      [
       4.5,
       0.437
      ],
      [
       4.56,
       0.4445
      ],
      [
       4.62,
       0.453
      ],
      [
       4.68,
       0.4629
      ],
      [
       4.74,
       0.4751
      ],
      [
       4.8,
       0.4895
      ],
      [
       4.86,
       0.5048
      ],
      [
       4.92,
       0.5182
      ],
      [
       4.98,
       0.5268
      ],
      [
       5.04,
       0.5285
      ],
      [
       5.1,
       0.5218
      ],
      [
       5.16,
       0.5109
      ],
      [
       5.22,
       0.4987
      ],
      [
       5.28,
       0.4857
      ],
      [
       5.34,
       0.472
      ],
      [
       5.4,
       0.4597
      ],
      [
       5.46,
       0.4486
      ],
      [
       5.52,
       0.4326
      ],
      [
       5.58,
       0.4135
      ],
      [
       5.64,
       0.4
      ],
      [
       5.7,
       0.4
      ],
      [
       5.76,
       0.4
      ],
      [
       5.82,
       0.4
      ],
      [
       5.88,
       0.4
      ],
      [
       5.94,
       0.4
      ],
      [
       6.0,
       0.4
      ],
      [
       6.06,
       0.4027
      ],
      [
       6.12,
       0.4144
      ],
      [
       6.18,
       0.4279
      ],
      [
       6.24,
       0.4435
      ],
      [
       6.3,
       0.4615
      ],
      [
       6.36,
       0.4825
      ],
      [
       6.42,
       0.507
      ],
      [
       6.48,
       0.5355
      ],
      [
       6.54,
       0.5687
      ],
      [
       6.6,
       0.6078
      ],
      [
       6.66,
       0.6534
      ],
      [
       6.72,
       0.7058
      ],
      [
       6.78,
       0.7649
      ],
      [
       6.84,
       0.8296
      ],
      [
       6.9,
       0.8965
      ],
      [
       6.96,
       0.9
      ],
      [
       7.02,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.14,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.26,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.38,
       0.9
      ],
      [
       7.44,
       0.9
      ],
      [
       7.5,
       0.9
      ],
      [
       7.56,
       0.8831
      ],
      [
       7.62,
       0.858
      ],
      [
       7.68,
       0.8358
      ],
      [
       7.74,
       0.8173
      ],
      [
       7.8,
       0.8036
      ],
      [
       7.86,
       0.795
      ],
      [
       7.92,
       0.7914
      ],
      [
       7.98,
       0.7924
      ],
      [
       8.04,
       0.7979
      ],
      [
       8.1,
       0.8068
      ],
      [
       8.16,
       0.8185
      ],
      [
       8.22,
       0.8328
      ],
      [
       8.28,
       0.8485
      ],
      [
       8.34,
       0.8641
      ],
      [
       8.4,
       0.8784
      ],
      [
       8.46,
       0.8922
      ],
      [
       8.52,
       0.9
      ],
      [
       8.58,
       0.9
      ],
      [
       8.64,
       0.9
      ],
      [
       8.7,
       0.9
      ],
      [
       8.76,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.88,
       0.9
      ],
      [
       8.94,
       0.9
      ],
      [
       9.0,
       0.9
      ],
      [
       9.06,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.18,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.3,
       0.9
      ],
      [
       9.36,
       0.9
      ],
      [
       9.42,
       0.9
      ],
      [
       9.48,
       0.9
      ],
      [
       9.54,
       0.9
      ],
      [
       9.6,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.72,
       0.9
      ],
      [
       9.78,
       0.9
      ],
      [
       9.84,
       0.9
      ],
      [
       9.9,
       0.9
      ],
      [
       9.96,
       0.9
      ],
      [
       10.02,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.14,
       0.9
      ],
      [
       10.2,
       0.9
      ],
      [
       10.26,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.38,
       0.9
      ],
      [
       10.44,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.62,
       0.9
      ],
      [
       10.68,
       0.9
      ],
      [
       10.74,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.86,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       10.98,
       1.0
      ],
      [
       11.04,
       0.9
      ],
      [
       11.1,
       0.9
      ],
      [
       11.16,
       0.9
      ],
      [
       11.22,
       0.9
      ],
      [
       11.28,
       1.0
      ],
      [
       11.34,
       1.0
      ],
      [
       11.4,
       1.0
      ],
      [
       11.46,
       1.0
      ],
      [
       11.52,
       1.0
      ],
      [
       11.58,
       1.0
      ],
      [
       11.64,
       1.0
      ],
      [
       11.7,
       1.0
      ],
      [
       11.74,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "39c4155732afecee503ddc7d4611b98bd694ef431cfbee5e42ae1ff8c788251c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011273817771244698,
       "final_progress": 0.0011273817771244698,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.05265223598794106,
       "final_progress": 0.05265223598794106,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.8538659438016128,
       "final_progress": 0.8538659438016128,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 587,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx85",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "842f1fccfa9d9816a032ff6c619f2e086207f403a9e5ee42a4236d523419fef3",
   "recording_id": 11725,
   "task_number": 3,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Pick up the puzzle cube and balance it on top of the stacked boxes on the turquoise patterned worktable among the jar and the white kettle.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the puzzle cube and balance it on top of the stacked boxes on the turquoise patterned worktable among the jar and the white kettle.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 11725,
    "contributor_id": 11,
    "video": "media/source-11725-86f91f522f78.mp4",
    "poster": "media/source-11725.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 11725,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/011/11725_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbbb6ff550eab08c4a49f86353688425af91204cc8395add2bd6b40807840a36",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 3,
    "added_context": 4,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "842f1fccfa9d-panda",
     "video": "media/sim-842f1fccfa9d-panda-s0.mp4",
     "poster": "media/sim-842f1fccfa9d-panda-s0.jpg",
     "trajectory": "trajectories/842f1fccfa9d-panda.json",
     "recipe": "recipes/842f1fccfa9d-panda.json",
     "seed": 0,
     "steps": 370,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.004
      ],
      [
       0.64,
       0.0073
      ],
      [
       0.68,
       0.0086
      ],
      [
       0.72,
       0.0099
      ],
      [
       0.76,
       0.0122
      ],
      [
       0.8,
       0.0149
      ],
      [
       0.84,
       0.0175
      ],
      [
       0.88,
       0.0202
      ],
      [
       0.92,
       0.0232
      ],
      [
       0.96,
       0.0264
      ],
      [
       1.0,
       0.0299
      ],
      [
       1.04,
       0.0336
      ],
      [
       1.08,
       0.0375
      ],
      [
       1.12,
       0.0416
      ],
      [
       1.16,
       0.046
      ],
      [
       1.2,
       0.0505
      ],
      [
       1.24,
       0.0553
      ],
      [
       1.28,
       0.0603
      ],
      [
       1.32,
       0.0655
      ],
      [
       1.36,
       0.0708
      ],
      [
       1.4,
       0.0763
      ],
      [
       1.44,
       0.082
      ],
      [
       1.48,
       0.0877
      ],
      [
       1.52,
       0.0934
      ],
      [
       1.56,
       0.099
      ],
      [
       1.6,
       0.1044
      ],
      [
       1.64,
       0.1087
      ],
      [
       1.68,
       0.112
      ],
      [
       1.72,
       0.1145
      ],
      [
       1.76,
       0.1167
      ],
      [
       1.8,
       0.1194
      ],
      [
       1.84,
       0.1223
      ],
      [
       1.88,
       0.125
      ],
      [
       1.92,
       0.1277
      ],
      [
       1.96,
       0.1305
      ],
      [
       2.0,
       0.1336
      ],
      [
       2.04,
       0.1369
      ],
      [
       2.08,
       0.1407
      ],
      [
       2.12,
       0.1453
      ],
      [
       2.16,
       0.1483
      ],
      [
       2.2,
       0.1462
      ],
      [
       2.24,
       0.1462
      ],
      [
       2.28,
       0.1468
      ],
      [
       2.32,
       0.1473
      ],
      [
       2.36,
       0.1475
      ],
      [
       2.4,
       0.1476
      ],
      [
       2.44,
       0.1476
      ],
      [
       2.48,
       0.1476
      ],
      [
       2.52,
       0.1476
      ],
      [
       2.56,
       0.1477
      ],
      [
       2.6,
       0.1477
      ],
      [
       2.64,
       0.1477
      ],
      [
       2.68,
       0.1476
      ],
      [
       2.72,
       0.1474
      ],
      [
       2.76,
       0.1473
      ],
      [
       2.8,
       0.1474
      ],
      [
       2.84,
       0.1474
      ],
      [
       2.88,
       0.1475
      ],
      [
       2.92,
       0.1475
      ],
      [
       2.96,
       0.1475
      ],
      [
       3.0,
       0.1476
      ],
      [
       3.04,
       0.1476
      ],
      [
       3.08,
       0.1477
      ],
      [
       3.12,
       0.1477
      ],
      [
       3.16,
       0.1477
      ],
      [
       3.2,
       0.1478
      ],
      [
       3.24,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.32,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4
      ],
      [
       3.84,
       0.4
      ],
      [
       3.88,
       0.4
      ],
      [
       3.92,
       0.4
      ],
      [
       3.96,
       0.4081
      ],
      [
       4.0,
       0.4408
      ],
      [
       4.04,
       0.477
      ],
      [
       4.08,
       0.5168
      ],
      [
       4.12,
       0.559
      ],
      [
       4.16,
       0.6011
      ],
      [
       4.2,
       0.6413
      ],
      [
       4.24,
       0.6789
      ],
      [
       4.28,
       0.7137
      ],
      [
       4.32,
       0.7449
      ],
      [
       4.36,
       0.7724
      ],
      [
       4.4,
       0.7965
      ],
      [
       4.44,
       0.8177
      ],
      [
       4.48,
       0.8378
      ],
      [
       4.52,
       0.8591
      ],
      [
       4.56,
       0.8815
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ],
      [
       7.0,
       1.0
      ],
      [
       7.04,
       1.0
      ],
      [
       7.08,
       1.0
      ],
      [
       7.12,
       1.0
      ],
      [
       7.16,
       1.0
      ],
      [
       7.2,
       1.0
      ],
      [
       7.24,
       1.0
      ],
      [
       7.28,
       1.0
      ],
      [
       7.32,
       1.0
      ],
      [
       7.36,
       1.0
      ],
      [
       7.4,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "d532553f2af7e1791f85974fc9c6de937216e8cd1ccdf6bbaaa8ce9f2bb35263",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": -7.623296525288703e-21,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7589158058043665,
       "final_progress": 0.7589158058043665,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 370,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx85",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "goal_support",
       "label": "stacked boxes"
      },
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "842f1fccfa9d-aloha",
     "video": "media/sim-842f1fccfa9d-aloha-s5.mp4",
     "poster": "media/sim-842f1fccfa9d-aloha-s5.jpg",
     "trajectory": "trajectories/842f1fccfa9d-aloha.json",
     "recipe": "recipes/842f1fccfa9d-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.01
      ],
      [
       0.28,
       0.0243
      ],
      [
       0.42,
       0.0361
      ],
      [
       0.56,
       0.0453
      ],
      [
       0.7,
       0.0545
      ],
      [
       0.84,
       0.0658
      ],
      [
       0.98,
       0.0772
      ],
      [
       1.12,
       0.0906
      ],
      [
       1.26,
       0.1055
      ],
      [
       1.4,
       0.1195
      ],
      [
       1.54,
       0.1275
      ],
      [
       1.68,
       0.1324
      ],
      [
       1.82,
       0.1395
      ],
      [
       1.96,
       0.1372
      ],
      [
       2.1,
       0.1364
      ],
      [
       2.24,
       0.1357
      ],
      [
       2.38,
       0.135
      ],
      [
       2.52,
       0.1345
      ],
      [
       2.66,
       0.1347
      ],
      [
       2.8,
       0.1348
      ],
      [
       2.94,
       0.135
      ],
      [
       3.08,
       0.1352
      ],
      [
       3.22,
       0.1353
      ],
      [
       3.36,
       0.1354
      ],
      [
       3.5,
       0.1355
      ],
      [
       3.64,
       0.1355
      ],
      [
       3.78,
       0.4453
      ],
      [
       3.92,
       0.4573
      ],
      [
       4.06,
       0.4678
      ],
      [
       4.2,
       0.4725
      ],
      [
       4.34,
       0.4483
      ],
      [
       4.48,
       0.4229
      ],
      [
       4.62,
       0.4205
      ],
      [
       4.76,
       0.4346
      ],
      [
       4.9,
       0.4456
      ],
      [
       5.04,
       0.4482
      ],
      [
       5.18,
       0.4392
      ],
      [
       5.32,
       0.4295
      ],
      [
       5.46,
       0.4217
      ],
      [
       5.6,
       0.424
      ],
      [
       5.74,
       0.4573
      ],
      [
       5.88,
       0.5332
      ],
      [
       6.02,
       0.6362
      ],
      [
       6.16,
       0.7624
      ],
      [
       6.3,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.58,
       0.9
      ],
      [
       6.72,
       0.8883
      ],
      [
       6.86,
       0.8797
      ],
      [
       7.0,
       0.8825
      ],
      [
       7.14,
       0.8986
      ],
      [
       7.28,
       0.9
      ],
      [
       7.42,
       0.9
      ],
      [
       7.56,
       0.9
      ],
      [
       7.7,
       0.9
      ],
      [
       7.84,
       0.9
      ],
      [
       7.98,
       0.9
      ],
      [
       8.12,
       0.9
      ],
      [
       8.26,
       0.9
      ],
      [
       8.4,
       0.9
      ],
      [
       8.54,
       0.9
      ],
      [
       8.68,
       0.9
      ],
      [
       8.82,
       0.9
      ],
      [
       8.96,
       0.9
      ],
      [
       9.1,
       0.9
      ],
      [
       9.24,
       0.9
      ],
      [
       9.38,
       0.9
      ],
      [
       9.52,
       0.9
      ],
      [
       9.66,
       0.9
      ],
      [
       9.8,
       0.9
      ],
      [
       9.94,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.22,
       0.9
      ],
      [
       10.36,
       0.9
      ],
      [
       10.5,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.78,
       0.9
      ],
      [
       10.92,
       0.9
      ],
      [
       11.06,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.34,
       0.9
      ],
      [
       11.48,
       0.9
      ],
      [
       11.62,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.9,
       0.9
      ],
      [
       12.04,
       0.9
      ],
      [
       12.18,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.46,
       0.9
      ],
      [
       12.6,
       0.9
      ],
      [
       12.74,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       13.02,
       0.9
      ],
      [
       13.16,
       0.9
      ],
      [
       13.3,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.58,
       0.9
      ],
      [
       13.72,
       0.9
      ],
      [
       13.86,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.14,
       0.9
      ],
      [
       14.28,
       1.0
      ],
      [
       14.42,
       0.9
      ],
      [
       14.56,
       1.0
      ],
      [
       14.7,
       1.0
      ],
      [
       14.84,
       1.0
      ],
      [
       14.98,
       1.0
      ],
      [
       15.12,
       1.0
      ],
      [
       15.26,
       1.0
      ],
      [
       15.4,
       1.0
      ],
      [
       15.54,
       1.0
      ],
      [
       15.68,
       0.9
      ],
      [
       15.82,
       0.9
      ],
      [
       15.96,
       0.9
      ],
      [
       16.1,
       0.9
      ],
      [
       16.24,
       0.7589
      ],
      [
       16.38,
       0.6935
      ],
      [
       16.52,
       0.6716
      ],
      [
       16.66,
       0.6722
      ],
      [
       16.8,
       0.6722
      ],
      [
       16.94,
       0.6722
      ],
      [
       17.08,
       0.6722
      ],
      [
       17.22,
       0.6722
      ],
      [
       17.36,
       0.6722
      ],
      [
       17.5,
       0.6722
      ],
      [
       17.64,
       0.6722
      ],
      [
       17.78,
       0.6722
      ],
      [
       17.92,
       0.6722
      ],
      [
       18.06,
       0.6722
      ],
      [
       18.2,
       0.6722
      ],
      [
       18.34,
       0.6722
      ],
      [
       18.48,
       0.6722
      ],
      [
       18.62,
       0.6722
      ],
      [
       18.76,
       0.6722
      ],
      [
       18.9,
       0.6722
      ],
      [
       19.04,
       0.6722
      ],
      [
       19.18,
       0.6722
      ],
      [
       19.32,
       0.6722
      ],
      [
       19.46,
       0.6722
      ],
      [
       19.6,
       0.6722
      ],
      [
       19.74,
       0.6722
      ],
      [
       19.88,
       0.6722
      ],
      [
       20.02,
       0.6722
      ],
      [
       20.16,
       0.6722
      ],
      [
       20.3,
       0.6722
      ],
      [
       20.44,
       0.6722
      ],
      [
       20.58,
       0.6722
      ],
      [
       20.72,
       0.6722
      ],
      [
       20.86,
       0.6722
      ],
      [
       21.0,
       0.6722
      ],
      [
       21.14,
       0.6722
      ],
      [
       21.28,
       0.6722
      ],
      [
       21.42,
       0.6722
      ],
      [
       21.56,
       0.6722
      ],
      [
       21.7,
       0.6722
      ],
      [
       21.84,
       0.6722
      ],
      [
       21.98,
       0.6722
      ],
      [
       22.12,
       0.6722
      ],
      [
       22.26,
       0.6722
      ],
      [
       22.4,
       0.6722
      ],
      [
       22.54,
       0.6722
      ],
      [
       22.68,
       0.6722
      ],
      [
       22.82,
       0.6722
      ],
      [
       22.96,
       0.6722
      ],
      [
       23.1,
       0.6722
      ],
      [
       23.24,
       0.6722
      ],
      [
       23.38,
       0.6722
      ],
      [
       23.52,
       0.6722
      ],
      [
       23.66,
       0.6722
      ],
      [
       23.8,
       0.6722
      ],
      [
       23.94,
       0.6722
      ],
      [
       24.0,
       0.6722
      ]
     ],
     "total_reward": 0.6722,
     "initial_progress": 0.0,
     "final_progress": 0.6722,
     "physics_sha256": "166833fcbaa94a9929575d8b40fba0664231e88e8a3445f4d7e518e1bd4ced21",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011434492681884954,
       "final_progress": 0.0011434492681884954,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.061630971461181884,
       "final_progress": 0.061630971461181884,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": true,
       "return": 2.0,
       "final_progress": 1.0,
       "steps": 423,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6877430144852718,
       "final_progress": 0.6877430144852718
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.662747853322596,
       "final_progress": 0.662747853322596
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 1.0,
       "final_progress": 1.0
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.643446479840897,
       "final_progress": 0.643446479840897
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7068007287943682,
       "final_progress": 0.7068007287943682
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6722073912266155,
       "final_progress": 0.6722073912266155
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx85",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "goal_support",
       "label": "stacked boxes"
      },
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "8e496279e43a7deafe533a6d3fa5c26be067286b0a164c1cd331ae7ae04e076a",
   "recording_id": 11725,
   "task_number": 4,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Slide the mug across the turquoise patterned worktable among the white kettle and the stacked boxes onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the mug across the turquoise patterned worktable among the white kettle and the stacked boxes onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 11725,
    "contributor_id": 11,
    "video": "media/source-11725-86f91f522f78.mp4",
    "poster": "media/source-11725.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 11725,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/011/11725_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 8.0,
      "original_end_s": 28.0,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "cbbb6ff550eab08c4a49f86353688425af91204cc8395add2bd6b40807840a36",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86f91f522f78e0936c748f1fd9d3357f9571621278b765944281f5e933bc67ae",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 3,
    "added_context": 3,
    "recording_observed": 3,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "8e496279e43a-panda",
     "video": "media/sim-8e496279e43a-panda-s4.mp4",
     "poster": "media/sim-8e496279e43a-panda-s4.jpg",
     "trajectory": "trajectories/8e496279e43a-panda.json",
     "recipe": "recipes/8e496279e43a-panda.json",
     "seed": 4,
     "steps": 157,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0003
      ],
      [
       0.04,
       0.001
      ],
      [
       0.06,
       0.002
      ],
      [
       0.08,
       0.0033
      ],
      [
       0.1,
       0.0048
      ],
      [
       0.12,
       0.0064
      ],
      [
       0.14,
       0.0082
      ],
      [
       0.16,
       0.0101
      ],
      [
       0.18,
       0.0121
      ],
      [
       0.2,
       0.0141
      ],
      [
       0.22,
       0.0162
      ],
      [
       0.24,
       0.0184
      ],
      [
       0.26,
       0.0206
      ],
      [
       0.28,
       0.0228
      ],
      [
       0.3,
       0.0251
      ],
      [
       0.32,
       0.0276
      ],
      [
       0.34,
       0.0301
      ],
      [
       0.36,
       0.0327
      ],
      [
       0.38,
       0.0355
      ],
      [
       0.4,
       0.0384
      ],
      [
       0.42,
       0.0414
      ],
      [
       0.44,
       0.0444
      ],
      [
       0.46,
       0.0476
      ],
      [
       0.48,
       0.0508
      ],
      [
       0.5,
       0.0541
      ],
      [
       0.52,
       0.0574
      ],
      [
       0.54,
       0.0608
      ],
      [
       0.56,
       0.0641
      ],
      [
       0.58,
       0.0675
      ],
      [
       0.6,
       0.0709
      ],
      [
       0.62,
       0.0743
      ],
      [
       0.64,
       0.0777
      ],
      [
       0.66,
       0.0811
      ],
      [
       0.68,
       0.0845
      ],
      [
       0.7,
       0.088
      ],
      [
       0.72,
       0.0917
      ],
      [
       0.74,
       0.0957
      ],
      [
       0.76,
       0.0997
      ],
      [
       0.78,
       0.1039
      ],
      [
       0.8,
       0.1081
      ],
      [
       0.82,
       0.1121
      ],
      [
       0.84,
       0.1157
      ],
      [
       0.86,
       0.1185
      ],
      [
       0.88,
       0.1205
      ],
      [
       0.9,
       0.1216
      ],
      [
       0.92,
       0.122
      ],
      [
       0.94,
       0.1217
      ],
      [
       0.96,
       0.121
      ],
      [
       0.98,
       0.1201
      ],
      [
       1.0,
       0.119
      ],
      [
       1.02,
       0.1179
      ],
      [
       1.04,
       0.1167
      ],
      [
       1.06,
       0.1153
      ],
      [
       1.08,
       0.1139
      ],
      [
       1.1,
       0.1123
      ],
      [
       1.12,
       0.1107
      ],
      [
       1.14,
       0.1089
      ],
      [
       1.16,
       0.1071
      ],
      [
       1.18,
       0.1052
      ],
      [
       1.2,
       0.1032
      ],
      [
       1.22,
       0.1011
      ],
      [
       1.24,
       0.0991
      ],
      [
       1.26,
       0.0974
      ],
      [
       1.28,
       0.0965
      ],
      [
       1.3,
       0.0961
      ],
      [
       1.32,
       0.0962
      ],
      [
       1.34,
       0.0971
      ],
      [
       1.36,
       0.0987
      ],
      [
       1.38,
       0.1008
      ],
      [
       1.4,
       0.1032
      ],
      [
       1.42,
       0.1057
      ],
      [
       1.44,
       0.1083
      ],
      [
       1.46,
       0.111
      ],
      [
       1.48,
       0.1137
      ],
      [
       1.5,
       0.1166
      ],
      [
       1.52,
       0.1195
      ],
      [
       1.54,
       0.1223
      ],
      [
       1.56,
       0.1248
      ],
      [
       1.58,
       0.1268
      ],
      [
       1.6,
       0.1284
      ],
      [
       1.62,
       0.1302
      ],
      [
       1.64,
       0.1322
      ],
      [
       1.66,
       0.1341
      ],
      [
       1.68,
       0.135
      ],
      [
       1.7,
       0.1353
      ],
      [
       1.72,
       0.1355
      ],
      [
       1.74,
       0.1356
      ],
      [
       1.76,
       0.1399
      ],
      [
       1.78,
       0.1434
      ],
      [
       1.8,
       0.1479
      ],
      [
       1.82,
       0.1545
      ],
      [
       1.84,
       0.1617
      ],
      [
       1.86,
       0.1705
      ],
      [
       1.88,
       0.1937
      ],
      [
       1.9,
       0.2
      ],
      [
       1.92,
       0.2076
      ],
      [
       1.94,
       0.2117
      ],
      [
       1.96,
       0.2187
      ],
      [
       1.98,
       0.2231
      ],
      [
       2.0,
       0.2262
      ],
      [
       2.02,
       0.2337
      ],
      [
       2.04,
       0.2343
      ],
      [
       2.06,
       0.2399
      ],
      [
       2.08,
       0.2451
      ],
      [
       2.1,
       0.2418
      ],
      [
       2.12,
       0.2459
      ],
      [
       2.14,
       0.2508
      ],
      [
       2.16,
       0.2554
      ],
      [
       2.18,
       0.2567
      ],
      [
       2.2,
       0.2498
      ],
      [
       2.22,
       0.2533
      ],
      [
       2.24,
       0.2627
      ],
      [
       2.26,
       0.271
      ],
      [
       2.28,
       0.2795
      ],
      [
       2.3,
       0.2861
      ],
      [
       2.32,
       0.2924
      ],
      [
       2.34,
       0.2982
      ],
      [
       2.36,
       0.3043
      ],
      [
       2.38,
       0.3102
      ],
      [
       2.4,
       0.3161
      ],
      [
       2.42,
       0.3237
      ],
      [
       2.44,
       0.3321
      ],
      [
       2.46,
       0.3423
      ],
      [
       2.48,
       0.3541
      ],
      [
       2.5,
       0.3656
      ],
      [
       2.52,
       0.383
      ],
      [
       2.54,
       0.3984
      ],
      [
       2.56,
       0.4147
      ],
      [
       2.58,
       0.4311
      ],
      [
       2.6,
       0.4494
      ],
      [
       2.62,
       0.4684
      ],
      [
       2.64,
       0.4851
      ],
      [
       2.66,
       0.502
      ],
      [
       2.68,
       0.5189
      ],
      [
       2.7,
       0.5371
      ],
      [
       2.72,
       0.556
      ],
      [
       2.74,
       0.5719
      ],
      [
       2.76,
       0.5898
      ],
      [
       2.78,
       0.6072
      ],
      [
       2.8,
       0.6257
      ],
      [
       2.82,
       0.6454
      ],
      [
       2.84,
       0.6665
      ],
      [
       2.86,
       0.6847
      ],
      [
       2.88,
       0.7062
      ],
      [
       2.9,
       0.7243
      ],
      [
       2.92,
       0.7485
      ],
      [
       2.94,
       0.7688
      ],
      [
       2.96,
       0.7934
      ],
      [
       2.98,
       0.813
      ],
      [
       3.0,
       0.8347
      ],
      [
       3.02,
       0.8579
      ],
      [
       3.04,
       0.881
      ],
      [
       3.06,
       0.9071
      ],
      [
       3.08,
       0.9309
      ],
      [
       3.1,
       0.9564
      ],
      [
       3.12,
       0.9828
      ],
      [
       3.14,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "96293928bfa7c3fc101348abee414cfb17f2ebfbd02146bee672b5a3677e5e20",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.5,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.7956029918402423,
       "final_progress": 0.7956029918402423,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.43083215276119025,
       "final_progress": 0.06916784723880973
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.10311591772955109,
       "final_progress": 0.10311591772955109
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.08732479007502922,
       "final_progress": 0.12471100622971362
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.39645197833749574,
       "final_progress": 0.08164156932157542
      },
      {
       "layout_seed": 4,
       "outcome": "success",
       "steps": 157,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "mug"
      },
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    },
    "aloha": {
     "gym_id": "8e496279e43a-aloha",
     "video": "media/sim-8e496279e43a-aloha-s3.mp4",
     "poster": "media/sim-8e496279e43a-aloha-s3.jpg",
     "trajectory": "trajectories/8e496279e43a-aloha.json",
     "recipe": "recipes/8e496279e43a-aloha.json",
     "seed": 3,
     "steps": 301,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0002
      ],
      [
       0.04,
       0.0005
      ],
      [
       0.06,
       0.0009
      ],
      [
       0.08,
       0.0013
      ],
      [
       0.1,
       0.0018
      ],
      [
       0.12,
       0.0022
      ],
      [
       0.14,
       0.0027
      ],
      [
       0.16,
       0.0032
      ],
      [
       0.18,
       0.0037
      ],
      [
       0.2,
       0.0042
      ],
      [
       0.22,
       0.0047
      ],
      [
       0.24,
       0.0052
      ],
      [
       0.26,
       0.0057
      ],
      [
       0.28,
       0.0063
      ],
      [
       0.3,
       0.0069
      ],
      [
       0.32,
       0.0074
      ],
      [
       0.34,
       0.008
      ],
      [
       0.36,
       0.0087
      ],
      [
       0.38,
       0.0093
      ],
      [
       0.4,
       0.01
      ],
      [
       0.42,
       0.0106
      ],
      [
       0.44,
       0.0113
      ],
      [
       0.46,
       0.012
      ],
      [
       0.48,
       0.0128
      ],
      [
       0.5,
       0.0135
      ],
      [
       0.52,
       0.0143
      ],
      [
       0.54,
       0.0151
      ],
      [
       0.56,
       0.0159
      ],
      [
       0.58,
       0.0167
      ],
      [
       0.6,
       0.0176
      ],
      [
       0.62,
       0.0185
      ],
      [
       0.64,
       0.0195
      ],
      [
       0.66,
       0.0205
      ],
      [
       0.68,
       0.0215
      ],
      [
       0.7,
       0.0226
      ],
      [
       0.72,
       0.0238
      ],
      [
       0.74,
       0.025
      ],
      [
       0.76,
       0.0262
      ],
      [
       0.78,
       0.0274
      ],
      [
       0.8,
       0.0287
      ],
      [
       0.82,
       0.0301
      ],
      [
       0.84,
       0.0314
      ],
      [
       0.86,
       0.0328
      ],
      [
       0.88,
       0.0342
      ],
      [
       0.9,
       0.0356
      ],
      [
       0.92,
       0.037
      ],
      [
       0.94,
       0.0385
      ],
      [
       0.96,
       0.0399
      ],
      [
       0.98,
       0.0414
      ],
      [
       1.0,
       0.0429
      ],
      [
       1.02,
       0.0444
      ],
      [
       1.04,
       0.0459
      ],
      [
       1.06,
       0.0474
      ],
      [
       1.08,
       0.0489
      ],
      [
       1.1,
       0.0505
      ],
      [
       1.12,
       0.0521
      ],
      [
       1.14,
       0.0537
      ],
      [
       1.16,
       0.0553
      ],
      [
       1.18,
       0.0569
      ],
      [
       1.2,
       0.0586
      ],
      [
       1.22,
       0.0603
      ],
      [
       1.24,
       0.062
      ],
      [
       1.26,
       0.0637
      ],
      [
       1.28,
       0.0655
      ],
      [
       1.3,
       0.0673
      ],
      [
       1.32,
       0.0691
      ],
      [
       1.34,
       0.0709
      ],
      [
       1.36,
       0.0728
      ],
      [
       1.38,
       0.0747
      ],
      [
       1.4,
       0.0766
      ],
      [
       1.42,
       0.0785
      ],
      [
       1.44,
       0.0805
      ],
      [
       1.46,
       0.0825
      ],
      [
       1.48,
       0.0845
      ],
      [
       1.5,
       0.0866
      ],
      [
       1.52,
       0.0886
      ],
      [
       1.54,
       0.0905
      ],
      [
       1.56,
       0.0923
      ],
      [
       1.58,
       0.094
      ],
      [
       1.6,
       0.0954
      ],
      [
       1.62,
       0.0967
      ],
      [
       1.64,
       0.0978
      ],
      [
       1.66,
       0.0986
      ],
      [
       1.68,
       0.0993
      ],
      [
       1.7,
       0.0999
      ],
      [
       1.72,
       0.1004
      ],
      [
       1.74,
       0.1008
      ],
      [
       1.76,
       0.1012
      ],
      [
       1.78,
       0.1016
      ],
      [
       1.8,
       0.1019
      ],
      [
       1.82,
       0.1024
      ],
      [
       1.84,
       0.1028
      ],
      [
       1.86,
       0.1033
      ],
      [
       1.88,
       0.1039
      ],
      [
       1.9,
       0.1045
      ],
      [
       1.92,
       0.1051
      ],
      [
       1.94,
       0.1059
      ],
      [
       1.96,
       0.1066
      ],
      [
       1.98,
       0.1074
      ],
      [
       2.0,
       0.1081
      ],
      [
       2.02,
       0.1088
      ],
      [
       2.04,
       0.1095
      ],
      [
       2.06,
       0.11
      ],
      [
       2.08,
       0.1104
      ],
      [
       2.1,
       0.1108
      ],
      [
       2.12,
       0.111
      ],
      [
       2.14,
       0.1111
      ],
      [
       2.16,
       0.1112
      ],
      [
       2.18,
       0.1111
      ],
      [
       2.2,
       0.111
      ],
      [
       2.22,
       0.1108
      ],
      [
       2.24,
       0.1105
      ],
      [
       2.26,
       0.1101
      ],
      [
       2.28,
       0.1097
      ],
      [
       2.3,
       0.1093
      ],
      [
       2.32,
       0.1088
      ],
      [
       2.34,
       0.1083
      ],
      [
       2.36,
       0.1078
      ],
      [
       2.38,
       0.1078
      ],
      [
       2.4,
       0.1078
      ],
      [
       2.42,
       0.1078
      ],
      [
       2.44,
       0.1079
      ],
      [
       2.46,
       0.1079
      ],
      [
       2.48,
       0.108
      ],
      [
       2.5,
       0.108
      ],
      [
       2.52,
       0.1081
      ],
      [
       2.54,
       0.1081
      ],
      [
       2.56,
       0.1081
      ],
      [
       2.58,
       0.1081
      ],
      [
       2.6,
       0.108
      ],
      [
       2.62,
       0.108
      ],
      [
       2.64,
       0.108
      ],
      [
       2.66,
       0.108
      ],
      [
       2.68,
       0.108
      ],
      [
       2.7,
       0.108
      ],
      [
       2.72,
       0.108
      ],
      [
       2.74,
       0.108
      ],
      [
       2.76,
       0.1079
      ],
      [
       2.78,
       0.1079
      ],
      [
       2.8,
       0.1079
      ],
      [
       2.82,
       0.1078
      ],
      [
       2.84,
       0.1078
      ],
      [
       2.86,
       0.1078
      ],
      [
       2.88,
       0.1078
      ],
      [
       2.9,
       0.1078
      ],
      [
       2.92,
       0.1078
      ],
      [
       2.94,
       0.1078
      ],
      [
       2.96,
       0.1078
      ],
      [
       2.98,
       0.1079
      ],
      [
       3.0,
       0.1079
      ],
      [
       3.02,
       0.1079
      ],
      [
       3.04,
       0.1081
      ],
      [
       3.06,
       0.1081
      ],
      [
       3.08,
       0.1082
      ],
      [
       3.1,
       0.1082
      ],
      [
       3.12,
       0.1082
      ],
      [
       3.14,
       0.1083
      ],
      [
       3.16,
       0.1083
      ],
      [
       3.18,
       0.1084
      ],
      [
       3.2,
       0.1084
      ],
      [
       3.22,
       0.1085
      ],
      [
       3.24,
       0.1085
      ],
      [
       3.26,
       0.1086
      ],
      [
       3.28,
       0.1087
      ],
      [
       3.3,
       0.1087
      ],
      [
       3.32,
       0.1088
      ],
      [
       3.34,
       0.1089
      ],
      [
       3.36,
       0.109
      ],
      [
       3.38,
       0.1091
      ],
      [
       3.4,
       0.1092
      ],
      [
       3.42,
       0.1093
      ],
      [
       3.44,
       0.1094
      ],
      [
       3.46,
       0.1095
      ],
      [
       3.48,
       0.1096
      ],
      [
       3.5,
       0.1097
      ],
      [
       3.52,
       0.1098
      ],
      [
       3.54,
       0.11
      ],
      [
       3.56,
       0.1101
      ],
      [
       3.58,
       0.1102
      ],
      [
       3.6,
       0.1104
      ],
      [
       3.62,
       0.1105
      ],
      [
       3.64,
       0.1106
      ],
      [
       3.66,
       0.1108
      ],
      [
       3.68,
       0.1109
      ],
      [
       3.7,
       0.1111
      ],
      [
       3.72,
       0.1113
      ],
      [
       3.74,
       0.1114
      ],
      [
       3.76,
       0.1116
      ],
      [
       3.78,
       0.1117
      ],
      [
       3.8,
       0.1119
      ],
      [
       3.82,
       0.1121
      ],
      [
       3.84,
       0.1123
      ],
      [
       3.86,
       0.1125
      ],
      [
       3.88,
       0.1127
      ],
      [
       3.9,
       0.1128
      ],
      [
       3.92,
       0.113
      ],
      [
       3.94,
       0.1132
      ],
      [
       3.96,
       0.1134
      ],
      [
       3.98,
       0.1136
      ],
      [
       4.0,
       0.1138
      ],
      [
       4.02,
       0.114
      ],
      [
       4.04,
       0.1142
      ],
      [
       4.06,
       0.1144
      ],
      [
       4.08,
       0.1146
      ],
      [
       4.1,
       0.1148
      ],
      [
       4.12,
       0.1149
      ],
      [
       4.14,
       0.1151
      ],
      [
       4.16,
       0.1152
      ],
      [
       4.18,
       0.1154
      ],
      [
       4.2,
       0.1155
      ],
      [
       4.22,
       0.1156
      ],
      [
       4.24,
       0.1157
      ],
      [
       4.26,
       0.1158
      ],
      [
       4.28,
       0.1159
      ],
      [
       4.3,
       0.116
      ],
      [
       4.32,
       0.1161
      ],
      [
       4.34,
       0.1161
      ],
      [
       4.36,
       0.1162
      ],
      [
       4.38,
       0.1162
      ],
      [
       4.4,
       0.1163
      ],
      [
       4.42,
       0.1163
      ],
      [
       4.44,
       0.1163
      ],
      [
       4.46,
       0.1164
      ],
      [
       4.48,
       0.1164
      ],
      [
       4.5,
       0.1164
      ],
      [
       4.52,
       0.1164
      ],
      [
       4.54,
       0.1165
      ],
      [
       4.56,
       0.1165
      ],
      [
       4.58,
       0.1165
      ],
      [
       4.6,
       0.1165
      ],
      [
       4.62,
       0.1165
      ],
      [
       4.64,
       0.1165
      ],
      [
       4.66,
       0.1165
      ],
      [
       4.68,
       0.1165
      ],
      [
       4.7,
       0.1165
      ],
      [
       4.72,
       0.1165
      ],
      [
       4.74,
       0.1165
      ],
      [
       4.76,
       0.1165
      ],
      [
       4.78,
       0.1165
      ],
      [
       4.8,
       0.1165
      ],
      [
       4.82,
       0.1165
      ],
      [
       4.84,
       0.1165
      ],
      [
       4.86,
       0.1165
      ],
      [
       4.88,
       0.1165
      ],
      [
       4.9,
       0.1165
      ],
      [
       4.92,
       0.1165
      ],
      [
       4.94,
       0.1165
      ],
      [
       4.96,
       0.1166
      ],
      [
       4.98,
       0.1166
      ],
      [
       5.0,
       0.1166
      ],
      [
       5.02,
       0.1167
      ],
      [
       5.04,
       0.1167
      ],
      [
       5.06,
       0.1167
      ],
      [
       5.08,
       0.1168
      ],
      [
       5.1,
       0.1168
      ],
      [
       5.12,
       0.1169
      ],
      [
       5.14,
       0.1176
      ],
      [
       5.16,
       0.1185
      ],
      [
       5.18,
       0.1196
      ],
      [
       5.2,
       0.1204
      ],
      [
       5.22,
       0.1214
      ],
      [
       5.24,
       0.1221
      ],
      [
       5.26,
       0.1232
      ],
      [
       5.28,
       0.1245
      ],
      [
       5.3,
       0.1257
      ],
      [
       5.32,
       0.1288
      ],
      [
       5.34,
       0.1325
      ],
      [
       5.36,
       0.1388
      ],
      [
       5.38,
       0.1435
      ],
      [
       5.4,
       0.1465
      ],
      [
       5.42,
       0.1533
      ],
      [
       5.44,
       0.1616
      ],
      [
       5.46,
       0.166
      ],
      [
       5.48,
       0.1746
      ],
      [
       5.5,
       0.1987
      ],
      [
       5.52,
       0.2084
      ],
      [
       5.54,
       0.2226
      ],
      [
       5.56,
       0.2337
      ],
      [
       5.58,
       0.2407
      ],
      [
       5.6,
       0.2493
      ],
      [
       5.62,
       0.2695
      ],
      [
       5.64,
       0.3074
      ],
      [
       5.66,
       0.3438
      ],
      [
       5.68,
       0.3719
      ],
      [
       5.7,
       0.4137
      ],
      [
       5.72,
       0.4538
      ],
      [
       5.74,
       0.4862
      ],
      [
       5.76,
       0.5243
      ],
      [
       5.78,
       0.5635
      ],
      [
       5.8,
       0.5963
      ],
      [
       5.82,
       0.6423
      ],
      [
       5.84,
       0.6816
      ],
      [
       5.86,
       0.7214
      ],
      [
       5.88,
       0.7601
      ],
      [
       5.9,
       0.7991
      ],
      [
       5.92,
       0.8417
      ],
      [
       5.94,
       0.8726
      ],
      [
       5.96,
       0.9163
      ],
      [
       5.98,
       0.9502
      ],
      [
       6.0,
       0.9807
      ],
      [
       6.02,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "693d10f68932177648ffeabd0e74ab2ce63946ef62e3f0b3a4f7ceecca51c1d5",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0008123121688857815,
       "final_progress": 0.0008123121688857815,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -5.421010862427522e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.03300343194088148,
       "final_progress": 0.03300343194088148,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.3688251957573116,
       "final_progress": 0.1311748042426884
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.08081002786098661,
       "final_progress": 0.08081002786098658
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.043701891870240255,
       "final_progress": 0.08854211702138065
      },
      {
       "layout_seed": 3,
       "outcome": "success",
       "steps": 301,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "task_object",
       "label": "mug"
      },
      {
       "name": "white_kettle_0",
       "source": "primitive:kettle",
       "grounding": "observed",
       "role": "clutter",
       "label": "white kettle"
      },
      {
       "name": "spoon_0",
       "source": "ycb:031_spoon",
       "grounding": "added_context",
       "role": "clutter",
       "label": "spoon"
      },
      {
       "name": "stacked_boxes_0",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "stacked_boxes_1",
       "source": "ycb:009_gelatin_box",
       "grounding": "observed",
       "role": "clutter",
       "label": "stacked boxes"
      },
      {
       "name": "jar_0",
       "source": "primitive:jar",
       "grounding": "added_context",
       "role": "clutter",
       "label": "jar"
      }
     ]
    }
   }
  },
  {
   "example_id": "c16ba48aa0ce970924c1705abe4ab56216ec61fff3eb8f4cb115eecfa49318ea",
   "recording_id": 12504,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "turquoise patterned worktable",
   "human_action": true,
   "description": "In the footage: Wipe the visible turquoise patterned worktable with the light wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d78 cm patch (square to the table edge) on the turquoise patterned worktable among the cream plastic tray box and the pink patterned bag and sweep it row by row at 3\u201312 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 3\u201312 N, no object moved >2 cm, peak force \u226436 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 12504,
    "contributor_id": 11,
    "video": "media/source-12504-d21201c4f557.mp4",
    "poster": "media/source-12504.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12504,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12504_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.14,
      "original_end_s": 310.14,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e0ca6ddcf908f098c748bd6689d258a59f28c39f8042a179d1b68a0dd5ddcffd",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 5,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 3,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "c16ba48aa0ce-panda",
     "video": "media/sim-c16ba48aa0ce-panda-s0.mp4",
     "poster": "media/sim-c16ba48aa0ce-panda-s0.jpg",
     "trajectory": "trajectories/c16ba48aa0ce-panda.json",
     "recipe": "recipes/c16ba48aa0ce-panda.json",
     "seed": 0,
     "steps": 421,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0014
      ],
      [
       0.08,
       0.0055
      ],
      [
       0.12,
       0.0118
      ],
      [
       0.16,
       0.0189
      ],
      [
       0.2,
       0.0262
      ],
      [
       0.24,
       0.0339
      ],
      [
       0.28,
       0.0421
      ],
      [
       0.32,
       0.0507
      ],
      [
       0.36,
       0.0595
      ],
      [
       0.4,
       0.0685
      ],
      [
       0.44,
       0.0777
      ],
      [
       0.48,
       0.087
      ],
      [
       0.52,
       0.0964
      ],
      [
       0.56,
       0.1057
      ],
      [
       0.6,
       0.1148
      ],
      [
       0.64,
       0.1236
      ],
      [
       0.68,
       0.1314
      ],
      [
       0.72,
       0.1376
      ],
      [
       0.76,
       0.1424
      ],
      [
       0.8,
       0.1463
      ],
      [
       0.84,
       0.1484
      ],
      [
       0.88,
       0.1486
      ],
      [
       0.92,
       0.1473
      ],
      [
       0.96,
       0.1453
      ],
      [
       1.0,
       0.1432
      ],
      [
       1.04,
       0.1413
      ],
      [
       1.08,
       0.1401
      ],
      [
       1.12,
       0.1396
      ],
      [
       1.16,
       0.1399
      ],
      [
       1.2,
       0.1404
      ],
      [
       1.24,
       0.1409
      ],
      [
       1.28,
       0.1412
      ],
      [
       1.32,
       0.1415
      ],
      [
       1.36,
       0.1421
      ],
      [
       1.4,
       0.143
      ],
      [
       1.44,
       0.1442
      ],
      [
       1.48,
       0.1455
      ],
      [
       1.52,
       0.1466
      ],
      [
       1.56,
       0.1474
      ],
      [
       1.6,
       0.148
      ],
      [
       1.64,
       0.1483
      ],
      [
       1.68,
       0.1487
      ],
      [
       1.72,
       0.1491
      ],
      [
       1.76,
       0.1496
      ],
      [
       1.8,
       0.15
      ],
      [
       1.84,
       0.15
      ],
      [
       1.88,
       0.15
      ],
      [
       1.92,
       0.15
      ],
      [
       1.96,
       0.15
      ],
      [
       2.0,
       0.15
      ],
      [
       2.04,
       0.15
      ],
      [
       2.08,
       0.15
      ],
      [
       2.12,
       0.15
      ],
      [
       2.16,
       0.15
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.2714
      ],
      [
       2.4,
       0.2714
      ],
      [
       2.44,
       0.2714
      ],
      [
       2.48,
       0.2714
      ],
      [
       2.52,
       0.2714
      ],
      [
       2.56,
       0.2714
      ],
      [
       2.6,
       0.2714
      ],
      [
       2.64,
       0.2714
      ],
      [
       2.68,
       0.2714
      ],
      [
       2.72,
       0.2714
      ],
      [
       2.76,
       0.2714
      ],
      [
       2.8,
       0.2714
      ],
      [
       2.84,
       0.2714
      ],
      [
       2.88,
       0.3321
      ],
      [
       2.92,
       0.3321
      ],
      [
       2.96,
       0.3321
      ],
      [
       3.0,
       0.3321
      ],
      [
       3.04,
       0.3321
      ],
      [
       3.08,
       0.3321
      ],
      [
       3.12,
       0.3321
      ],
      [
       3.16,
       0.3321
      ],
      [
       3.2,
       0.3321
      ],
      [
       3.24,
       0.3929
      ],
      [
       3.28,
       0.3929
      ],
      [
       3.32,
       0.3929
      ],
      [
       3.36,
       0.3929
      ],
      [
       3.4,
       0.3929
      ],
      [
       3.44,
       0.3929
      ],
      [
       3.48,
       0.3929
      ],
      [
       3.52,
       0.4536
      ],
      [
       3.56,
       0.4536
      ],
      [
       3.6,
       0.4536
      ],
      [
       3.64,
       0.4536
      ],
      [
       3.68,
       0.4536
      ],
      [
       3.72,
       0.4536
      ],
      [
       3.76,
       0.4536
      ],
      [
       3.8,
       0.4536
      ],
      [
       3.84,
       0.4536
      ],
      [
       3.88,
       0.4536
      ],
      [
       3.92,
       0.5143
      ],
      [
       3.96,
       0.5143
      ],
      [
       4.0,
       0.5143
      ],
      [
       4.04,
       0.5143
      ],
      [
       4.08,
       0.5143
      ],
      [
       4.12,
       0.5143
      ],
      [
       4.16,
       0.5143
      ],
      [
       4.2,
       0.5143
      ],
      [
       4.24,
       0.5143
      ],
      [
       4.28,
       0.5143
      ],
      [
       4.32,
       0.575
      ],
      [
       4.36,
       0.575
      ],
      [
       4.4,
       0.575
      ],
      [
       4.44,
       0.575
      ],
      [
       4.48,
       0.575
      ],
      [
       4.52,
       0.575
      ],
      [
       4.56,
       0.575
      ],
      [
       4.6,
       0.575
      ],
      [
       4.64,
       0.575
      ],
      [
       4.68,
       0.575
      ],
      [
       4.72,
       0.6357
      ],
      [
       4.76,
       0.6357
      ],
      [
       4.8,
       0.6357
      ],
      [
       4.84,
       0.6357
      ],
      [
       4.88,
       0.6357
      ],
      [
       4.92,
       0.6357
      ],
      [
       4.96,
       0.6357
      ],
      [
       5.0,
       0.6357
      ],
      [
       5.04,
       0.6357
      ],
      [
       5.08,
       0.6357
      ],
      [
       5.12,
       0.6357
      ],
      [
       5.16,
       0.6357
      ],
      [
       5.2,
       0.6357
      ],
      [
       5.24,
       0.6357
      ],
      [
       5.28,
       0.6661
      ],
      [
       5.32,
       0.6661
      ],
      [
       5.36,
       0.6661
      ],
      [
       5.4,
       0.6661
      ],
      [
       5.44,
       0.6661
      ],
      [
       5.48,
       0.6661
      ],
      [
       5.52,
       0.6661
      ],
      [
       5.56,
       0.6661
      ],
      [
       5.6,
       0.6661
      ],
      [
       5.64,
       0.6661
      ],
      [
       5.68,
       0.6661
      ],
      [
       5.72,
       0.6661
      ],
      [
       5.76,
       0.6661
      ],
      [
       5.8,
       0.6661
      ],
      [
       5.84,
       0.6661
      ],
      [
       5.88,
       0.6661
      ],
      [
       5.92,
       0.6661
      ],
      [
       5.96,
       0.6661
      ],
      [
       6.0,
       0.6661
      ],
      [
       6.04,
       0.6661
      ],
      [
       6.08,
       0.7268
      ],
      [
       6.12,
       0.7268
      ],
      [
       6.16,
       0.7268
      ],
      [
       6.2,
       0.7268
      ],
      [
       6.24,
       0.7268
      ],
      [
       6.28,
       0.7268
      ],
      [
       6.32,
       0.7571
      ],
      [
       6.36,
       0.7571
      ],
      [
       6.4,
       0.7571
      ],
      [
       6.44,
       0.7571
      ],
      [
       6.48,
       0.7571
      ],
      [
       6.52,
       0.7571
      ],
      [
       6.56,
       0.7571
      ],
      [
       6.6,
       0.7875
      ],
      [
       6.64,
       0.7875
      ],
      [
       6.68,
       0.7875
      ],
      [
       6.72,
       0.7875
      ],
      [
       6.76,
       0.7875
      ],
      [
       6.8,
       0.7875
      ],
      [
       6.84,
       0.7875
      ],
      [
       6.88,
       0.7875
      ],
      [
       6.92,
       0.7875
      ],
      [
       6.96,
       0.7875
      ],
      [
       7.0,
       0.7875
      ],
      [
       7.04,
       0.8482
      ],
      [
       7.08,
       0.8482
      ],
      [
       7.12,
       0.8482
      ],
      [
       7.16,
       0.8482
      ],
      [
       7.2,
       0.8482
      ],
      [
       7.24,
       0.8482
      ],
      [
       7.28,
       0.8482
      ],
      [
       7.32,
       0.8482
      ],
      [
       7.36,
       0.8482
      ],
      [
       7.4,
       0.8482
      ],
      [
       7.44,
       0.8482
      ],
      [
       7.48,
       0.8482
      ],
      [
       7.52,
       0.8482
      ],
      [
       7.56,
       0.8482
      ],
      [
       7.6,
       0.8482
      ],
      [
       7.64,
       0.8482
      ],
      [
       7.68,
       0.8482
      ],
      [
       7.72,
       0.8482
      ],
      [
       7.76,
       0.8482
      ],
      [
       7.8,
       0.8482
      ],
      [
       7.84,
       0.8786
      ],
      [
       7.88,
       0.8786
      ],
      [
       7.92,
       0.8786
      ],
      [
       7.96,
       0.8786
      ],
      [
       8.0,
       0.8786
      ],
      [
       8.04,
       0.8786
      ],
      [
       8.08,
       0.8786
      ],
      [
       8.12,
       0.8786
      ],
      [
       8.16,
       0.8786
      ],
      [
       8.2,
       0.8786
      ],
      [
       8.24,
       0.8786
      ],
      [
       8.28,
       0.8786
      ],
      [
       8.32,
       0.8786
      ],
      [
       8.36,
       0.8786
      ],
      [
       8.4,
       0.8786
      ],
      [
       8.42,
       0.9393
      ]
     ],
     "total_reward": 1.9393,
     "initial_progress": 0.0,
     "final_progress": 0.9393,
     "physics_sha256": "5d8e9a84ac321b7f7b336bb4948f57f50f7f730b41dde438c2c0a02331b6c97d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.21964285714285714,
       "final_progress": 0.030357142857142853,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.2714285714285714,
       "final_progress": 0.2714285714285714,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 421,
       "return": 1.9392857142857143,
       "final_progress": 0.9392857142857143
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "c16ba48aa0ce-aloha",
     "video": "media/sim-c16ba48aa0ce-aloha-s1.mp4",
     "poster": "media/sim-c16ba48aa0ce-aloha-s1.jpg",
     "trajectory": "trajectories/c16ba48aa0ce-aloha.json",
     "recipe": "recipes/c16ba48aa0ce-aloha.json",
     "seed": 1,
     "steps": 1039,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.12,
       0.0048
      ],
      [
       0.24,
       0.0128
      ],
      [
       0.36,
       0.0228
      ],
      [
       0.48,
       0.035
      ],
      [
       0.6,
       0.0491
      ],
      [
       0.72,
       0.0647
      ],
      [
       0.84,
       0.0811
      ],
      [
       0.96,
       0.1
      ],
      [
       1.08,
       0.124
      ],
      [
       1.2,
       0.1386
      ],
      [
       1.32,
       0.1406
      ],
      [
       1.44,
       0.1422
      ],
      [
       1.56,
       0.1434
      ],
      [
       1.68,
       0.1429
      ],
      [
       1.8,
       0.1398
      ],
      [
       1.92,
       0.1401
      ],
      [
       2.04,
       0.1445
      ],
      [
       2.16,
       0.1474
      ],
      [
       2.28,
       0.146
      ],
      [
       2.4,
       0.144
      ],
      [
       2.52,
       0.1428
      ],
      [
       2.64,
       0.1417
      ],
      [
       2.76,
       0.1405
      ],
      [
       2.88,
       0.1394
      ],
      [
       3.0,
       0.1384
      ],
      [
       3.12,
       0.1375
      ],
      [
       3.24,
       0.1365
      ],
      [
       3.36,
       0.1382
      ],
      [
       3.48,
       0.1473
      ],
      [
       3.6,
       0.15
      ],
      [
       3.72,
       0.15
      ],
      [
       3.84,
       0.15
      ],
      [
       3.96,
       0.15
      ],
      [
       4.08,
       0.15
      ],
      [
       4.2,
       0.15
      ],
      [
       4.32,
       0.2714
      ],
      [
       4.44,
       0.2714
      ],
      [
       4.56,
       0.2714
      ],
      [
       4.68,
       0.2714
      ],
      [
       4.8,
       0.2714
      ],
      [
       4.92,
       0.2714
      ],
      [
       5.04,
       0.2714
      ],
      [
       5.16,
       0.2714
      ],
      [
       5.28,
       0.2714
      ],
      [
       5.4,
       0.2714
      ],
      [
       5.52,
       0.2714
      ],
      [
       5.64,
       0.2714
      ],
      [
       5.76,
       0.2714
      ],
      [
       5.88,
       0.2714
      ],
      [
       6.0,
       0.2714
      ],
      [
       6.12,
       0.2714
      ],
      [
       6.24,
       0.2714
      ],
      [
       6.36,
       0.2714
      ],
      [
       6.48,
       0.3321
      ],
      [
       6.6,
       0.3321
      ],
      [
       6.72,
       0.3321
      ],
      [
       6.84,
       0.3321
      ],
      [
       6.96,
       0.3321
      ],
      [
       7.08,
       0.3321
      ],
      [
       7.2,
       0.3321
      ],
      [
       7.32,
       0.3321
      ],
      [
       7.44,
       0.3321
      ],
      [
       7.56,
       0.3929
      ],
      [
       7.68,
       0.3929
      ],
      [
       7.8,
       0.3929
      ],
      [
       7.92,
       0.3929
      ],
      [
       8.04,
       0.3929
      ],
      [
       8.16,
       0.3929
      ],
      [
       8.28,
       0.3929
      ],
      [
       8.4,
       0.3929
      ],
      [
       8.52,
       0.3929
      ],
      [
       8.64,
       0.4536
      ],
      [
       8.76,
       0.4536
      ],
      [
       8.88,
       0.4536
      ],
      [
       9.0,
       0.4536
      ],
      [
       9.12,
       0.4536
      ],
      [
       9.24,
       0.4536
      ],
      [
       9.36,
       0.4536
      ],
      [
       9.48,
       0.4536
      ],
      [
       9.6,
       0.4536
      ],
      [
       9.72,
       0.4536
      ],
      [
       9.84,
       0.4536
      ],
      [
       9.96,
       0.4536
      ],
      [
       10.08,
       0.4536
      ],
      [
       10.2,
       0.5143
      ],
      [
       10.32,
       0.5143
      ],
      [
       10.44,
       0.5143
      ],
      [
       10.56,
       0.5143
      ],
      [
       10.68,
       0.5143
      ],
      [
       10.8,
       0.5143
      ],
      [
       10.92,
       0.5143
      ],
      [
       11.04,
       0.5143
      ],
      [
       11.16,
       0.5143
      ],
      [
       11.28,
       0.5143
      ],
      [
       11.4,
       0.5143
      ],
      [
       11.52,
       0.575
      ],
      [
       11.64,
       0.575
      ],
      [
       11.76,
       0.575
      ],
      [
       11.88,
       0.575
      ],
      [
       12.0,
       0.575
      ],
      [
       12.12,
       0.6357
      ],
      [
       12.24,
       0.6357
      ],
      [
       12.36,
       0.6357
      ],
      [
       12.48,
       0.6357
      ],
      [
       12.6,
       0.6661
      ],
      [
       12.72,
       0.6661
      ],
      [
       12.84,
       0.6661
      ],
      [
       12.96,
       0.6661
      ],
      [
       13.08,
       0.6661
      ],
      [
       13.2,
       0.6661
      ],
      [
       13.32,
       0.6661
      ],
      [
       13.44,
       0.6964
      ],
      [
       13.56,
       0.6964
      ],
      [
       13.68,
       0.6964
      ],
      [
       13.8,
       0.6964
      ],
      [
       13.92,
       0.7268
      ],
      [
       14.04,
       0.7268
      ],
      [
       14.16,
       0.7268
      ],
      [
       14.28,
       0.7268
      ],
      [
       14.4,
       0.7268
      ],
      [
       14.52,
       0.7268
      ],
      [
       14.64,
       0.7268
      ],
      [
       14.76,
       0.7268
      ],
      [
       14.88,
       0.7268
      ],
      [
       15.0,
       0.7268
      ],
      [
       15.12,
       0.7268
      ],
      [
       15.24,
       0.7268
      ],
      [
       15.36,
       0.7268
      ],
      [
       15.48,
       0.7268
      ],
      [
       15.6,
       0.7268
      ],
      [
       15.72,
       0.7268
      ],
      [
       15.84,
       0.7268
      ],
      [
       15.96,
       0.7571
      ],
      [
       16.08,
       0.7571
      ],
      [
       16.2,
       0.7571
      ],
      [
       16.32,
       0.7571
      ],
      [
       16.44,
       0.7571
      ],
      [
       16.56,
       0.7571
      ],
      [
       16.68,
       0.7571
      ],
      [
       16.8,
       0.7571
      ],
      [
       16.92,
       0.7571
      ],
      [
       17.04,
       0.7571
      ],
      [
       17.16,
       0.7571
      ],
      [
       17.28,
       0.7875
      ],
      [
       17.4,
       0.7875
      ],
      [
       17.52,
       0.7875
      ],
      [
       17.64,
       0.7875
      ],
      [
       17.76,
       0.7875
      ],
      [
       17.88,
       0.7875
      ],
      [
       18.0,
       0.7875
      ],
      [
       18.12,
       0.7875
      ],
      [
       18.24,
       0.7875
      ],
      [
       18.36,
       0.7875
      ],
      [
       18.48,
       0.8482
      ],
      [
       18.6,
       0.8482
      ],
      [
       18.72,
       0.8482
      ],
      [
       18.84,
       0.8482
      ],
      [
       18.96,
       0.8482
      ],
      [
       19.08,
       0.8482
      ],
      [
       19.2,
       0.8482
      ],
      [
       19.32,
       0.8482
      ],
      [
       19.44,
       0.8482
      ],
      [
       19.56,
       0.8482
      ],
      [
       19.68,
       0.9089
      ],
      [
       19.8,
       0.9089
      ],
      [
       19.92,
       0.9089
      ],
      [
       20.04,
       0.9089
      ],
      [
       20.16,
       0.9089
      ],
      [
       20.28,
       0.9089
      ],
      [
       20.4,
       0.9089
      ],
      [
       20.52,
       0.9089
      ],
      [
       20.64,
       0.9089
      ],
      [
       20.76,
       0.9089
      ],
      [
       20.78,
       0.9393
      ]
     ],
     "total_reward": 1.9187,
     "initial_progress": 0.0,
     "final_progress": 0.9393,
     "physics_sha256": "44a3c95e6d59136f52dca0ea30fbfa555b92511f3cbc2fd15183748581e4915f",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0012237715403429993,
       "final_progress": 0.0012237715403429993,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.2714285714285714,
       "final_progress": 0.2714285714285714,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.3625,
       "final_progress": 0.3625
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 1039,
       "return": 1.9186589670855214,
       "final_progress": 0.9392857142857143
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "7e4e601020afc1d84cc48e6b92341a45225b2deb4333a71fd9bf3ba901fb472b",
   "recording_id": 12504,
   "task_number": 2,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the turquoise patterned worktable among the cream plastic tray box and the pink patterned bag and pull the drawer 10 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the turquoise patterned worktable among the cream plastic tray box and the pink patterned bag and pull the drawer 10 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u226510 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 12504,
    "contributor_id": 11,
    "video": "media/source-12504-d21201c4f557.mp4",
    "poster": "media/source-12504.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12504,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12504_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.14,
      "original_end_s": 310.14,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e0ca6ddcf908f098c748bd6689d258a59f28c39f8042a179d1b68a0dd5ddcffd",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 4,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "7e4e601020af-panda",
     "video": "media/sim-7e4e601020af-panda-s0.mp4",
     "poster": "media/sim-7e4e601020af-panda-s0.jpg",
     "trajectory": "trajectories/7e4e601020af-panda.json",
     "recipe": "recipes/7e4e601020af-panda.json",
     "seed": 0,
     "steps": 258,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0025
      ],
      [
       1.32,
       0.0052
      ],
      [
       1.34,
       0.0082
      ],
      [
       1.36,
       0.0113
      ],
      [
       1.38,
       0.0145
      ],
      [
       1.4,
       0.0179
      ],
      [
       1.42,
       0.0213
      ],
      [
       1.44,
       0.0247
      ],
      [
       1.46,
       0.028
      ],
      [
       1.48,
       0.0311
      ],
      [
       1.5,
       0.034
      ],
      [
       1.52,
       0.0367
      ],
      [
       1.54,
       0.0392
      ],
      [
       1.56,
       0.0416
      ],
      [
       1.58,
       0.0438
      ],
      [
       1.6,
       0.0459
      ],
      [
       1.62,
       0.048
      ],
      [
       1.64,
       0.0499
      ],
      [
       1.66,
       0.0518
      ],
      [
       1.68,
       0.0536
      ],
      [
       1.7,
       0.0553
      ],
      [
       1.72,
       0.057
      ],
      [
       1.74,
       0.0586
      ],
      [
       1.76,
       0.0602
      ],
      [
       1.78,
       0.0618
      ],
      [
       1.8,
       0.0632
      ],
      [
       1.82,
       0.0646
      ],
      [
       1.84,
       0.066
      ],
      [
       1.86,
       0.0673
      ],
      [
       1.88,
       0.0685
      ],
      [
       1.9,
       0.0697
      ],
      [
       1.92,
       0.0709
      ],
      [
       1.94,
       0.0719
      ],
      [
       1.96,
       0.073
      ],
      [
       1.98,
       0.074
      ],
      [
       2.0,
       0.075
      ],
      [
       2.02,
       0.076
      ],
      [
       2.04,
       0.0769
      ],
      [
       2.06,
       0.0778
      ],
      [
       2.08,
       0.0787
      ],
      [
       2.1,
       0.0796
      ],
      [
       2.12,
       0.0805
      ],
      [
       2.14,
       0.0814
      ],
      [
       2.16,
       0.0823
      ],
      [
       2.18,
       0.0832
      ],
      [
       2.2,
       0.0841
      ],
      [
       2.22,
       0.085
      ],
      [
       2.24,
       0.086
      ],
      [
       2.26,
       0.0869
      ],
      [
       2.28,
       0.0879
      ],
      [
       2.3,
       0.089
      ],
      [
       2.32,
       0.09
      ],
      [
       2.34,
       0.0911
      ],
      [
       2.36,
       0.0923
      ],
      [
       2.38,
       0.0935
      ],
      [
       2.4,
       0.0947
      ],
      [
       2.42,
       0.096
      ],
      [
       2.44,
       0.0974
      ],
      [
       2.46,
       0.0988
      ],
      [
       2.48,
       0.1003
      ],
      [
       2.5,
       0.1019
      ],
      [
       2.52,
       0.1036
      ],
      [
       2.54,
       0.1054
      ],
      [
       2.56,
       0.1073
      ],
      [
       2.58,
       0.1094
      ],
      [
       2.6,
       0.1116
      ],
      [
       2.62,
       0.1136
      ],
      [
       2.64,
       0.1154
      ],
      [
       2.66,
       0.1169
      ],
      [
       2.68,
       0.1183
      ],
      [
       2.7,
       0.1195
      ],
      [
       2.72,
       0.1206
      ],
      [
       2.74,
       0.1215
      ],
      [
       2.76,
       0.1224
      ],
      [
       2.78,
       0.1231
      ],
      [
       2.8,
       0.124
      ],
      [
       2.82,
       0.125
      ],
      [
       2.84,
       0.1263
      ],
      [
       2.86,
       0.1277
      ],
      [
       2.88,
       0.1293
      ],
      [
       2.9,
       0.1309
      ],
      [
       2.92,
       0.1325
      ],
      [
       2.94,
       0.1342
      ],
      [
       2.96,
       0.1359
      ],
      [
       2.98,
       0.1378
      ],
      [
       3.0,
       0.1398
      ],
      [
       3.02,
       0.1419
      ],
      [
       3.04,
       0.1441
      ],
      [
       3.06,
       0.1465
      ],
      [
       3.08,
       0.1472
      ],
      [
       3.1,
       0.1528
      ],
      [
       3.12,
       0.1487
      ],
      [
       3.14,
       0.1465
      ],
      [
       3.16,
       0.1466
      ],
      [
       3.18,
       0.1467
      ],
      [
       3.2,
       0.1466
      ],
      [
       3.22,
       0.1466
      ],
      [
       3.24,
       0.1466
      ],
      [
       3.26,
       0.1466
      ],
      [
       3.28,
       0.1466
      ],
      [
       3.3,
       0.1466
      ],
      [
       3.32,
       0.1466
      ],
      [
       3.34,
       0.1466
      ],
      [
       3.36,
       0.1466
      ],
      [
       3.38,
       0.1467
      ],
      [
       3.4,
       0.1467
      ],
      [
       3.42,
       0.148
      ],
      [
       3.44,
       0.1506
      ],
      [
       3.46,
       0.1537
      ],
      [
       3.48,
       0.1573
      ],
      [
       3.5,
       0.1612
      ],
      [
       3.52,
       0.1655
      ],
      [
       3.54,
       0.1701
      ],
      [
       3.56,
       0.1751
      ],
      [
       3.58,
       0.1804
      ],
      [
       3.6,
       0.1822
      ],
      [
       3.62,
       0.1821
      ],
      [
       3.64,
       0.1821
      ],
      [
       3.66,
       0.1824
      ],
      [
       3.68,
       0.1829
      ],
      [
       3.7,
       0.1838
      ],
      [
       3.72,
       0.1851
      ],
      [
       3.74,
       0.188
      ],
      [
       3.76,
       0.1932
      ],
      [
       3.78,
       0.2002
      ],
      [
       3.8,
       0.2083
      ],
      [
       3.82,
       0.2168
      ],
      [
       3.84,
       0.2255
      ],
      [
       3.86,
       0.237
      ],
      [
       3.88,
       0.2458
      ],
      [
       3.9,
       0.2549
      ],
      [
       3.92,
       0.2643
      ],
      [
       3.94,
       0.274
      ],
      [
       3.96,
       0.2841
      ],
      [
       3.98,
       0.2945
      ],
      [
       4.0,
       0.3053
      ],
      [
       4.02,
       0.3164
      ],
      [
       4.04,
       0.3278
      ],
      [
       4.06,
       0.3395
      ],
      [
       4.08,
       0.3515
      ],
      [
       4.1,
       0.3638
      ],
      [
       4.12,
       0.3764
      ],
      [
       4.14,
       0.3893
      ],
      [
       4.16,
       0.4025
      ],
      [
       4.18,
       0.416
      ],
      [
       4.2,
       0.4297
      ],
      [
       4.22,
       0.4438
      ],
      [
       4.24,
       0.458
      ],
      [
       4.26,
       0.4726
      ],
      [
       4.28,
       0.4874
      ],
      [
       4.3,
       0.5025
      ],
      [
       4.32,
       0.5178
      ],
      [
       4.34,
       0.5333
      ],
      [
       4.36,
       0.5491
      ],
      [
       4.38,
       0.5651
      ],
      [
       4.4,
       0.5814
      ],
      [
       4.42,
       0.5978
      ],
      [
       4.44,
       0.6144
      ],
      [
       4.46,
       0.6313
      ],
      [
       4.48,
       0.6484
      ],
      [
       4.5,
       0.6656
      ],
      [
       4.52,
       0.6831
      ],
      [
       4.54,
       0.7007
      ],
      [
       4.56,
       0.7184
      ],
      [
       4.58,
       0.7363
      ],
      [
       4.6,
       0.7543
      ],
      [
       4.62,
       0.7723
      ],
      [
       4.64,
       0.7904
      ],
      [
       4.66,
       0.8085
      ],
      [
       4.68,
       0.8266
      ],
      [
       4.7,
       0.8446
      ],
      [
       4.72,
       0.8626
      ],
      [
       4.74,
       0.8805
      ],
      [
       4.76,
       0.8983
      ],
      [
       4.78,
       0.9158
      ],
      [
       4.8,
       0.9332
      ],
      [
       4.82,
       0.9502
      ],
      [
       4.84,
       0.9677
      ],
      [
       4.86,
       0.9875
      ],
      [
       4.88,
       1.0
      ],
      [
       4.9,
       1.0
      ],
      [
       4.92,
       1.0
      ],
      [
       4.94,
       1.0
      ],
      [
       4.96,
       1.0
      ],
      [
       4.98,
       1.0
      ],
      [
       5.0,
       1.0
      ],
      [
       5.02,
       1.0
      ],
      [
       5.04,
       1.0
      ],
      [
       5.06,
       1.0
      ],
      [
       5.08,
       1.0
      ],
      [
       5.1,
       1.0
      ],
      [
       5.12,
       1.0
      ],
      [
       5.14,
       1.0
      ],
      [
       5.16,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "911e9df93273b606bfdd60b049fb2c840b05bb5066b62826ec23fdde9d82f1d4",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.946331534069552e-05,
       "final_progress": 4.274682484849864e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.44837903363947373,
       "final_progress": 0.05162424987003405,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.01812590011313962,
       "final_progress": 0.018129183622647423,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 258,
       "return": 1.9999967164904922,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx88",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "7e4e601020af-aloha",
     "video": "media/sim-7e4e601020af-aloha-s2.mp4",
     "poster": "media/sim-7e4e601020af-aloha-s2.jpg",
     "trajectory": "trajectories/7e4e601020af-aloha.json",
     "recipe": "recipes/7e4e601020af-aloha.json",
     "seed": 2,
     "steps": 346,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0014
      ],
      [
       0.08,
       0.0048
      ],
      [
       0.12,
       0.0088
      ],
      [
       0.16,
       0.0129
      ],
      [
       0.2,
       0.0169
      ],
      [
       0.24,
       0.0207
      ],
      [
       0.28,
       0.0243
      ],
      [
       0.32,
       0.0277
      ],
      [
       0.36,
       0.031
      ],
      [
       0.4,
       0.0341
      ],
      [
       0.44,
       0.0372
      ],
      [
       0.48,
       0.0403
      ],
      [
       0.52,
       0.0436
      ],
      [
       0.56,
       0.0471
      ],
      [
       0.6,
       0.0512
      ],
      [
       0.64,
       0.0552
      ],
      [
       0.68,
       0.0591
      ],
      [
       0.72,
       0.0628
      ],
      [
       0.76,
       0.0666
      ],
      [
       0.8,
       0.0705
      ],
      [
       0.84,
       0.0747
      ],
      [
       0.88,
       0.079
      ],
      [
       0.92,
       0.0836
      ],
      [
       0.96,
       0.0883
      ],
      [
       1.0,
       0.0926
      ],
      [
       1.04,
       0.0934
      ],
      [
       1.08,
       0.0954
      ],
      [
       1.12,
       0.0973
      ],
      [
       1.16,
       0.0997
      ],
      [
       1.2,
       0.1023
      ],
      [
       1.24,
       0.1048
      ],
      [
       1.28,
       0.1095
      ],
      [
       1.32,
       0.116
      ],
      [
       1.36,
       0.1236
      ],
      [
       1.4,
       0.1316
      ],
      [
       1.44,
       0.1326
      ],
      [
       1.48,
       0.1331
      ],
      [
       1.52,
       0.1336
      ],
      [
       1.56,
       0.1342
      ],
      [
       1.6,
       0.135
      ],
      [
       1.64,
       0.1359
      ],
      [
       1.68,
       0.1371
      ],
      [
       1.72,
       0.1386
      ],
      [
       1.76,
       0.1404
      ],
      [
       1.8,
       0.1414
      ],
      [
       1.84,
       0.1415
      ],
      [
       1.88,
       0.1418
      ],
      [
       1.92,
       0.142
      ],
      [
       1.96,
       0.1422
      ],
      [
       2.0,
       0.1423
      ],
      [
       2.04,
       0.1424
      ],
      [
       2.08,
       0.1425
      ],
      [
       2.12,
       0.1426
      ],
      [
       2.16,
       0.1427
      ],
      [
       2.2,
       0.1427
      ],
      [
       2.24,
       0.1428
      ],
      [
       2.28,
       0.1428
      ],
      [
       2.32,
       0.1429
      ],
      [
       2.36,
       0.1429
      ],
      [
       2.4,
       0.1429
      ],
      [
       2.44,
       0.143
      ],
      [
       2.48,
       0.143
      ],
      [
       2.52,
       0.143
      ],
      [
       2.56,
       0.143
      ],
      [
       2.6,
       0.143
      ],
      [
       2.64,
       0.143
      ],
      [
       2.68,
       0.143
      ],
      [
       2.72,
       0.143
      ],
      [
       2.76,
       0.143
      ],
      [
       2.8,
       0.143
      ],
      [
       2.84,
       0.143
      ],
      [
       2.88,
       0.143
      ],
      [
       2.92,
       0.143
      ],
      [
       2.96,
       0.143
      ],
      [
       3.0,
       0.143
      ],
      [
       3.04,
       0.143
      ],
      [
       3.08,
       0.143
      ],
      [
       3.12,
       0.143
      ],
      [
       3.16,
       0.1429
      ],
      [
       3.2,
       0.1429
      ],
      [
       3.24,
       0.1429
      ],
      [
       3.28,
       0.1429
      ],
      [
       3.32,
       0.1428
      ],
      [
       3.36,
       0.1428
      ],
      [
       3.4,
       0.1428
      ],
      [
       3.44,
       0.1427
      ],
      [
       3.48,
       0.1427
      ],
      [
       3.52,
       0.1426
      ],
      [
       3.56,
       0.1426
      ],
      [
       3.6,
       0.1425
      ],
      [
       3.64,
       0.1425
      ],
      [
       3.68,
       0.1424
      ],
      [
       3.72,
       0.1424
      ],
      [
       3.76,
       0.1423
      ],
      [
       3.8,
       0.1423
      ],
      [
       3.84,
       0.1422
      ],
      [
       3.88,
       0.1421
      ],
      [
       3.92,
       0.1421
      ],
      [
       3.96,
       0.142
      ],
      [
       4.0,
       0.1419
      ],
      [
       4.04,
       0.1419
      ],
      [
       4.08,
       0.1418
      ],
      [
       4.12,
       0.1417
      ],
      [
       4.16,
       0.1417
      ],
      [
       4.2,
       0.1416
      ],
      [
       4.24,
       0.1415
      ],
      [
       4.28,
       0.1414
      ],
      [
       4.32,
       0.1413
      ],
      [
       4.36,
       0.1412
      ],
      [
       4.4,
       0.1411
      ],
      [
       4.44,
       0.141
      ],
      [
       4.48,
       0.1409
      ],
      [
       4.52,
       0.1407
      ],
      [
       4.56,
       0.1406
      ],
      [
       4.6,
       0.1404
      ],
      [
       4.64,
       0.1403
      ],
      [
       4.68,
       0.1401
      ],
      [
       4.72,
       0.14
      ],
      [
       4.76,
       0.1398
      ],
      [
       4.8,
       0.1396
      ],
      [
       4.84,
       0.1394
      ],
      [
       4.88,
       0.1392
      ],
      [
       4.92,
       0.1391
      ],
      [
       4.96,
       0.1389
      ],
      [
       5.0,
       0.1387
      ],
      [
       5.04,
       0.1385
      ],
      [
       5.08,
       0.1382
      ],
      [
       5.12,
       0.1387
      ],
      [
       5.16,
       0.1385
      ],
      [
       5.2,
       0.1423
      ],
      [
       5.24,
       0.1471
      ],
      [
       5.28,
       0.1525
      ],
      [
       5.32,
       0.1622
      ],
      [
       5.36,
       0.1692
      ],
      [
       5.4,
       0.1793
      ],
      [
       5.44,
       0.1877
      ],
      [
       5.48,
       0.2018
      ],
      [
       5.52,
       0.2183
      ],
      [
       5.56,
       0.25
      ],
      [
       5.6,
       0.2693
      ],
      [
       5.64,
       0.2896
      ],
      [
       5.68,
       0.3108
      ],
      [
       5.72,
       0.3333
      ],
      [
       5.76,
       0.3566
      ],
      [
       5.8,
       0.3808
      ],
      [
       5.84,
       0.406
      ],
      [
       5.88,
       0.4321
      ],
      [
       5.92,
       0.4587
      ],
      [
       5.96,
       0.4867
      ],
      [
       6.0,
       0.5153
      ],
      [
       6.04,
       0.5439
      ],
      [
       6.08,
       0.5732
      ],
      [
       6.12,
       0.6028
      ],
      [
       6.16,
       0.6332
      ],
      [
       6.2,
       0.6635
      ],
      [
       6.24,
       0.6937
      ],
      [
       6.28,
       0.724
      ],
      [
       6.32,
       0.7552
      ],
      [
       6.36,
       0.7876
      ],
      [
       6.4,
       0.8211
      ],
      [
       6.44,
       0.8551
      ],
      [
       6.48,
       0.8897
      ],
      [
       6.52,
       0.9233
      ],
      [
       6.56,
       0.9539
      ],
      [
       6.6,
       0.9792
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6410ea3f2ed7bb780f1469414d94be4bc52054464c73096c09c7f84830a11854",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013556952811212295,
       "final_progress": 0.0013563525196660159,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 7.895628120481503e-06,
       "final_progress": 8.552866665268333e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 7.895628120479137e-06,
       "final_progress": 8.552866665268333e-06,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.12579619441814544,
       "final_progress": 0.052799305582664435
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.0587241228958038,
       "final_progress": 4.4053455207161045e-06
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 346,
       "return": 1.999999342761455,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx88",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "f68bb04163e9f58fe0a54b139e085968cd15be4497f055144924f0ffffb047e6",
   "recording_id": 12504,
   "task_number": 3,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Lift the foam block off the red spot on the turquoise patterned worktable, set it aside among the cream plastic tray box and the pink patterned bag, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the foam block off the red spot on the turquoise patterned worktable, set it aside among the cream plastic tray box and the pink patterned bag, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 12504,
    "contributor_id": 11,
    "video": "media/source-12504-d21201c4f557.mp4",
    "poster": "media/source-12504.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12504,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12504_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.14,
      "original_end_s": 310.14,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e0ca6ddcf908f098c748bd6689d258a59f28c39f8042a179d1b68a0dd5ddcffd",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 4,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "f68bb04163e9-panda",
     "video": "media/sim-f68bb04163e9-panda-s0.mp4",
     "poster": "media/sim-f68bb04163e9-panda-s0.jpg",
     "trajectory": "trajectories/f68bb04163e9-panda.json",
     "recipe": "recipes/f68bb04163e9-panda.json",
     "seed": 0,
     "steps": 463,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0015
      ],
      [
       0.68,
       0.0057
      ],
      [
       0.72,
       0.0103
      ],
      [
       0.76,
       0.0155
      ],
      [
       0.8,
       0.021
      ],
      [
       0.84,
       0.0268
      ],
      [
       0.88,
       0.0321
      ],
      [
       0.92,
       0.0369
      ],
      [
       0.96,
       0.0415
      ],
      [
       1.0,
       0.0461
      ],
      [
       1.04,
       0.0507
      ],
      [
       1.08,
       0.0555
      ],
      [
       1.12,
       0.0602
      ],
      [
       1.16,
       0.065
      ],
      [
       1.2,
       0.0691
      ],
      [
       1.24,
       0.0724
      ],
      [
       1.28,
       0.0755
      ],
      [
       1.32,
       0.0785
      ],
      [
       1.36,
       0.0814
      ],
      [
       1.4,
       0.0844
      ],
      [
       1.44,
       0.0873
      ],
      [
       1.48,
       0.0904
      ],
      [
       1.52,
       0.0936
      ],
      [
       1.56,
       0.0971
      ],
      [
       1.6,
       0.0981
      ],
      [
       1.64,
       0.0956
      ],
      [
       1.68,
       0.0957
      ],
      [
       1.72,
       0.0962
      ],
      [
       1.76,
       0.0966
      ],
      [
       1.8,
       0.0968
      ],
      [
       1.84,
       0.0969
      ],
      [
       1.88,
       0.0969
      ],
      [
       1.92,
       0.097
      ],
      [
       1.96,
       0.097
      ],
      [
       2.0,
       0.097
      ],
      [
       2.04,
       0.0971
      ],
      [
       2.08,
       0.0971
      ],
      [
       2.12,
       0.0969
      ],
      [
       2.16,
       0.0967
      ],
      [
       2.2,
       0.0968
      ],
      [
       2.24,
       0.0969
      ],
      [
       2.28,
       0.0969
      ],
      [
       2.32,
       0.097
      ],
      [
       2.36,
       0.097
      ],
      [
       2.4,
       0.097
      ],
      [
       2.44,
       0.0971
      ],
      [
       2.48,
       0.0971
      ],
      [
       2.52,
       0.0972
      ],
      [
       2.56,
       0.0972
      ],
      [
       2.6,
       0.0973
      ],
      [
       2.64,
       0.0973
      ],
      [
       2.68,
       0.5383
      ],
      [
       2.72,
       0.5344
      ],
      [
       2.76,
       0.5265
      ],
      [
       2.8,
       0.5146
      ],
      [
       2.84,
       0.5007
      ],
      [
       2.88,
       0.4869
      ],
      [
       2.92,
       0.4732
      ],
      [
       2.96,
       0.4597
      ],
      [
       3.0,
       0.4454
      ],
      [
       3.04,
       0.4305
      ],
      [
       3.08,
       0.4159
      ],
      [
       3.12,
       0.4013
      ],
      [
       3.16,
       0.386
      ],
      [
       3.2,
       0.3697
      ],
      [
       3.24,
       0.3479
      ],
      [
       3.28,
       0.3223
      ],
      [
       3.32,
       0.3244
      ],
      [
       3.36,
       0.3574
      ],
      [
       3.4,
       0.4042
      ],
      [
       3.44,
       0.4623
      ],
      [
       3.48,
       0.5227
      ],
      [
       3.52,
       0.5851
      ],
      [
       3.56,
       0.6
      ],
      [
       3.6,
       0.6
      ],
      [
       3.64,
       0.6
      ],
      [
       3.68,
       0.6
      ],
      [
       3.72,
       0.6
      ],
      [
       3.76,
       0.6
      ],
      [
       3.8,
       0.6
      ],
      [
       3.84,
       0.6
      ],
      [
       3.88,
       0.6
      ],
      [
       3.92,
       0.6
      ],
      [
       3.96,
       0.6
      ],
      [
       4.0,
       0.6
      ],
      [
       4.04,
       0.6
      ],
      [
       4.08,
       0.6
      ],
      [
       4.12,
       0.6
      ],
      [
       4.16,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.24,
       0.6
      ],
      [
       4.28,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.68,
       0.6
      ],
      [
       8.72,
       0.6533
      ],
      [
       8.76,
       0.7067
      ],
      [
       8.8,
       0.76
      ],
      [
       8.84,
       0.8133
      ],
      [
       8.88,
       0.6
      ],
      [
       8.92,
       0.6533
      ],
      [
       8.96,
       0.6
      ],
      [
       9.0,
       0.6533
      ],
      [
       9.04,
       0.7067
      ],
      [
       9.08,
       0.76
      ],
      [
       9.12,
       0.8133
      ],
      [
       9.16,
       0.8667
      ],
      [
       9.2,
       0.92
      ],
      [
       9.24,
       0.9733
      ],
      [
       9.26,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8a50b315f0563c5241e130f1d0043496093de3879a5e8a23ab308963690edea2",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 5.198252296677585e-05,
       "final_progress": 5.198252296677586e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.07309450580184036,
       "final_progress": 0.07309450580184036,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 463,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx88",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "f68bb04163e9-aloha",
     "video": "media/sim-f68bb04163e9-aloha-s0.mp4",
     "poster": "media/sim-f68bb04163e9-aloha-s0.jpg",
     "trajectory": "trajectories/f68bb04163e9-aloha.json",
     "recipe": "recipes/f68bb04163e9-aloha.json",
     "seed": 0,
     "steps": 874,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0013
      ],
      [
       0.2,
       0.0034
      ],
      [
       0.3,
       0.006
      ],
      [
       0.4,
       0.0091
      ],
      [
       0.5,
       0.0128
      ],
      [
       0.6,
       0.0171
      ],
      [
       0.7,
       0.0222
      ],
      [
       0.8,
       0.0281
      ],
      [
       0.9,
       0.0347
      ],
      [
       1.0,
       0.0422
      ],
      [
       1.1,
       0.0507
      ],
      [
       1.2,
       0.0575
      ],
      [
       1.3,
       0.0637
      ],
      [
       1.4,
       0.0717
      ],
      [
       1.5,
       0.0776
      ],
      [
       1.6,
       0.0821
      ],
      [
       1.7,
       0.083
      ],
      [
       1.8,
       0.0829
      ],
      [
       1.9,
       0.0829
      ],
      [
       2.0,
       0.0828
      ],
      [
       2.1,
       0.0828
      ],
      [
       2.2,
       0.0828
      ],
      [
       2.3,
       0.0827
      ],
      [
       2.4,
       0.0828
      ],
      [
       2.5,
       0.0837
      ],
      [
       2.6,
       0.0868
      ],
      [
       2.7,
       0.0893
      ],
      [
       2.8,
       0.0895
      ],
      [
       2.9,
       0.0916
      ],
      [
       3.0,
       0.0944
      ],
      [
       3.1,
       0.0949
      ],
      [
       3.2,
       0.0912
      ],
      [
       3.3,
       0.0908
      ],
      [
       3.4,
       0.0882
      ],
      [
       3.5,
       0.0796
      ],
      [
       3.6,
       0.0803
      ],
      [
       3.7,
       0.0806
      ],
      [
       3.8,
       0.081
      ],
      [
       3.9,
       0.0814
      ],
      [
       4.0,
       0.0818
      ],
      [
       4.1,
       0.0821
      ],
      [
       4.2,
       0.0825
      ],
      [
       4.3,
       0.0828
      ],
      [
       4.4,
       0.0831
      ],
      [
       4.5,
       0.0834
      ],
      [
       4.6,
       0.0837
      ],
      [
       4.7,
       0.084
      ],
      [
       4.8,
       0.0843
      ],
      [
       4.9,
       0.0848
      ],
      [
       5.0,
       0.0853
      ],
      [
       5.1,
       0.0859
      ],
      [
       5.2,
       0.0864
      ],
      [
       5.3,
       0.0868
      ],
      [
       5.4,
       0.0871
      ],
      [
       5.5,
       0.0873
      ],
      [
       5.6,
       0.0877
      ],
      [
       5.7,
       0.088
      ],
      [
       5.8,
       0.0883
      ],
      [
       5.9,
       0.0886
      ],
      [
       6.0,
       0.089
      ],
      [
       6.1,
       0.0893
      ],
      [
       6.2,
       0.0899
      ],
      [
       6.3,
       0.0903
      ],
      [
       6.4,
       0.091
      ],
      [
       6.5,
       0.0914
      ],
      [
       6.6,
       0.0914
      ],
      [
       6.7,
       0.0914
      ],
      [
       6.8,
       0.0914
      ],
      [
       6.9,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.1,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.3,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.7,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.9,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.3,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.5,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.9,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.1,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.4,
       0.6
      ],
      [
       9.5,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.7,
       0.6
      ],
      [
       9.8,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.6
      ],
      [
       15.9,
       0.6
      ],
      [
       16.0,
       0.6
      ],
      [
       16.1,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.3,
       0.6
      ],
      [
       16.4,
       0.6
      ],
      [
       16.5,
       0.6
      ],
      [
       16.6,
       0.6
      ],
      [
       16.7,
       0.6
      ],
      [
       16.8,
       0.6
      ],
      [
       16.9,
       0.6
      ],
      [
       17.0,
       0.7067
      ],
      [
       17.1,
       0.6
      ],
      [
       17.2,
       0.6267
      ],
      [
       17.3,
       0.76
      ],
      [
       17.4,
       0.8933
      ],
      [
       17.48,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c017393284dd2d625f5e8f2f3628478c953504f1057fe690571ef67312e87ffb",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.000554146696574831,
       "final_progress": 0.000554146696574831,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.057975845691320284,
       "final_progress": 0.057975845691320284,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 874,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "foam_block_ctx88",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "clutter",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "96517ae02ddb90ffd52a3fde3c872e21a79a208cab6ac0100151f9fb456f26cf",
   "recording_id": 12504,
   "task_number": 4,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "turquoise patterned worktable",
   "human_action": false,
   "description": "Grasp the puzzle cube from among the cream plastic tray box and the pink patterned bag, lift it clear and set it down on the cream plastic tray box on the turquoise patterned worktable.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the puzzle cube from among the cream plastic tray box and the pink patterned bag, lift it clear and set it down on the cream plastic tray box on the turquoise patterned worktable.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 12504,
    "contributor_id": 11,
    "video": "media/source-12504-d21201c4f557.mp4",
    "poster": "media/source-12504.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12504,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12504_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 290.14,
      "original_end_s": 310.14,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "e0ca6ddcf908f098c748bd6689d258a59f28c39f8042a179d1b68a0dd5ddcffd",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "d21201c4f5575a9d55fd1c808747f31b3348ebb6147e8baf254fbe1a6f78088b",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 4,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "turquoise patterned worktable",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "96517ae02ddb-panda",
     "video": "media/sim-96517ae02ddb-panda-s0.mp4",
     "poster": "media/sim-96517ae02ddb-panda-s0.jpg",
     "trajectory": "trajectories/96517ae02ddb-panda.json",
     "recipe": "recipes/96517ae02ddb-panda.json",
     "seed": 0,
     "steps": 316,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0001
      ],
      [
       0.08,
       0.0005
      ],
      [
       0.1,
       0.0014
      ],
      [
       0.12,
       0.0028
      ],
      [
       0.14,
       0.0048
      ],
      [
       0.16,
       0.0072
      ],
      [
       0.18,
       0.0098
      ],
      [
       0.2,
       0.0125
      ],
      [
       0.22,
       0.015
      ],
      [
       0.24,
       0.0171
      ],
      [
       0.26,
       0.0191
      ],
      [
       0.28,
       0.021
      ],
      [
       0.3,
       0.0231
      ],
      [
       0.32,
       0.0253
      ],
      [
       0.34,
       0.0276
      ],
      [
       0.36,
       0.03
      ],
      [
       0.38,
       0.0325
      ],
      [
       0.4,
       0.0349
      ],
      [
       0.42,
       0.0373
      ],
      [
       0.44,
       0.0398
      ],
      [
       0.46,
       0.0422
      ],
      [
       0.48,
       0.0447
      ],
      [
       0.5,
       0.0472
      ],
      [
       0.52,
       0.0497
      ],
      [
       0.54,
       0.0522
      ],
      [
       0.56,
       0.0547
      ],
      [
       0.58,
       0.0572
      ],
      [
       0.6,
       0.0597
      ],
      [
       0.62,
       0.0622
      ],
      [
       0.64,
       0.0647
      ],
      [
       0.66,
       0.0671
      ],
      [
       0.68,
       0.0695
      ],
      [
       0.7,
       0.0719
      ],
      [
       0.72,
       0.0742
      ],
      [
       0.74,
       0.0765
      ],
      [
       0.76,
       0.0788
      ],
      [
       0.78,
       0.081
      ],
      [
       0.8,
       0.0832
      ],
      [
       0.82,
       0.0853
      ],
      [
       0.84,
       0.0874
      ],
      [
       0.86,
       0.0894
      ],
      [
       0.88,
       0.0914
      ],
      [
       0.9,
       0.0933
      ],
      [
       0.92,
       0.0952
      ],
      [
       0.94,
       0.097
      ],
      [
       0.96,
       0.0988
      ],
      [
       0.98,
       0.1005
      ],
      [
       1.0,
       0.1023
      ],
      [
       1.02,
       0.104
      ],
      [
       1.04,
       0.1057
      ],
      [
       1.06,
       0.1073
      ],
      [
       1.08,
       0.1089
      ],
      [
       1.1,
       0.1106
      ],
      [
       1.12,
       0.1122
      ],
      [
       1.14,
       0.1137
      ],
      [
       1.16,
       0.1151
      ],
      [
       1.18,
       0.1165
      ],
      [
       1.2,
       0.118
      ],
      [
       1.22,
       0.1196
      ],
      [
       1.24,
       0.1213
      ],
      [
       1.26,
       0.1229
      ],
      [
       1.28,
       0.1246
      ],
      [
       1.3,
       0.1263
      ],
      [
       1.32,
       0.128
      ],
      [
       1.34,
       0.1297
      ],
      [
       1.36,
       0.1315
      ],
      [
       1.38,
       0.1334
      ],
      [
       1.4,
       0.1353
      ],
      [
       1.42,
       0.1373
      ],
      [
       1.44,
       0.1394
      ],
      [
       1.46,
       0.1416
      ],
      [
       1.48,
       0.1441
      ],
      [
       1.5,
       0.1469
      ],
      [
       1.52,
       0.1495
      ],
      [
       1.54,
       0.1468
      ],
      [
       1.56,
       0.146
      ],
      [
       1.58,
       0.1462
      ],
      [
       1.6,
       0.1467
      ],
      [
       1.62,
       0.147
      ],
      [
       1.64,
       0.1472
      ],
      [
       1.66,
       0.1474
      ],
      [
       1.68,
       0.1475
      ],
      [
       1.7,
       0.1475
      ],
      [
       1.72,
       0.1476
      ],
      [
       1.74,
       0.1476
      ],
      [
       1.76,
       0.1476
      ],
      [
       1.78,
       0.1476
      ],
      [
       1.8,
       0.1476
      ],
      [
       1.82,
       0.1476
      ],
      [
       1.84,
       0.1477
      ],
      [
       1.86,
       0.1477
      ],
      [
       1.88,
       0.1477
      ],
      [
       1.9,
       0.1477
      ],
      [
       1.92,
       0.1477
      ],
      [
       1.94,
       0.1477
      ],
      [
       1.96,
       0.1477
      ],
      [
       1.98,
       0.1477
      ],
      [
       2.0,
       0.1477
      ],
      [
       2.02,
       0.1477
      ],
      [
       2.04,
       0.1477
      ],
      [
       2.06,
       0.1477
      ],
      [
       2.08,
       0.1476
      ],
      [
       2.1,
       0.1477
      ],
      [
       2.12,
       0.1477
      ],
      [
       2.14,
       0.1477
      ],
      [
       2.16,
       0.1478
      ],
      [
       2.18,
       0.1478
      ],
      [
       2.2,
       0.1478
      ],
      [
       2.22,
       0.1478
      ],
      [
       2.24,
       0.1479
      ],
      [
       2.26,
       0.1479
      ],
      [
       2.28,
       0.1479
      ],
      [
       2.3,
       0.1479
      ],
      [
       2.32,
       0.148
      ],
      [
       2.34,
       0.148
      ],
      [
       2.36,
       0.148
      ],
      [
       2.38,
       0.148
      ],
      [
       2.4,
       0.1481
      ],
      [
       2.42,
       0.1481
      ],
      [
       2.44,
       0.1481
      ],
      [
       2.46,
       0.1481
      ],
      [
       2.48,
       0.1482
      ],
      [
       2.5,
       0.1482
      ],
      [
       2.52,
       0.1482
      ],
      [
       2.54,
       0.4383
      ],
      [
       2.56,
       0.4385
      ],
      [
       2.58,
       0.4385
      ],
      [
       2.6,
       0.4383
      ],
      [
       2.62,
       0.438
      ],
      [
       2.64,
       0.4376
      ],
      [
       2.66,
       0.437
      ],
      [
       2.68,
       0.4362
      ],
      [
       2.7,
       0.4352
      ],
      [
       2.72,
       0.4343
      ],
      [
       2.74,
       0.4333
      ],
      [
       2.76,
       0.4323
      ],
      [
       2.78,
       0.4313
      ],
      [
       2.8,
       0.4303
      ],
      [
       2.82,
       0.4292
      ],
      [
       2.84,
       0.4282
      ],
      [
       2.86,
       0.427
      ],
      [
       2.88,
       0.4258
      ],
      [
       2.9,
       0.4245
      ],
      [
       2.92,
       0.4233
      ],
      [
       2.94,
       0.422
      ],
      [
       2.96,
       0.4207
      ],
      [
       2.98,
       0.4194
      ],
      [
       3.0,
       0.418
      ],
      [
       3.02,
       0.4166
      ],
      [
       3.04,
       0.4151
      ],
      [
       3.06,
       0.4134
      ],
      [
       3.08,
       0.4113
      ],
      [
       3.1,
       0.4089
      ],
      [
       3.12,
       0.4061
      ],
      [
       3.14,
       0.4058
      ],
      [
       3.16,
       0.4079
      ],
      [
       3.18,
       0.4127
      ],
      [
       3.2,
       0.4204
      ],
      [
       3.22,
       0.4308
      ],
      [
       3.24,
       0.443
      ],
      [
       3.26,
       0.4562
      ],
      [
       3.28,
       0.47
      ],
      [
       3.3,
       0.484
      ],
      [
       3.32,
       0.4982
      ],
      [
       3.34,
       0.5128
      ],
      [
       3.36,
       0.5279
      ],
      [
       3.38,
       0.5435
      ],
      [
       3.4,
       0.5596
      ],
      [
       3.42,
       0.5761
      ],
      [
       3.44,
       0.593
      ],
      [
       3.46,
       0.6103
      ],
      [
       3.48,
       0.6279
      ],
      [
       3.5,
       0.6457
      ],
      [
       3.52,
       0.6639
      ],
      [
       3.54,
       0.6824
      ],
      [
       3.56,
       0.7011
      ],
      [
       3.58,
       0.7201
      ],
      [
       3.6,
       0.7393
      ],
      [
       3.62,
       0.7587
      ],
      [
       3.64,
       0.7783
      ],
      [
       3.66,
       0.7981
      ],
      [
       3.68,
       0.8181
      ],
      [
       3.7,
       0.8381
      ],
      [
       3.72,
       0.8582
      ],
      [
       3.74,
       0.8782
      ],
      [
       3.76,
       0.8981
      ],
      [
       3.78,
       0.9
      ],
      [
       3.8,
       0.9
      ],
      [
       3.82,
       0.9
      ],
      [
       3.84,
       0.9
      ],
      [
       3.86,
       0.9
      ],
      [
       3.88,
       0.9
      ],
      [
       3.9,
       0.9
      ],
      [
       3.92,
       0.9
      ],
      [
       3.94,
       0.9
      ],
      [
       3.96,
       0.9
      ],
      [
       3.98,
       0.9
      ],
      [
       4.0,
       0.9
      ],
      [
       4.02,
       0.9
      ],
      [
       4.04,
       0.9
      ],
      [
       4.06,
       0.9
      ],
      [
       4.08,
       0.9
      ],
      [
       4.1,
       0.9
      ],
      [
       4.12,
       0.9
      ],
      [
       4.14,
       0.9
      ],
      [
       4.16,
       0.9
      ],
      [
       4.18,
       0.9
      ],
      [
       4.2,
       0.9
      ],
      [
       4.22,
       0.9
      ],
      [
       4.24,
       0.9
      ],
      [
       4.26,
       0.9
      ],
      [
       4.28,
       0.9
      ],
      [
       4.3,
       0.9
      ],
      [
       4.32,
       0.9
      ],
      [
       4.34,
       0.9
      ],
      [
       4.36,
       0.9
      ],
      [
       4.38,
       0.9
      ],
      [
       4.4,
       0.9
      ],
      [
       4.42,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.46,
       0.9
      ],
      [
       4.48,
       0.9
      ],
      [
       4.5,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.54,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.58,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.62,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.66,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.7,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.74,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.78,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.82,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.86,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.9,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.94,
       1.0
      ],
      [
       4.96,
       0.9
      ],
      [
       4.98,
       1.0
      ],
      [
       5.0,
       1.0
      ],
      [
       5.02,
       1.0
      ],
      [
       5.04,
       1.0
      ],
      [
       5.06,
       1.0
      ],
      [
       5.08,
       1.0
      ],
      [
       5.1,
       1.0
      ],
      [
       5.12,
       1.0
      ],
      [
       5.14,
       1.0
      ],
      [
       5.16,
       1.0
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       1.0
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       0.9
      ],
      [
       5.34,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.38,
       0.9
      ],
      [
       5.4,
       1.0
      ],
      [
       5.42,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.46,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.5,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.54,
       1.0
      ],
      [
       5.56,
       1.0
      ],
      [
       5.58,
       1.0
      ],
      [
       5.6,
       1.0
      ],
      [
       5.62,
       0.9
      ],
      [
       5.64,
       1.0
      ],
      [
       5.66,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.7,
       1.0
      ],
      [
       5.72,
       0.9
      ],
      [
       5.74,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.78,
       1.0
      ],
      [
       5.8,
       0.9
      ],
      [
       5.82,
       0.9
      ],
      [
       5.84,
       1.0
      ],
      [
       5.86,
       1.0
      ],
      [
       5.88,
       1.0
      ],
      [
       5.9,
       1.0
      ],
      [
       5.92,
       1.0
      ],
      [
       5.94,
       1.0
      ],
      [
       5.96,
       1.0
      ],
      [
       5.98,
       1.0
      ],
      [
       6.0,
       1.0
      ],
      [
       6.02,
       1.0
      ],
      [
       6.04,
       1.0
      ],
      [
       6.06,
       1.0
      ],
      [
       6.08,
       1.0
      ],
      [
       6.1,
       1.0
      ],
      [
       6.12,
       1.0
      ],
      [
       6.14,
       1.0
      ],
      [
       6.16,
       1.0
      ],
      [
       6.18,
       1.0
      ],
      [
       6.2,
       1.0
      ],
      [
       6.22,
       1.0
      ],
      [
       6.24,
       1.0
      ],
      [
       6.26,
       1.0
      ],
      [
       6.28,
       1.0
      ],
      [
       6.3,
       1.0
      ],
      [
       6.32,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "67ff2911e3b9cb7226fd57c498eb69612da10adbfc75fa3451bd7b365a782eed",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.2804583120921185e-05,
       "final_progress": 3.280458312092116e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.00511541889264131,
       "final_progress": 0.00511541889264131,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 316,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx88",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "goal_support",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "96517ae02ddb-aloha",
     "video": "media/sim-96517ae02ddb-aloha-s5.mp4",
     "poster": "media/sim-96517ae02ddb-aloha-s5.jpg",
     "trajectory": "trajectories/96517ae02ddb-aloha.json",
     "recipe": "recipes/96517ae02ddb-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0029
      ],
      [
       0.28,
       0.0072
      ],
      [
       0.42,
       0.0129
      ],
      [
       0.56,
       0.0201
      ],
      [
       0.7,
       0.0291
      ],
      [
       0.84,
       0.0401
      ],
      [
       0.98,
       0.0532
      ],
      [
       1.12,
       0.0692
      ],
      [
       1.26,
       0.0878
      ],
      [
       1.4,
       0.1006
      ],
      [
       1.54,
       0.1061
      ],
      [
       1.68,
       0.1071
      ],
      [
       1.82,
       0.1063
      ],
      [
       1.96,
       0.1054
      ],
      [
       2.1,
       0.1051
      ],
      [
       2.24,
       0.1051
      ],
      [
       2.38,
       0.1049
      ],
      [
       2.52,
       0.1047
      ],
      [
       2.66,
       0.1047
      ],
      [
       2.8,
       0.1022
      ],
      [
       2.94,
       0.1007
      ],
      [
       3.08,
       0.0993
      ],
      [
       3.22,
       0.1026
      ],
      [
       3.36,
       0.1072
      ],
      [
       3.5,
       0.109
      ],
      [
       3.64,
       0.1105
      ],
      [
       3.78,
       0.1119
      ],
      [
       3.92,
       0.113
      ],
      [
       4.06,
       0.114
      ],
      [
       4.2,
       0.1153
      ],
      [
       4.34,
       0.1179
      ],
      [
       4.48,
       0.122
      ],
      [
       4.62,
       0.1273
      ],
      [
       4.76,
       0.1305
      ],
      [
       4.9,
       0.1321
      ],
      [
       5.04,
       0.1333
      ],
      [
       5.18,
       0.1343
      ],
      [
       5.32,
       0.1352
      ],
      [
       5.46,
       0.1359
      ],
      [
       5.6,
       0.1362
      ],
      [
       5.74,
       0.1356
      ],
      [
       5.88,
       0.1349
      ],
      [
       6.02,
       0.1343
      ],
      [
       6.16,
       0.1367
      ],
      [
       6.3,
       0.1411
      ],
      [
       6.44,
       0.1425
      ],
      [
       6.58,
       0.1446
      ],
      [
       6.72,
       0.1446
      ],
      [
       6.86,
       0.1445
      ],
      [
       7.0,
       0.1446
      ],
      [
       7.14,
       0.1449
      ],
      [
       7.28,
       0.1455
      ],
      [
       7.42,
       0.146
      ],
      [
       7.56,
       0.1462
      ],
      [
       7.7,
       0.1462
      ],
      [
       7.84,
       0.1458
      ],
      [
       7.98,
       0.1451
      ],
      [
       8.12,
       0.1438
      ],
      [
       8.26,
       0.1428
      ],
      [
       8.4,
       0.1429
      ],
      [
       8.54,
       0.1429
      ],
      [
       8.68,
       0.143
      ],
      [
       8.82,
       0.1429
      ],
      [
       8.96,
       0.1429
      ],
      [
       9.1,
       0.1431
      ],
      [
       9.24,
       0.1432
      ],
      [
       9.38,
       0.1432
      ],
      [
       9.52,
       0.1433
      ],
      [
       9.66,
       0.1433
      ],
      [
       9.8,
       0.1433
      ],
      [
       9.94,
       0.1433
      ],
      [
       10.08,
       0.1433
      ],
      [
       10.22,
       0.143
      ],
      [
       10.36,
       0.4
      ],
      [
       10.5,
       0.4
      ],
      [
       10.64,
       0.4
      ],
      [
       10.78,
       0.4
      ],
      [
       10.92,
       0.4
      ],
      [
       11.06,
       0.4
      ],
      [
       11.2,
       0.4
      ],
      [
       11.34,
       0.4
      ],
      [
       11.48,
       0.4
      ],
      [
       11.62,
       0.4
      ],
      [
       11.76,
       0.4
      ],
      [
       11.9,
       0.4
      ],
      [
       12.04,
       0.4
      ],
      [
       12.18,
       0.4
      ],
      [
       12.32,
       0.4426
      ],
      [
       12.46,
       0.5324
      ],
      [
       12.6,
       0.6274
      ],
      [
       12.74,
       0.724
      ],
      [
       12.88,
       0.8192
      ],
      [
       13.02,
       0.9
      ],
      [
       13.16,
       0.9
      ],
      [
       13.3,
       0.8975
      ],
      [
       13.44,
       0.8831
      ],
      [
       13.58,
       0.8807
      ],
      [
       13.72,
       0.8876
      ],
      [
       13.86,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.14,
       0.9
      ],
      [
       14.28,
       0.9
      ],
      [
       14.42,
       0.9
      ],
      [
       14.56,
       0.9
      ],
      [
       14.7,
       0.9
      ],
      [
       14.84,
       0.9
      ],
      [
       14.98,
       0.9
      ],
      [
       15.12,
       0.9
      ],
      [
       15.26,
       0.9
      ],
      [
       15.4,
       0.9
      ],
      [
       15.54,
       0.9
      ],
      [
       15.68,
       0.9
      ],
      [
       15.82,
       0.9
      ],
      [
       15.96,
       0.9
      ],
      [
       16.1,
       0.9
      ],
      [
       16.24,
       0.9
      ],
      [
       16.38,
       0.9
      ],
      [
       16.52,
       0.9
      ],
      [
       16.66,
       0.9
      ],
      [
       16.8,
       0.9
      ],
      [
       16.94,
       0.9
      ],
      [
       17.08,
       0.9
      ],
      [
       17.22,
       0.9
      ],
      [
       17.36,
       0.9
      ],
      [
       17.5,
       0.9
      ],
      [
       17.64,
       0.9
      ],
      [
       17.78,
       0.9
      ],
      [
       17.92,
       0.9
      ],
      [
       18.06,
       0.9
      ],
      [
       18.2,
       0.9
      ],
      [
       18.34,
       0.9
      ],
      [
       18.48,
       0.9
      ],
      [
       18.62,
       0.9
      ],
      [
       18.76,
       0.9
      ],
      [
       18.9,
       0.9
      ],
      [
       19.04,
       0.9
      ],
      [
       19.18,
       0.9
      ],
      [
       19.32,
       0.9
      ],
      [
       19.46,
       0.8998
      ],
      [
       19.6,
       0.9
      ],
      [
       19.74,
       0.9
      ],
      [
       19.88,
       0.9
      ],
      [
       20.02,
       0.9
      ],
      [
       20.16,
       0.9
      ],
      [
       20.3,
       1.0
      ],
      [
       20.44,
       1.0
      ],
      [
       20.58,
       1.0
      ],
      [
       20.72,
       1.0
      ],
      [
       20.86,
       1.0
      ],
      [
       21.0,
       1.0
      ],
      [
       21.14,
       1.0
      ],
      [
       21.28,
       1.0
      ],
      [
       21.42,
       1.0
      ],
      [
       21.56,
       0.9
      ],
      [
       21.7,
       1.0
      ],
      [
       21.84,
       1.0
      ],
      [
       21.98,
       1.0
      ],
      [
       22.12,
       1.0
      ],
      [
       22.26,
       1.0
      ],
      [
       22.4,
       1.0
      ],
      [
       22.54,
       1.0
      ],
      [
       22.68,
       1.0
      ],
      [
       22.82,
       1.0
      ],
      [
       22.96,
       1.0
      ],
      [
       23.1,
       1.0
      ],
      [
       23.24,
       0.9
      ],
      [
       23.38,
       1.0
      ],
      [
       23.52,
       1.0
      ],
      [
       23.66,
       1.0
      ],
      [
       23.8,
       1.0
      ],
      [
       23.94,
       1.0
      ],
      [
       24.0,
       0.8988
      ]
     ],
     "total_reward": 0.5338,
     "initial_progress": 0.0,
     "final_progress": 0.8988,
     "physics_sha256": "937b8f5db863b41069e34f3760fdf8442046002e50cd9ad9c7a87389a1094bc9",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0005237639274809691,
       "final_progress": 0.0005237639274809691,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.011238566312213255,
       "final_progress": 0.011238566312213255,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.5350653818266066,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.88419389082501,
       "final_progress": 0.88419389082501
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 4.743384504624082e-20,
       "final_progress": 0.0
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0,
       "final_progress": 0.0
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8998341443666658,
       "final_progress": 0.8998341443666658
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8645973844299798,
       "final_progress": 0.8645973844299798
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.5338273019969935,
       "final_progress": 0.8987619201703869
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "puzzle_cube_ctx88",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "cream_plastic_tray_box_0",
       "source": "primitive:tray",
       "grounding": "observed",
       "role": "goal_support",
       "label": "cream plastic tray box"
      },
      {
       "name": "pink_patterned_bag_0",
       "source": "primitive:plastic_bag",
       "grounding": "observed",
       "role": "clutter",
       "label": "pink patterned bag"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "added_context",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "mug_0",
       "source": "ycb:025_mug",
       "grounding": "added_context",
       "role": "clutter",
       "label": "mug"
      },
      {
       "name": "water_bottle_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "added_context",
       "role": "clutter",
       "label": "water bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "d213ec154b2303b5c798bcccc8a5ac722cb6b169c68afba674730033750ffe68",
   "recording_id": 12615,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "dark speckled kitchen countertop",
   "human_action": true,
   "description": "In the footage: Wipe the visible dark speckled kitchen countertop with the dark wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 14\u00d76 cm patch (square to the table edge) on the dark speckled kitchen countertop among the green cutting board and the red container and sweep it row by row at 2\u201310 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 2\u201310 N, no object moved >2 cm, peak force \u226430 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 12615,
    "contributor_id": 11,
    "video": "media/source-12615-86c268077604.mp4",
    "poster": "media/source-12615.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12615,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12615_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 32.47,
      "original_end_s": 52.47,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "d87ff9cb28011eb330edcbee03dc5dc1ba422f18b426630c811272774c57f95f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 0,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "dark speckled kitchen countertop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "d213ec154b23-panda",
     "video": "media/sim-d213ec154b23-panda-s1.mp4",
     "poster": "media/sim-d213ec154b23-panda-s1.jpg",
     "trajectory": "trajectories/d213ec154b23-panda.json",
     "recipe": "recipes/d213ec154b23-panda.json",
     "seed": 1,
     "steps": 428,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0001
      ],
      [
       0.08,
       0.0012
      ],
      [
       0.12,
       0.0038
      ],
      [
       0.16,
       0.0067
      ],
      [
       0.2,
       0.0094
      ],
      [
       0.24,
       0.0121
      ],
      [
       0.28,
       0.0152
      ],
      [
       0.32,
       0.0186
      ],
      [
       0.36,
       0.0221
      ],
      [
       0.4,
       0.0257
      ],
      [
       0.44,
       0.0295
      ],
      [
       0.48,
       0.0336
      ],
      [
       0.52,
       0.0378
      ],
      [
       0.56,
       0.0422
      ],
      [
       0.6,
       0.0467
      ],
      [
       0.64,
       0.0513
      ],
      [
       0.68,
       0.0561
      ],
      [
       0.72,
       0.061
      ],
      [
       0.76,
       0.0659
      ],
      [
       0.8,
       0.0709
      ],
      [
       0.84,
       0.0761
      ],
      [
       0.88,
       0.0815
      ],
      [
       0.92,
       0.0871
      ],
      [
       0.96,
       0.0928
      ],
      [
       1.0,
       0.0987
      ],
      [
       1.04,
       0.1047
      ],
      [
       1.08,
       0.1109
      ],
      [
       1.12,
       0.1172
      ],
      [
       1.16,
       0.1236
      ],
      [
       1.2,
       0.1301
      ],
      [
       1.24,
       0.1367
      ],
      [
       1.28,
       0.1424
      ],
      [
       1.32,
       0.1406
      ],
      [
       1.36,
       0.1382
      ],
      [
       1.4,
       0.1409
      ],
      [
       1.44,
       0.1427
      ],
      [
       1.48,
       0.1428
      ],
      [
       1.52,
       0.143
      ],
      [
       1.56,
       0.1432
      ],
      [
       1.6,
       0.1421
      ],
      [
       1.64,
       0.1407
      ],
      [
       1.68,
       0.1396
      ],
      [
       1.72,
       0.1393
      ],
      [
       1.76,
       0.1396
      ],
      [
       1.8,
       0.1401
      ],
      [
       1.84,
       0.1405
      ],
      [
       1.88,
       0.1407
      ],
      [
       1.92,
       0.141
      ],
      [
       1.96,
       0.1416
      ],
      [
       2.0,
       0.1425
      ],
      [
       2.04,
       0.1437
      ],
      [
       2.08,
       0.1449
      ],
      [
       2.12,
       0.146
      ],
      [
       2.16,
       0.1468
      ],
      [
       2.2,
       0.1474
      ],
      [
       2.24,
       0.1478
      ],
      [
       2.28,
       0.1481
      ],
      [
       2.32,
       0.1486
      ],
      [
       2.36,
       0.1491
      ],
      [
       2.4,
       0.1496
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.15
      ],
      [
       2.84,
       0.15
      ],
      [
       2.88,
       0.15
      ],
      [
       2.92,
       0.15
      ],
      [
       2.96,
       0.15
      ],
      [
       3.0,
       0.15
      ],
      [
       3.04,
       0.3119
      ],
      [
       3.08,
       0.3119
      ],
      [
       3.12,
       0.3119
      ],
      [
       3.16,
       0.3119
      ],
      [
       3.2,
       0.3119
      ],
      [
       3.24,
       0.3119
      ],
      [
       3.28,
       0.3119
      ],
      [
       3.32,
       0.3119
      ],
      [
       3.36,
       0.3119
      ],
      [
       3.4,
       0.3119
      ],
      [
       3.44,
       0.3119
      ],
      [
       3.48,
       0.3119
      ],
      [
       3.52,
       0.3119
      ],
      [
       3.56,
       0.3119
      ],
      [
       3.6,
       0.3119
      ],
      [
       3.64,
       0.3119
      ],
      [
       3.68,
       0.3119
      ],
      [
       3.72,
       0.3119
      ],
      [
       3.76,
       0.3119
      ],
      [
       3.8,
       0.3119
      ],
      [
       3.84,
       0.3119
      ],
      [
       3.88,
       0.3119
      ],
      [
       3.92,
       0.3119
      ],
      [
       3.96,
       0.3119
      ],
      [
       4.0,
       0.3119
      ],
      [
       4.04,
       0.3119
      ],
      [
       4.08,
       0.3119
      ],
      [
       4.12,
       0.3119
      ],
      [
       4.16,
       0.3119
      ],
      [
       4.2,
       0.3119
      ],
      [
       4.24,
       0.3119
      ],
      [
       4.28,
       0.3119
      ],
      [
       4.32,
       0.3119
      ],
      [
       4.36,
       0.3119
      ],
      [
       4.4,
       0.3119
      ],
      [
       4.44,
       0.3119
      ],
      [
       4.48,
       0.3119
      ],
      [
       4.52,
       0.3119
      ],
      [
       4.56,
       0.3119
      ],
      [
       4.6,
       0.3119
      ],
      [
       4.64,
       0.3119
      ],
      [
       4.68,
       0.3119
      ],
      [
       4.72,
       0.3119
      ],
      [
       4.76,
       0.3119
      ],
      [
       4.8,
       0.3119
      ],
      [
       4.84,
       0.3119
      ],
      [
       4.88,
       0.3119
      ],
      [
       4.92,
       0.3119
      ],
      [
       4.96,
       0.3119
      ],
      [
       5.0,
       0.3119
      ],
      [
       5.04,
       0.3119
      ],
      [
       5.08,
       0.3119
      ],
      [
       5.12,
       0.4738
      ],
      [
       5.16,
       0.4738
      ],
      [
       5.2,
       0.4738
      ],
      [
       5.24,
       0.4738
      ],
      [
       5.28,
       0.4738
      ],
      [
       5.32,
       0.5548
      ],
      [
       5.36,
       0.5548
      ],
      [
       5.4,
       0.5548
      ],
      [
       5.44,
       0.5548
      ],
      [
       5.48,
       0.5548
      ],
      [
       5.52,
       0.5548
      ],
      [
       5.56,
       0.5548
      ],
      [
       5.6,
       0.5548
      ],
      [
       5.64,
       0.5548
      ],
      [
       5.68,
       0.5548
      ],
      [
       5.72,
       0.5548
      ],
      [
       5.76,
       0.6357
      ],
      [
       5.8,
       0.6357
      ],
      [
       5.84,
       0.6357
      ],
      [
       5.88,
       0.6357
      ],
      [
       5.92,
       0.6357
      ],
      [
       5.96,
       0.6357
      ],
      [
       6.0,
       0.6357
      ],
      [
       6.04,
       0.6357
      ],
      [
       6.08,
       0.6357
      ],
      [
       6.12,
       0.6357
      ],
      [
       6.16,
       0.6357
      ],
      [
       6.2,
       0.7167
      ],
      [
       6.24,
       0.7167
      ],
      [
       6.28,
       0.7167
      ],
      [
       6.32,
       0.7167
      ],
      [
       6.36,
       0.7167
      ],
      [
       6.4,
       0.7167
      ],
      [
       6.44,
       0.7167
      ],
      [
       6.48,
       0.7167
      ],
      [
       6.52,
       0.7167
      ],
      [
       6.56,
       0.7976
      ],
      [
       6.6,
       0.7976
      ],
      [
       6.64,
       0.7976
      ],
      [
       6.68,
       0.7976
      ],
      [
       6.72,
       0.7976
      ],
      [
       6.76,
       0.7976
      ],
      [
       6.8,
       0.7976
      ],
      [
       6.84,
       0.7976
      ],
      [
       6.88,
       0.7976
      ],
      [
       6.92,
       0.7976
      ],
      [
       6.96,
       0.8381
      ],
      [
       7.0,
       0.8381
      ],
      [
       7.04,
       0.8381
      ],
      [
       7.08,
       0.8381
      ],
      [
       7.12,
       0.8381
      ],
      [
       7.16,
       0.8381
      ],
      [
       7.2,
       0.8381
      ],
      [
       7.24,
       0.8381
      ],
      [
       7.28,
       0.8381
      ],
      [
       7.32,
       0.8381
      ],
      [
       7.36,
       0.8786
      ],
      [
       7.4,
       0.8786
      ],
      [
       7.44,
       0.8786
      ],
      [
       7.48,
       0.8786
      ],
      [
       7.52,
       0.8786
      ],
      [
       7.56,
       0.8786
      ],
      [
       7.6,
       0.8786
      ],
      [
       7.64,
       0.8786
      ],
      [
       7.68,
       0.8786
      ],
      [
       7.72,
       0.8786
      ],
      [
       7.76,
       0.8786
      ],
      [
       7.8,
       0.8786
      ],
      [
       7.84,
       0.8786
      ],
      [
       7.88,
       0.8786
      ],
      [
       7.92,
       0.8786
      ],
      [
       7.96,
       0.8786
      ],
      [
       8.0,
       0.8786
      ],
      [
       8.04,
       0.8786
      ],
      [
       8.08,
       0.8786
      ],
      [
       8.12,
       0.8786
      ],
      [
       8.16,
       0.8786
      ],
      [
       8.2,
       0.8786
      ],
      [
       8.24,
       0.8786
      ],
      [
       8.28,
       0.8786
      ],
      [
       8.32,
       0.8786
      ],
      [
       8.36,
       0.8786
      ],
      [
       8.4,
       0.8786
      ],
      [
       8.44,
       0.8786
      ],
      [
       8.48,
       0.8786
      ],
      [
       8.52,
       0.8786
      ],
      [
       8.56,
       0.9595
      ]
     ],
     "total_reward": 1.9081,
     "initial_progress": 0.0,
     "final_progress": 0.9595,
     "physics_sha256": "09273bc85350a8d56c9bb52a0c7f9f65c6741fa335a484dfb72ac7eb3b77ff06",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.7499999999999999,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.10238095238095235,
       "final_progress": 0.35238095238095235,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.824049237860031,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 428,
       "return": 1.9081462832605844,
       "final_progress": 0.9595238095238094
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    },
    "aloha": {
     "gym_id": "d213ec154b23-aloha",
     "video": "media/sim-d213ec154b23-aloha-s2.mp4",
     "poster": "media/sim-d213ec154b23-aloha-s2.jpg",
     "trajectory": "trajectories/d213ec154b23-aloha.json",
     "recipe": "recipes/d213ec154b23-aloha.json",
     "seed": 2,
     "steps": 554,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0011
      ],
      [
       0.12,
       0.0042
      ],
      [
       0.18,
       0.008
      ],
      [
       0.24,
       0.0121
      ],
      [
       0.3,
       0.0167
      ],
      [
       0.36,
       0.0216
      ],
      [
       0.42,
       0.0271
      ],
      [
       0.48,
       0.033
      ],
      [
       0.54,
       0.0396
      ],
      [
       0.6,
       0.0468
      ],
      [
       0.66,
       0.0547
      ],
      [
       0.72,
       0.0633
      ],
      [
       0.78,
       0.0726
      ],
      [
       0.84,
       0.0824
      ],
      [
       0.9,
       0.0929
      ],
      [
       0.96,
       0.1044
      ],
      [
       1.02,
       0.1172
      ],
      [
       1.08,
       0.1303
      ],
      [
       1.14,
       0.136
      ],
      [
       1.2,
       0.1372
      ],
      [
       1.26,
       0.1383
      ],
      [
       1.32,
       0.1394
      ],
      [
       1.38,
       0.1405
      ],
      [
       1.44,
       0.1416
      ],
      [
       1.5,
       0.1424
      ],
      [
       1.56,
       0.143
      ],
      [
       1.62,
       0.1427
      ],
      [
       1.68,
       0.1417
      ],
      [
       1.74,
       0.1398
      ],
      [
       1.8,
       0.1373
      ],
      [
       1.86,
       0.1346
      ],
      [
       1.92,
       0.1336
      ],
      [
       1.98,
       0.1344
      ],
      [
       2.04,
       0.1354
      ],
      [
       2.1,
       0.1361
      ],
      [
       2.16,
       0.1374
      ],
      [
       2.22,
       0.1399
      ],
      [
       2.28,
       0.1427
      ],
      [
       2.34,
       0.1446
      ],
      [
       2.4,
       0.1451
      ],
      [
       2.46,
       0.1447
      ],
      [
       2.52,
       0.1441
      ],
      [
       2.58,
       0.1437
      ],
      [
       2.64,
       0.1435
      ],
      [
       2.7,
       0.1433
      ],
      [
       2.76,
       0.1433
      ],
      [
       2.82,
       0.1432
      ],
      [
       2.88,
       0.143
      ],
      [
       2.94,
       0.1426
      ],
      [
       3.0,
       0.142
      ],
      [
       3.06,
       0.1413
      ],
      [
       3.12,
       0.1407
      ],
      [
       3.18,
       0.1401
      ],
      [
       3.24,
       0.1396
      ],
      [
       3.3,
       0.139
      ],
      [
       3.36,
       0.1385
      ],
      [
       3.42,
       0.1379
      ],
      [
       3.48,
       0.1372
      ],
      [
       3.54,
       0.1365
      ],
      [
       3.6,
       0.1358
      ],
      [
       3.66,
       0.1351
      ],
      [
       3.72,
       0.1345
      ],
      [
       3.78,
       0.134
      ],
      [
       3.84,
       0.1337
      ],
      [
       3.9,
       0.1334
      ],
      [
       3.96,
       0.1331
      ],
      [
       4.02,
       0.1329
      ],
      [
       4.08,
       0.1328
      ],
      [
       4.14,
       0.1325
      ],
      [
       4.2,
       0.1326
      ],
      [
       4.26,
       0.1348
      ],
      [
       4.32,
       0.1387
      ],
      [
       4.38,
       0.1435
      ],
      [
       4.44,
       0.1478
      ],
      [
       4.5,
       0.15
      ],
      [
       4.56,
       0.15
      ],
      [
       4.62,
       0.15
      ],
      [
       4.68,
       0.15
      ],
      [
       4.74,
       0.15
      ],
      [
       4.8,
       0.15
      ],
      [
       4.86,
       0.15
      ],
      [
       4.92,
       0.15
      ],
      [
       4.98,
       0.3119
      ],
      [
       5.04,
       0.3119
      ],
      [
       5.1,
       0.3119
      ],
      [
       5.16,
       0.3119
      ],
      [
       5.22,
       0.3119
      ],
      [
       5.28,
       0.3119
      ],
      [
       5.34,
       0.3119
      ],
      [
       5.4,
       0.3119
      ],
      [
       5.46,
       0.3119
      ],
      [
       5.52,
       0.3119
      ],
      [
       5.58,
       0.3119
      ],
      [
       5.64,
       0.3119
      ],
      [
       5.7,
       0.3119
      ],
      [
       5.76,
       0.3119
      ],
      [
       5.82,
       0.3119
      ],
      [
       5.88,
       0.3119
      ],
      [
       5.94,
       0.3119
      ],
      [
       6.0,
       0.3929
      ],
      [
       6.06,
       0.3929
      ],
      [
       6.12,
       0.3929
      ],
      [
       6.18,
       0.3929
      ],
      [
       6.24,
       0.3929
      ],
      [
       6.3,
       0.3929
      ],
      [
       6.36,
       0.3929
      ],
      [
       6.42,
       0.3929
      ],
      [
       6.48,
       0.3929
      ],
      [
       6.54,
       0.3929
      ],
      [
       6.6,
       0.3929
      ],
      [
       6.66,
       0.3929
      ],
      [
       6.72,
       0.3929
      ],
      [
       6.78,
       0.3929
      ],
      [
       6.84,
       0.4738
      ],
      [
       6.9,
       0.4738
      ],
      [
       6.96,
       0.4738
      ],
      [
       7.02,
       0.4738
      ],
      [
       7.08,
       0.4738
      ],
      [
       7.14,
       0.4738
      ],
      [
       7.2,
       0.4738
      ],
      [
       7.26,
       0.5548
      ],
      [
       7.32,
       0.5548
      ],
      [
       7.38,
       0.5548
      ],
      [
       7.44,
       0.5548
      ],
      [
       7.5,
       0.5548
      ],
      [
       7.56,
       0.5548
      ],
      [
       7.62,
       0.5548
      ],
      [
       7.68,
       0.5548
      ],
      [
       7.74,
       0.5548
      ],
      [
       7.8,
       0.5548
      ],
      [
       7.86,
       0.5548
      ],
      [
       7.92,
       0.5548
      ],
      [
       7.98,
       0.5548
      ],
      [
       8.04,
       0.6357
      ],
      [
       8.1,
       0.6357
      ],
      [
       8.16,
       0.6357
      ],
      [
       8.22,
       0.6357
      ],
      [
       8.28,
       0.6357
      ],
      [
       8.34,
       0.6357
      ],
      [
       8.4,
       0.6357
      ],
      [
       8.46,
       0.6357
      ],
      [
       8.52,
       0.6357
      ],
      [
       8.58,
       0.6357
      ],
      [
       8.64,
       0.6357
      ],
      [
       8.7,
       0.6357
      ],
      [
       8.76,
       0.6357
      ],
      [
       8.82,
       0.6357
      ],
      [
       8.88,
       0.6357
      ],
      [
       8.94,
       0.6357
      ],
      [
       9.0,
       0.7167
      ],
      [
       9.06,
       0.7167
      ],
      [
       9.12,
       0.7167
      ],
      [
       9.18,
       0.7167
      ],
      [
       9.24,
       0.7167
      ],
      [
       9.3,
       0.7167
      ],
      [
       9.36,
       0.7167
      ],
      [
       9.42,
       0.7167
      ],
      [
       9.48,
       0.7167
      ],
      [
       9.54,
       0.7167
      ],
      [
       9.6,
       0.7167
      ],
      [
       9.66,
       0.7976
      ],
      [
       9.72,
       0.7976
      ],
      [
       9.78,
       0.7976
      ],
      [
       9.84,
       0.7976
      ],
      [
       9.9,
       0.7976
      ],
      [
       9.96,
       0.7976
      ],
      [
       10.02,
       0.7976
      ],
      [
       10.08,
       0.7976
      ],
      [
       10.14,
       0.7976
      ],
      [
       10.2,
       0.7976
      ],
      [
       10.26,
       0.8381
      ],
      [
       10.32,
       0.8381
      ],
      [
       10.38,
       0.8381
      ],
      [
       10.44,
       0.8381
      ],
      [
       10.5,
       0.8381
      ],
      [
       10.56,
       0.8381
      ],
      [
       10.62,
       0.8381
      ],
      [
       10.68,
       0.8381
      ],
      [
       10.74,
       0.8381
      ],
      [
       10.8,
       0.8381
      ],
      [
       10.86,
       0.8786
      ],
      [
       10.92,
       0.8786
      ],
      [
       10.98,
       0.8786
      ],
      [
       11.04,
       0.8786
      ],
      [
       11.08,
       0.919
      ]
     ],
     "total_reward": 1.8656,
     "initial_progress": 0.0,
     "final_progress": 0.919,
     "physics_sha256": "9102d520f273100d868ad619923aa743708cb8db3a1ca61e4d04a43082503b5e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0014509901432655681,
       "final_progress": 0.0014509901432655681,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.710505431213761e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.25096137416516995,
       "final_progress": 0.3119047619047619,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9233410798838446,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.9302479921637675,
       "final_progress": 1.0
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 554,
       "return": 1.8655603882557854,
       "final_progress": 0.919047619047619
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    }
   }
  },
  {
   "example_id": "da08b7df936d680e16be354460c6e1a536dceb59a215b16df3bb0ca3a9a95d5b",
   "recording_id": 12615,
   "task_number": 2,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "dark speckled kitchen countertop",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the dark speckled kitchen countertop among the condiment bottles and the green cutting board and pull the drawer 10 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the dark speckled kitchen countertop among the condiment bottles and the green cutting board and pull the drawer 10 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u226510 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 12615,
    "contributor_id": 11,
    "video": "media/source-12615-86c268077604.mp4",
    "poster": "media/source-12615.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12615,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12615_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 32.47,
      "original_end_s": 52.47,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "d87ff9cb28011eb330edcbee03dc5dc1ba422f18b426630c811272774c57f95f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 1,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "dark speckled kitchen countertop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "da08b7df936d-panda",
     "video": "media/sim-da08b7df936d-panda-s0.mp4",
     "poster": "media/sim-da08b7df936d-panda-s0.jpg",
     "trajectory": "trajectories/da08b7df936d-panda.json",
     "recipe": "recipes/da08b7df936d-panda.json",
     "seed": 0,
     "steps": 251,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0
      ],
      [
       1.28,
       0.0
      ],
      [
       1.3,
       0.0
      ],
      [
       1.32,
       0.0
      ],
      [
       1.34,
       0.0014
      ],
      [
       1.36,
       0.0036
      ],
      [
       1.38,
       0.006
      ],
      [
       1.4,
       0.0084
      ],
      [
       1.42,
       0.0109
      ],
      [
       1.44,
       0.0135
      ],
      [
       1.46,
       0.0163
      ],
      [
       1.48,
       0.0192
      ],
      [
       1.5,
       0.0221
      ],
      [
       1.52,
       0.0252
      ],
      [
       1.54,
       0.0284
      ],
      [
       1.56,
       0.0316
      ],
      [
       1.58,
       0.0348
      ],
      [
       1.6,
       0.038
      ],
      [
       1.62,
       0.0411
      ],
      [
       1.64,
       0.044
      ],
      [
       1.66,
       0.0469
      ],
      [
       1.68,
       0.0497
      ],
      [
       1.7,
       0.0523
      ],
      [
       1.72,
       0.0548
      ],
      [
       1.74,
       0.0571
      ],
      [
       1.76,
       0.0592
      ],
      [
       1.78,
       0.0611
      ],
      [
       1.8,
       0.0628
      ],
      [
       1.82,
       0.0644
      ],
      [
       1.84,
       0.0657
      ],
      [
       1.86,
       0.067
      ],
      [
       1.88,
       0.0682
      ],
      [
       1.9,
       0.0693
      ],
      [
       1.92,
       0.0703
      ],
      [
       1.94,
       0.0711
      ],
      [
       1.96,
       0.0718
      ],
      [
       1.98,
       0.0724
      ],
      [
       2.0,
       0.0729
      ],
      [
       2.02,
       0.0734
      ],
      [
       2.04,
       0.0739
      ],
      [
       2.06,
       0.0743
      ],
      [
       2.08,
       0.0748
      ],
      [
       2.1,
       0.0753
      ],
      [
       2.12,
       0.0759
      ],
      [
       2.14,
       0.0764
      ],
      [
       2.16,
       0.0768
      ],
      [
       2.18,
       0.0773
      ],
      [
       2.2,
       0.0778
      ],
      [
       2.22,
       0.0782
      ],
      [
       2.24,
       0.0787
      ],
      [
       2.26,
       0.0792
      ],
      [
       2.28,
       0.0797
      ],
      [
       2.3,
       0.0803
      ],
      [
       2.32,
       0.0809
      ],
      [
       2.34,
       0.0816
      ],
      [
       2.36,
       0.0824
      ],
      [
       2.38,
       0.0833
      ],
      [
       2.4,
       0.0843
      ],
      [
       2.42,
       0.0853
      ],
      [
       2.44,
       0.0864
      ],
      [
       2.46,
       0.0876
      ],
      [
       2.48,
       0.0889
      ],
      [
       2.5,
       0.0902
      ],
      [
       2.52,
       0.0917
      ],
      [
       2.54,
       0.0933
      ],
      [
       2.56,
       0.0949
      ],
      [
       2.58,
       0.0967
      ],
      [
       2.6,
       0.0986
      ],
      [
       2.62,
       0.1007
      ],
      [
       2.64,
       0.1029
      ],
      [
       2.66,
       0.1052
      ],
      [
       2.68,
       0.1078
      ],
      [
       2.7,
       0.1104
      ],
      [
       2.72,
       0.1127
      ],
      [
       2.74,
       0.1148
      ],
      [
       2.76,
       0.1165
      ],
      [
       2.78,
       0.1182
      ],
      [
       2.8,
       0.1197
      ],
      [
       2.82,
       0.121
      ],
      [
       2.84,
       0.1222
      ],
      [
       2.86,
       0.1234
      ],
      [
       2.88,
       0.1247
      ],
      [
       2.9,
       0.1261
      ],
      [
       2.92,
       0.1278
      ],
      [
       2.94,
       0.1296
      ],
      [
       2.96,
       0.1315
      ],
      [
       2.98,
       0.1335
      ],
      [
       3.0,
       0.1355
      ],
      [
       3.02,
       0.1376
      ],
      [
       3.04,
       0.1397
      ],
      [
       3.06,
       0.142
      ],
      [
       3.08,
       0.1442
      ],
      [
       3.1,
       0.1462
      ],
      [
       3.12,
       0.1476
      ],
      [
       3.14,
       0.1473
      ],
      [
       3.16,
       0.1459
      ],
      [
       3.18,
       0.1462
      ],
      [
       3.2,
       0.1464
      ],
      [
       3.22,
       0.1466
      ],
      [
       3.24,
       0.1467
      ],
      [
       3.26,
       0.1467
      ],
      [
       3.28,
       0.1467
      ],
      [
       3.3,
       0.1467
      ],
      [
       3.32,
       0.1467
      ],
      [
       3.34,
       0.1467
      ],
      [
       3.36,
       0.1468
      ],
      [
       3.38,
       0.1468
      ],
      [
       3.4,
       0.1468
      ],
      [
       3.42,
       0.1475
      ],
      [
       3.44,
       0.1502
      ],
      [
       3.46,
       0.1535
      ],
      [
       3.48,
       0.1574
      ],
      [
       3.5,
       0.1617
      ],
      [
       3.52,
       0.1664
      ],
      [
       3.54,
       0.1715
      ],
      [
       3.56,
       0.1771
      ],
      [
       3.58,
       0.1834
      ],
      [
       3.6,
       0.1902
      ],
      [
       3.62,
       0.1975
      ],
      [
       3.64,
       0.2055
      ],
      [
       3.66,
       0.2139
      ],
      [
       3.68,
       0.2229
      ],
      [
       3.7,
       0.2353
      ],
      [
       3.72,
       0.2451
      ],
      [
       3.74,
       0.2554
      ],
      [
       3.76,
       0.2661
      ],
      [
       3.78,
       0.2772
      ],
      [
       3.8,
       0.2888
      ],
      [
       3.82,
       0.3008
      ],
      [
       3.84,
       0.3131
      ],
      [
       3.86,
       0.3256
      ],
      [
       3.88,
       0.3385
      ],
      [
       3.9,
       0.3517
      ],
      [
       3.92,
       0.3654
      ],
      [
       3.94,
       0.3756
      ],
      [
       3.96,
       0.3834
      ],
      [
       3.98,
       0.3912
      ],
      [
       4.0,
       0.3997
      ],
      [
       4.02,
       0.409
      ],
      [
       4.04,
       0.4189
      ],
      [
       4.06,
       0.4293
      ],
      [
       4.08,
       0.44
      ],
      [
       4.1,
       0.4512
      ],
      [
       4.12,
       0.4627
      ],
      [
       4.14,
       0.4745
      ],
      [
       4.16,
       0.487
      ],
      [
       4.18,
       0.5006
      ],
      [
       4.2,
       0.5155
      ],
      [
       4.22,
       0.5311
      ],
      [
       4.24,
       0.5472
      ],
      [
       4.26,
       0.5635
      ],
      [
       4.28,
       0.5799
      ],
      [
       4.3,
       0.5966
      ],
      [
       4.32,
       0.6134
      ],
      [
       4.34,
       0.6306
      ],
      [
       4.36,
       0.648
      ],
      [
       4.38,
       0.6657
      ],
      [
       4.4,
       0.6837
      ],
      [
       4.42,
       0.702
      ],
      [
       4.44,
       0.7205
      ],
      [
       4.46,
       0.7391
      ],
      [
       4.48,
       0.758
      ],
      [
       4.5,
       0.7771
      ],
      [
       4.52,
       0.7963
      ],
      [
       4.54,
       0.8157
      ],
      [
       4.56,
       0.8352
      ],
      [
       4.58,
       0.8548
      ],
      [
       4.6,
       0.8746
      ],
      [
       4.62,
       0.8944
      ],
      [
       4.64,
       0.9143
      ],
      [
       4.66,
       0.9342
      ],
      [
       4.68,
       0.9541
      ],
      [
       4.7,
       0.9742
      ],
      [
       4.72,
       0.9953
      ],
      [
       4.74,
       1.0
      ],
      [
       4.76,
       1.0
      ],
      [
       4.78,
       1.0
      ],
      [
       4.8,
       1.0
      ],
      [
       4.82,
       1.0
      ],
      [
       4.84,
       1.0
      ],
      [
       4.86,
       1.0
      ],
      [
       4.88,
       1.0
      ],
      [
       4.9,
       1.0
      ],
      [
       4.92,
       1.0
      ],
      [
       4.94,
       1.0
      ],
      [
       4.96,
       1.0
      ],
      [
       4.98,
       1.0
      ],
      [
       5.0,
       1.0
      ],
      [
       5.02,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "acd10cd1356a6a9ac8c1b85c4c80a8c64f8b4d92fe4e4bce81f290f1d0ca89ec",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.94633153407009e-05,
       "final_progress": 4.274682484850172e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.36100571952037375,
       "final_progress": 3.731663107935373e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.07023052141784167,
       "final_progress": 0.07023380492734947,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 251,
       "return": 1.9999967164904922,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx5",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    },
    "aloha": {
     "gym_id": "da08b7df936d-aloha",
     "video": "media/sim-da08b7df936d-aloha-s1.mp4",
     "poster": "media/sim-da08b7df936d-aloha-s1.jpg",
     "trajectory": "trajectories/da08b7df936d-aloha.json",
     "recipe": "recipes/da08b7df936d-aloha.json",
     "seed": 1,
     "steps": 348,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0017
      ],
      [
       0.08,
       0.0056
      ],
      [
       0.12,
       0.0103
      ],
      [
       0.16,
       0.0153
      ],
      [
       0.2,
       0.0201
      ],
      [
       0.24,
       0.0248
      ],
      [
       0.28,
       0.0291
      ],
      [
       0.32,
       0.033
      ],
      [
       0.36,
       0.0367
      ],
      [
       0.4,
       0.04
      ],
      [
       0.44,
       0.0433
      ],
      [
       0.48,
       0.0467
      ],
      [
       0.52,
       0.0507
      ],
      [
       0.56,
       0.0547
      ],
      [
       0.6,
       0.0585
      ],
      [
       0.64,
       0.0619
      ],
      [
       0.68,
       0.0655
      ],
      [
       0.72,
       0.0692
      ],
      [
       0.76,
       0.073
      ],
      [
       0.8,
       0.077
      ],
      [
       0.84,
       0.0811
      ],
      [
       0.88,
       0.0855
      ],
      [
       0.92,
       0.09
      ],
      [
       0.96,
       0.092
      ],
      [
       1.0,
       0.0932
      ],
      [
       1.04,
       0.0951
      ],
      [
       1.08,
       0.0977
      ],
      [
       1.12,
       0.1017
      ],
      [
       1.16,
       0.1054
      ],
      [
       1.2,
       0.1095
      ],
      [
       1.24,
       0.1146
      ],
      [
       1.28,
       0.1205
      ],
      [
       1.32,
       0.1273
      ],
      [
       1.36,
       0.1325
      ],
      [
       1.4,
       0.1327
      ],
      [
       1.44,
       0.133
      ],
      [
       1.48,
       0.1334
      ],
      [
       1.52,
       0.1339
      ],
      [
       1.56,
       0.1344
      ],
      [
       1.6,
       0.1349
      ],
      [
       1.64,
       0.1356
      ],
      [
       1.68,
       0.1365
      ],
      [
       1.72,
       0.1376
      ],
      [
       1.76,
       0.1389
      ],
      [
       1.8,
       0.1402
      ],
      [
       1.84,
       0.1404
      ],
      [
       1.88,
       0.1407
      ],
      [
       1.92,
       0.141
      ],
      [
       1.96,
       0.1412
      ],
      [
       2.0,
       0.1413
      ],
      [
       2.04,
       0.1415
      ],
      [
       2.08,
       0.1417
      ],
      [
       2.12,
       0.1418
      ],
      [
       2.16,
       0.142
      ],
      [
       2.2,
       0.1421
      ],
      [
       2.24,
       0.1422
      ],
      [
       2.28,
       0.1423
      ],
      [
       2.32,
       0.1424
      ],
      [
       2.36,
       0.1425
      ],
      [
       2.4,
       0.1426
      ],
      [
       2.44,
       0.1426
      ],
      [
       2.48,
       0.1427
      ],
      [
       2.52,
       0.1427
      ],
      [
       2.56,
       0.1428
      ],
      [
       2.6,
       0.1428
      ],
      [
       2.64,
       0.1428
      ],
      [
       2.68,
       0.1429
      ],
      [
       2.72,
       0.1429
      ],
      [
       2.76,
       0.1429
      ],
      [
       2.8,
       0.1429
      ],
      [
       2.84,
       0.1429
      ],
      [
       2.88,
       0.1429
      ],
      [
       2.92,
       0.1429
      ],
      [
       2.96,
       0.1429
      ],
      [
       3.0,
       0.1429
      ],
      [
       3.04,
       0.1429
      ],
      [
       3.08,
       0.1429
      ],
      [
       3.12,
       0.1429
      ],
      [
       3.16,
       0.1429
      ],
      [
       3.2,
       0.1429
      ],
      [
       3.24,
       0.1429
      ],
      [
       3.28,
       0.1429
      ],
      [
       3.32,
       0.1429
      ],
      [
       3.36,
       0.1429
      ],
      [
       3.4,
       0.1428
      ],
      [
       3.44,
       0.1428
      ],
      [
       3.48,
       0.1428
      ],
      [
       3.52,
       0.1428
      ],
      [
       3.56,
       0.1427
      ],
      [
       3.6,
       0.1427
      ],
      [
       3.64,
       0.1427
      ],
      [
       3.68,
       0.1426
      ],
      [
       3.72,
       0.1426
      ],
      [
       3.76,
       0.1425
      ],
      [
       3.8,
       0.1425
      ],
      [
       3.84,
       0.1424
      ],
      [
       3.88,
       0.1424
      ],
      [
       3.92,
       0.1423
      ],
      [
       3.96,
       0.1423
      ],
      [
       4.0,
       0.1422
      ],
      [
       4.04,
       0.1421
      ],
      [
       4.08,
       0.1421
      ],
      [
       4.12,
       0.142
      ],
      [
       4.16,
       0.1419
      ],
      [
       4.2,
       0.1418
      ],
      [
       4.24,
       0.1418
      ],
      [
       4.28,
       0.1417
      ],
      [
       4.32,
       0.1416
      ],
      [
       4.36,
       0.1415
      ],
      [
       4.4,
       0.1414
      ],
      [
       4.44,
       0.1412
      ],
      [
       4.48,
       0.1411
      ],
      [
       4.52,
       0.141
      ],
      [
       4.56,
       0.1408
      ],
      [
       4.6,
       0.1407
      ],
      [
       4.64,
       0.1405
      ],
      [
       4.68,
       0.1404
      ],
      [
       4.72,
       0.1402
      ],
      [
       4.76,
       0.14
      ],
      [
       4.8,
       0.1398
      ],
      [
       4.84,
       0.1396
      ],
      [
       4.88,
       0.1395
      ],
      [
       4.92,
       0.1393
      ],
      [
       4.96,
       0.1391
      ],
      [
       5.0,
       0.1388
      ],
      [
       5.04,
       0.1386
      ],
      [
       5.08,
       0.1384
      ],
      [
       5.12,
       0.1382
      ],
      [
       5.16,
       0.138
      ],
      [
       5.2,
       0.1378
      ],
      [
       5.24,
       0.1396
      ],
      [
       5.28,
       0.1417
      ],
      [
       5.32,
       0.1468
      ],
      [
       5.36,
       0.1528
      ],
      [
       5.4,
       0.162
      ],
      [
       5.44,
       0.1702
      ],
      [
       5.48,
       0.1802
      ],
      [
       5.52,
       0.191
      ],
      [
       5.56,
       0.2071
      ],
      [
       5.6,
       0.238
      ],
      [
       5.64,
       0.2568
      ],
      [
       5.68,
       0.2766
      ],
      [
       5.72,
       0.2973
      ],
      [
       5.76,
       0.319
      ],
      [
       5.8,
       0.3417
      ],
      [
       5.84,
       0.3652
      ],
      [
       5.88,
       0.3903
      ],
      [
       5.92,
       0.4157
      ],
      [
       5.96,
       0.4425
      ],
      [
       6.0,
       0.4701
      ],
      [
       6.04,
       0.4984
      ],
      [
       6.08,
       0.5278
      ],
      [
       6.12,
       0.5581
      ],
      [
       6.16,
       0.5888
      ],
      [
       6.2,
       0.621
      ],
      [
       6.24,
       0.6533
      ],
      [
       6.28,
       0.6849
      ],
      [
       6.32,
       0.7166
      ],
      [
       6.36,
       0.7484
      ],
      [
       6.4,
       0.7804
      ],
      [
       6.44,
       0.8127
      ],
      [
       6.48,
       0.8454
      ],
      [
       6.52,
       0.8785
      ],
      [
       6.56,
       0.9119
      ],
      [
       6.6,
       0.9439
      ],
      [
       6.64,
       0.976
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.76,
       1.0
      ],
      [
       6.8,
       1.0
      ],
      [
       6.84,
       1.0
      ],
      [
       6.88,
       1.0
      ],
      [
       6.92,
       1.0
      ],
      [
       6.96,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "e682874d2e9def5f170f09f443cf639c0d20be9de750620273e4e525bb9d5f43",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013834756206879757,
       "final_progress": 0.0013841127720451323,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 7.895628069407693e-06,
       "final_progress": 8.532779426568316e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 7.895628069414536e-06,
       "final_progress": 8.532779426568316e-06,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "layout_rejected",
       "reason": "No free table space for green_cutting_board_0"
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 348,
       "return": 1.9999993628486428,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx5",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    }
   }
  },
  {
   "example_id": "9cc45b2991fbae28f8c2cd814b64d036a959fccf1b4ec89c205f5fc6f840d95e",
   "recording_id": 12615,
   "task_number": 3,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "dark speckled kitchen countertop",
   "human_action": false,
   "description": "Lift the puzzle cube off the red spot on the dark speckled kitchen countertop, set it aside among the red container and the green cutting board, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the puzzle cube off the red spot on the dark speckled kitchen countertop, set it aside among the red container and the green cutting board, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 12615,
    "contributor_id": 11,
    "video": "media/source-12615-86c268077604.mp4",
    "poster": "media/source-12615.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12615,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12615_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 32.47,
      "original_end_s": 52.47,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "d87ff9cb28011eb330edcbee03dc5dc1ba422f18b426630c811272774c57f95f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 1,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "dark speckled kitchen countertop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "9cc45b2991fb-panda",
     "video": "media/sim-9cc45b2991fb-panda-s0.mp4",
     "poster": "media/sim-9cc45b2991fb-panda-s0.jpg",
     "trajectory": "trajectories/9cc45b2991fb-panda.json",
     "recipe": "recipes/9cc45b2991fb-panda.json",
     "seed": 0,
     "steps": 524,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.26,
       0.0053
      ],
      [
       1.32,
       0.0118
      ],
      [
       1.38,
       0.0184
      ],
      [
       1.44,
       0.0247
      ],
      [
       1.5,
       0.0304
      ],
      [
       1.56,
       0.0352
      ],
      [
       1.62,
       0.039
      ],
      [
       1.68,
       0.0413
      ],
      [
       1.74,
       0.043
      ],
      [
       1.8,
       0.0448
      ],
      [
       1.86,
       0.0467
      ],
      [
       1.92,
       0.0488
      ],
      [
       1.98,
       0.0512
      ],
      [
       2.04,
       0.0539
      ],
      [
       2.1,
       0.0571
      ],
      [
       2.16,
       0.0608
      ],
      [
       2.22,
       0.0654
      ],
      [
       2.28,
       0.0702
      ],
      [
       2.34,
       0.0737
      ],
      [
       2.4,
       0.0774
      ],
      [
       2.46,
       0.0817
      ],
      [
       2.52,
       0.0862
      ],
      [
       2.58,
       0.0914
      ],
      [
       2.64,
       0.0974
      ],
      [
       2.7,
       0.097
      ],
      [
       2.76,
       0.0975
      ],
      [
       2.82,
       0.0981
      ],
      [
       2.88,
       0.0982
      ],
      [
       2.94,
       0.0983
      ],
      [
       3.0,
       0.0983
      ],
      [
       3.06,
       0.0984
      ],
      [
       3.12,
       0.0984
      ],
      [
       3.18,
       0.0983
      ],
      [
       3.24,
       0.0978
      ],
      [
       3.3,
       0.0978
      ],
      [
       3.36,
       0.0979
      ],
      [
       3.42,
       0.0979
      ],
      [
       3.48,
       0.098
      ],
      [
       3.54,
       0.098
      ],
      [
       3.6,
       0.098
      ],
      [
       3.66,
       0.098
      ],
      [
       3.72,
       0.0981
      ],
      [
       3.78,
       0.5794
      ],
      [
       3.84,
       0.5732
      ],
      [
       3.9,
       0.5582
      ],
      [
       3.96,
       0.5349
      ],
      [
       4.02,
       0.5099
      ],
      [
       4.08,
       0.4842
      ],
      [
       4.14,
       0.4592
      ],
      [
       4.2,
       0.4342
      ],
      [
       4.26,
       0.4091
      ],
      [
       4.32,
       0.3819
      ],
      [
       4.38,
       0.3499
      ],
      [
       4.44,
       0.3091
      ],
      [
       4.5,
       0.3731
      ],
      [
       4.56,
       0.447
      ],
      [
       4.62,
       0.5369
      ],
      [
       4.68,
       0.6
      ],
      [
       4.74,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.86,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.98,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.1,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.22,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.34,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.46,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.58,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.7,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.82,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.94,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.06,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.18,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.3,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.42,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.54,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.66,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.78,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.02,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.14,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.26,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.38,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.62,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.74,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.86,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.98,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.22,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.34,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.46,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.58,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.82,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.94,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.06,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.18,
       0.6
      ],
      [
       9.24,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.36,
       0.6
      ],
      [
       9.42,
       0.6
      ],
      [
       9.48,
       0.6
      ],
      [
       9.54,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.66,
       0.6
      ],
      [
       9.72,
       0.6
      ],
      [
       9.78,
       0.6
      ],
      [
       9.84,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       9.96,
       0.6
      ],
      [
       10.02,
       0.6
      ],
      [
       10.08,
       0.6267
      ],
      [
       10.14,
       0.7067
      ],
      [
       10.2,
       0.6267
      ],
      [
       10.26,
       0.7067
      ],
      [
       10.32,
       0.7867
      ],
      [
       10.38,
       0.8667
      ],
      [
       10.44,
       0.9467
      ],
      [
       10.48,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "dfbe27d617a088c335eaa02eb1f21b77c189726862ca9a955ad4da457b532fcb",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": -4.235164736271502e-22,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.17253856655581462,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": -0.45791770692712797,
       "final_progress": 0.042082293072872014,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 524,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx5",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    },
    "aloha": {
     "gym_id": "9cc45b2991fb-aloha",
     "video": "media/sim-9cc45b2991fb-aloha-s0.mp4",
     "poster": "media/sim-9cc45b2991fb-aloha-s0.jpg",
     "trajectory": "trajectories/9cc45b2991fb-aloha.json",
     "recipe": "recipes/9cc45b2991fb-aloha.json",
     "seed": 0,
     "steps": 893,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.0007
      ],
      [
       0.2,
       0.0018
      ],
      [
       0.3,
       0.0033
      ],
      [
       0.4,
       0.0051
      ],
      [
       0.5,
       0.0072
      ],
      [
       0.6,
       0.0103
      ],
      [
       0.7,
       0.0144
      ],
      [
       0.8,
       0.0198
      ],
      [
       0.9,
       0.0263
      ],
      [
       1.0,
       0.034
      ],
      [
       1.1,
       0.043
      ],
      [
       1.2,
       0.0531
      ],
      [
       1.3,
       0.0601
      ],
      [
       1.4,
       0.068
      ],
      [
       1.5,
       0.077
      ],
      [
       1.6,
       0.0845
      ],
      [
       1.7,
       0.0907
      ],
      [
       1.8,
       0.0916
      ],
      [
       1.9,
       0.0919
      ],
      [
       2.0,
       0.0929
      ],
      [
       2.1,
       0.0935
      ],
      [
       2.2,
       0.0928
      ],
      [
       2.3,
       0.0926
      ],
      [
       2.4,
       0.0924
      ],
      [
       2.5,
       0.092
      ],
      [
       2.6,
       0.0917
      ],
      [
       2.7,
       0.0915
      ],
      [
       2.8,
       0.0913
      ],
      [
       2.9,
       0.0912
      ],
      [
       3.0,
       0.0912
      ],
      [
       3.1,
       0.0912
      ],
      [
       3.2,
       0.0912
      ],
      [
       3.3,
       0.0912
      ],
      [
       3.4,
       0.0913
      ],
      [
       3.5,
       0.0914
      ],
      [
       3.6,
       0.0914
      ],
      [
       3.7,
       0.0913
      ],
      [
       3.8,
       0.0912
      ],
      [
       3.9,
       0.091
      ],
      [
       4.0,
       0.0909
      ],
      [
       4.1,
       0.0908
      ],
      [
       4.2,
       0.0907
      ],
      [
       4.3,
       0.0906
      ],
      [
       4.4,
       0.0906
      ],
      [
       4.5,
       0.0906
      ],
      [
       4.6,
       0.0906
      ],
      [
       4.7,
       0.0906
      ],
      [
       4.8,
       0.0907
      ],
      [
       4.9,
       0.0908
      ],
      [
       5.0,
       0.0908
      ],
      [
       5.1,
       0.0909
      ],
      [
       5.2,
       0.0911
      ],
      [
       5.3,
       0.0912
      ],
      [
       5.4,
       0.0913
      ],
      [
       5.5,
       0.0914
      ],
      [
       5.6,
       0.0916
      ],
      [
       5.7,
       0.0918
      ],
      [
       5.8,
       0.0921
      ],
      [
       5.9,
       0.0923
      ],
      [
       6.0,
       0.0925
      ],
      [
       6.1,
       0.0925
      ],
      [
       6.2,
       0.0925
      ],
      [
       6.3,
       0.0924
      ],
      [
       6.4,
       0.0924
      ],
      [
       6.5,
       0.0923
      ],
      [
       6.6,
       0.6
      ],
      [
       6.7,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.9,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.1,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.3,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.5,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.7,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.9,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.1,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.3,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.5,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.7,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.9,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.1,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.3,
       0.6
      ],
      [
       9.4,
       0.6
      ],
      [
       9.5,
       0.6
      ],
      [
       9.6,
       0.6
      ],
      [
       9.7,
       0.6
      ],
      [
       9.8,
       0.6
      ],
      [
       9.9,
       0.6
      ],
      [
       10.0,
       0.6
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.6
      ],
      [
       15.9,
       0.6
      ],
      [
       16.0,
       0.6
      ],
      [
       16.1,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.3,
       0.6
      ],
      [
       16.4,
       0.6
      ],
      [
       16.5,
       0.6
      ],
      [
       16.6,
       0.6
      ],
      [
       16.7,
       0.6
      ],
      [
       16.8,
       0.6
      ],
      [
       16.9,
       0.6
      ],
      [
       17.0,
       0.6
      ],
      [
       17.1,
       0.6
      ],
      [
       17.2,
       0.6
      ],
      [
       17.3,
       0.6
      ],
      [
       17.4,
       0.6
      ],
      [
       17.5,
       0.6
      ],
      [
       17.6,
       0.6533
      ],
      [
       17.7,
       0.7867
      ],
      [
       17.8,
       0.92
      ],
      [
       17.86,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6071d5e936d7974084b50be6786f8b551c224429b6f2a1cb270185282eff3299",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0005169569763595283,
       "final_progress": 0.0005169569763595283,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.03962432709438266,
       "final_progress": 0.03962432709438266,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.05912031861522468,
       "final_progress": 0.05912031861522468,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 893,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "puzzle_cube_ctx5",
       "source": "ycb:077_rubiks_cube",
       "grounding": "added_context",
       "role": "task_object",
       "label": "puzzle cube"
      },
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    }
   }
  },
  {
   "example_id": "2dc6b900f28a6a259d5ada2c092abb5772d160d276544bd85d43b754c52ec88f",
   "recording_id": 12615,
   "task_number": 4,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "dark speckled kitchen countertop",
   "human_action": false,
   "description": "Pick up the foam block and balance it on top of the pudding box on the dark speckled kitchen countertop among the red container and the white mug in rack.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the foam block and balance it on top of the pudding box on the dark speckled kitchen countertop among the red container and the white mug in rack.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 12615,
    "contributor_id": 11,
    "video": "media/source-12615-86c268077604.mp4",
    "poster": "media/source-12615.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12615,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12615_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 32.47,
      "original_end_s": 52.47,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "d87ff9cb28011eb330edcbee03dc5dc1ba422f18b426630c811272774c57f95f",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
      "duration_s": 19.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "86c2680776047a677ae142fd0d75d9ab5a35644b5d54a58438ffc3112bfb10a5",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 8,
    "physical_objects": 8,
    "flat_decor": 0,
    "observed": 6,
    "added_context": 2,
    "recording_observed": 6,
    "recording_added": 0,
    "surface": "dark speckled kitchen countertop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "2dc6b900f28a-panda",
     "video": "media/sim-2dc6b900f28a-panda-s0.mp4",
     "poster": "media/sim-2dc6b900f28a-panda-s0.jpg",
     "trajectory": "trajectories/2dc6b900f28a-panda.json",
     "recipe": "recipes/2dc6b900f28a-panda.json",
     "seed": 0,
     "steps": 295,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0002
      ],
      [
       0.04,
       0.0007
      ],
      [
       0.06,
       0.0015
      ],
      [
       0.08,
       0.0027
      ],
      [
       0.1,
       0.0042
      ],
      [
       0.12,
       0.0059
      ],
      [
       0.14,
       0.0077
      ],
      [
       0.16,
       0.0095
      ],
      [
       0.18,
       0.0113
      ],
      [
       0.2,
       0.0131
      ],
      [
       0.22,
       0.015
      ],
      [
       0.24,
       0.0169
      ],
      [
       0.26,
       0.0189
      ],
      [
       0.28,
       0.021
      ],
      [
       0.3,
       0.0231
      ],
      [
       0.32,
       0.0253
      ],
      [
       0.34,
       0.0275
      ],
      [
       0.36,
       0.0297
      ],
      [
       0.38,
       0.0319
      ],
      [
       0.4,
       0.0341
      ],
      [
       0.42,
       0.0364
      ],
      [
       0.44,
       0.0387
      ],
      [
       0.46,
       0.0411
      ],
      [
       0.48,
       0.0434
      ],
      [
       0.5,
       0.0457
      ],
      [
       0.52,
       0.0481
      ],
      [
       0.54,
       0.0505
      ],
      [
       0.56,
       0.0528
      ],
      [
       0.58,
       0.0552
      ],
      [
       0.6,
       0.0575
      ],
      [
       0.62,
       0.0599
      ],
      [
       0.64,
       0.0622
      ],
      [
       0.66,
       0.0646
      ],
      [
       0.68,
       0.0669
      ],
      [
       0.7,
       0.0692
      ],
      [
       0.72,
       0.0714
      ],
      [
       0.74,
       0.0737
      ],
      [
       0.76,
       0.0759
      ],
      [
       0.78,
       0.078
      ],
      [
       0.8,
       0.0802
      ],
      [
       0.82,
       0.0823
      ],
      [
       0.84,
       0.0844
      ],
      [
       0.86,
       0.0864
      ],
      [
       0.88,
       0.0884
      ],
      [
       0.9,
       0.0904
      ],
      [
       0.92,
       0.0923
      ],
      [
       0.94,
       0.0942
      ],
      [
       0.96,
       0.096
      ],
      [
       0.98,
       0.0978
      ],
      [
       1.0,
       0.0995
      ],
      [
       1.02,
       0.1011
      ],
      [
       1.04,
       0.1028
      ],
      [
       1.06,
       0.1045
      ],
      [
       1.08,
       0.1062
      ],
      [
       1.1,
       0.1078
      ],
      [
       1.12,
       0.1093
      ],
      [
       1.14,
       0.1107
      ],
      [
       1.16,
       0.1122
      ],
      [
       1.18,
       0.1137
      ],
      [
       1.2,
       0.1153
      ],
      [
       1.22,
       0.1169
      ],
      [
       1.24,
       0.1186
      ],
      [
       1.26,
       0.1203
      ],
      [
       1.28,
       0.122
      ],
      [
       1.3,
       0.1237
      ],
      [
       1.32,
       0.1254
      ],
      [
       1.34,
       0.1271
      ],
      [
       1.36,
       0.1289
      ],
      [
       1.38,
       0.1307
      ],
      [
       1.4,
       0.1326
      ],
      [
       1.42,
       0.1345
      ],
      [
       1.44,
       0.1365
      ],
      [
       1.46,
       0.1386
      ],
      [
       1.48,
       0.1408
      ],
      [
       1.5,
       0.143
      ],
      [
       1.52,
       0.1454
      ],
      [
       1.54,
       0.1482
      ],
      [
       1.56,
       0.148
      ],
      [
       1.58,
       0.1451
      ],
      [
       1.6,
       0.1453
      ],
      [
       1.62,
       0.1445
      ],
      [
       1.64,
       0.1444
      ],
      [
       1.66,
       0.1447
      ],
      [
       1.68,
       0.1451
      ],
      [
       1.7,
       0.1454
      ],
      [
       1.72,
       0.1457
      ],
      [
       1.74,
       0.1459
      ],
      [
       1.76,
       0.1461
      ],
      [
       1.78,
       0.1462
      ],
      [
       1.8,
       0.1462
      ],
      [
       1.82,
       0.1462
      ],
      [
       1.84,
       0.1462
      ],
      [
       1.86,
       0.1462
      ],
      [
       1.88,
       0.1462
      ],
      [
       1.9,
       0.1462
      ],
      [
       1.92,
       0.1462
      ],
      [
       1.94,
       0.1463
      ],
      [
       1.96,
       0.1463
      ],
      [
       1.98,
       0.1463
      ],
      [
       2.0,
       0.1463
      ],
      [
       2.02,
       0.1463
      ],
      [
       2.04,
       0.1463
      ],
      [
       2.06,
       0.1463
      ],
      [
       2.08,
       0.1463
      ],
      [
       2.1,
       0.1463
      ],
      [
       2.12,
       0.1463
      ],
      [
       2.14,
       0.1463
      ],
      [
       2.16,
       0.1463
      ],
      [
       2.18,
       0.1464
      ],
      [
       2.2,
       0.1465
      ],
      [
       2.22,
       0.1465
      ],
      [
       2.24,
       0.1466
      ],
      [
       2.26,
       0.1466
      ],
      [
       2.28,
       0.1467
      ],
      [
       2.3,
       0.1467
      ],
      [
       2.32,
       0.1467
      ],
      [
       2.34,
       0.1468
      ],
      [
       2.36,
       0.1468
      ],
      [
       2.38,
       0.1469
      ],
      [
       2.4,
       0.1469
      ],
      [
       2.42,
       0.147
      ],
      [
       2.44,
       0.147
      ],
      [
       2.46,
       0.147
      ],
      [
       2.48,
       0.1471
      ],
      [
       2.5,
       0.1471
      ],
      [
       2.52,
       0.1472
      ],
      [
       2.54,
       0.1472
      ],
      [
       2.56,
       0.4186
      ],
      [
       2.58,
       0.4187
      ],
      [
       2.6,
       0.4187
      ],
      [
       2.62,
       0.4187
      ],
      [
       2.64,
       0.4187
      ],
      [
       2.66,
       0.4186
      ],
      [
       2.68,
       0.4184
      ],
      [
       2.7,
       0.4182
      ],
      [
       2.72,
       0.418
      ],
      [
       2.74,
       0.4176
      ],
      [
       2.76,
       0.4173
      ],
      [
       2.78,
       0.4169
      ],
      [
       2.8,
       0.4165
      ],
      [
       2.82,
       0.4161
      ],
      [
       2.84,
       0.4157
      ],
      [
       2.86,
       0.4152
      ],
      [
       2.88,
       0.4147
      ],
      [
       2.9,
       0.4142
      ],
      [
       2.92,
       0.4136
      ],
      [
       2.94,
       0.413
      ],
      [
       2.96,
       0.4124
      ],
      [
       2.98,
       0.4117
      ],
      [
       3.0,
       0.4111
      ],
      [
       3.02,
       0.4104
      ],
      [
       3.04,
       0.4097
      ],
      [
       3.06,
       0.4089
      ],
      [
       3.08,
       0.4079
      ],
      [
       3.1,
       0.4066
      ],
      [
       3.12,
       0.4051
      ],
      [
       3.14,
       0.4034
      ],
      [
       3.16,
       0.4043
      ],
      [
       3.18,
       0.4093
      ],
      [
       3.2,
       0.4178
      ],
      [
       3.22,
       0.4293
      ],
      [
       3.24,
       0.4429
      ],
      [
       3.26,
       0.4581
      ],
      [
       3.28,
       0.4744
      ],
      [
       3.3,
       0.4916
      ],
      [
       3.32,
       0.5095
      ],
      [
       3.34,
       0.5281
      ],
      [
       3.36,
       0.5472
      ],
      [
       3.38,
       0.5669
      ],
      [
       3.4,
       0.5871
      ],
      [
       3.42,
       0.6078
      ],
      [
       3.44,
       0.6289
      ],
      [
       3.46,
       0.6505
      ],
      [
       3.48,
       0.6726
      ],
      [
       3.5,
       0.695
      ],
      [
       3.52,
       0.7179
      ],
      [
       3.54,
       0.7412
      ],
      [
       3.56,
       0.7648
      ],
      [
       3.58,
       0.7887
      ],
      [
       3.6,
       0.813
      ],
      [
       3.62,
       0.8376
      ],
      [
       3.64,
       0.8624
      ],
      [
       3.66,
       0.8875
      ],
      [
       3.68,
       0.9
      ],
      [
       3.7,
       0.9
      ],
      [
       3.72,
       0.9
      ],
      [
       3.74,
       0.9
      ],
      [
       3.76,
       0.9
      ],
      [
       3.78,
       0.9
      ],
      [
       3.8,
       0.9
      ],
      [
       3.82,
       0.9
      ],
      [
       3.84,
       0.9
      ],
      [
       3.86,
       0.9
      ],
      [
       3.88,
       0.9
      ],
      [
       3.9,
       0.9
      ],
      [
       3.92,
       0.9
      ],
      [
       3.94,
       0.9
      ],
      [
       3.96,
       0.9
      ],
      [
       3.98,
       0.9
      ],
      [
       4.0,
       0.9
      ],
      [
       4.02,
       0.9
      ],
      [
       4.04,
       0.9
      ],
      [
       4.06,
       0.9
      ],
      [
       4.08,
       0.9
      ],
      [
       4.1,
       0.9
      ],
      [
       4.12,
       0.9
      ],
      [
       4.14,
       0.9
      ],
      [
       4.16,
       0.9
      ],
      [
       4.18,
       0.9
      ],
      [
       4.2,
       0.9
      ],
      [
       4.22,
       0.9
      ],
      [
       4.24,
       0.9
      ],
      [
       4.26,
       0.9
      ],
      [
       4.28,
       0.9
      ],
      [
       4.3,
       0.9
      ],
      [
       4.32,
       0.9
      ],
      [
       4.34,
       0.9
      ],
      [
       4.36,
       0.9
      ],
      [
       4.38,
       0.9
      ],
      [
       4.4,
       0.9
      ],
      [
       4.42,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.46,
       0.9
      ],
      [
       4.48,
       0.9
      ],
      [
       4.5,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.54,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.58,
       0.9
      ],
      [
       4.6,
       1.0
      ],
      [
       4.62,
       1.0
      ],
      [
       4.64,
       1.0
      ],
      [
       4.66,
       1.0
      ],
      [
       4.68,
       1.0
      ],
      [
       4.7,
       1.0
      ],
      [
       4.72,
       1.0
      ],
      [
       4.74,
       1.0
      ],
      [
       4.76,
       1.0
      ],
      [
       4.78,
       1.0
      ],
      [
       4.8,
       1.0
      ],
      [
       4.82,
       1.0
      ],
      [
       4.84,
       1.0
      ],
      [
       4.86,
       1.0
      ],
      [
       4.88,
       1.0
      ],
      [
       4.9,
       1.0
      ],
      [
       4.92,
       1.0
      ],
      [
       4.94,
       1.0
      ],
      [
       4.96,
       1.0
      ],
      [
       4.98,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.02,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.06,
       0.9
      ],
      [
       5.08,
       1.0
      ],
      [
       5.1,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.14,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.18,
       1.0
      ],
      [
       5.2,
       1.0
      ],
      [
       5.22,
       1.0
      ],
      [
       5.24,
       1.0
      ],
      [
       5.26,
       1.0
      ],
      [
       5.28,
       0.9
      ],
      [
       5.3,
       1.0
      ],
      [
       5.32,
       0.9
      ],
      [
       5.34,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.38,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.42,
       1.0
      ],
      [
       5.44,
       1.0
      ],
      [
       5.46,
       1.0
      ],
      [
       5.48,
       1.0
      ],
      [
       5.5,
       1.0
      ],
      [
       5.52,
       1.0
      ],
      [
       5.54,
       1.0
      ],
      [
       5.56,
       1.0
      ],
      [
       5.58,
       1.0
      ],
      [
       5.6,
       1.0
      ],
      [
       5.62,
       1.0
      ],
      [
       5.64,
       1.0
      ],
      [
       5.66,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.7,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.74,
       1.0
      ],
      [
       5.76,
       1.0
      ],
      [
       5.78,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.82,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.86,
       1.0
      ],
      [
       5.88,
       1.0
      ],
      [
       5.9,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6e70f3089420bdf1f78e76f9c0607b92afac6414819b7572651511a6de70d3e8",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 2.579846189708079e-05,
       "final_progress": 2.5798461897080794e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.2817603188082954,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.022495624744021368,
       "final_progress": 0.022495624744021368,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 295,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx5",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "pudding_box_ctx5",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    },
    "aloha": {
     "gym_id": "2dc6b900f28a-aloha",
     "video": "media/sim-2dc6b900f28a-aloha-s5.mp4",
     "poster": "media/sim-2dc6b900f28a-aloha-s5.jpg",
     "trajectory": "trajectories/2dc6b900f28a-aloha.json",
     "recipe": "recipes/2dc6b900f28a-aloha.json",
     "seed": 5,
     "steps": 1200,
     "success": false,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.14,
       0.0062
      ],
      [
       0.28,
       0.0157
      ],
      [
       0.42,
       0.027
      ],
      [
       0.56,
       0.0384
      ],
      [
       0.7,
       0.0502
      ],
      [
       0.84,
       0.0633
      ],
      [
       0.98,
       0.0761
      ],
      [
       1.12,
       0.0839
      ],
      [
       1.26,
       0.0887
      ],
      [
       1.4,
       0.0906
      ],
      [
       1.54,
       0.097
      ],
      [
       1.68,
       0.1044
      ],
      [
       1.82,
       0.1104
      ],
      [
       1.96,
       0.1164
      ],
      [
       2.1,
       0.1206
      ],
      [
       2.24,
       0.1198
      ],
      [
       2.38,
       0.1191
      ],
      [
       2.52,
       0.1186
      ],
      [
       2.66,
       0.1181
      ],
      [
       2.8,
       0.1176
      ],
      [
       2.94,
       0.1174
      ],
      [
       3.08,
       0.1169
      ],
      [
       3.22,
       0.1163
      ],
      [
       3.36,
       0.1158
      ],
      [
       3.5,
       0.1154
      ],
      [
       3.64,
       0.1153
      ],
      [
       3.78,
       0.1152
      ],
      [
       3.92,
       0.1177
      ],
      [
       4.06,
       0.1213
      ],
      [
       4.2,
       0.119
      ],
      [
       4.34,
       0.1179
      ],
      [
       4.48,
       0.1166
      ],
      [
       4.62,
       0.116
      ],
      [
       4.76,
       0.1178
      ],
      [
       4.9,
       0.1179
      ],
      [
       5.04,
       0.1169
      ],
      [
       5.18,
       0.1166
      ],
      [
       5.32,
       0.1154
      ],
      [
       5.46,
       0.1148
      ],
      [
       5.6,
       0.1134
      ],
      [
       5.74,
       0.1112
      ],
      [
       5.88,
       0.1204
      ],
      [
       6.02,
       0.1168
      ],
      [
       6.16,
       0.1074
      ],
      [
       6.3,
       0.0838
      ],
      [
       6.44,
       0.0833
      ],
      [
       6.58,
       0.0833
      ],
      [
       6.72,
       0.0834
      ],
      [
       6.86,
       0.0834
      ],
      [
       7.0,
       0.0834
      ],
      [
       7.14,
       0.0835
      ],
      [
       7.28,
       0.0835
      ],
      [
       7.42,
       0.0835
      ],
      [
       7.56,
       0.0834
      ],
      [
       7.7,
       0.0839
      ],
      [
       7.84,
       0.0849
      ],
      [
       7.98,
       0.0855
      ],
      [
       8.12,
       0.0851
      ],
      [
       8.26,
       0.0857
      ],
      [
       8.4,
       0.085
      ],
      [
       8.54,
       0.0849
      ],
      [
       8.68,
       0.0846
      ],
      [
       8.82,
       0.0855
      ],
      [
       8.96,
       0.0841
      ],
      [
       9.1,
       0.082
      ],
      [
       9.24,
       0.0821
      ],
      [
       9.38,
       0.0821
      ],
      [
       9.52,
       0.0816
      ],
      [
       9.66,
       0.0805
      ],
      [
       9.8,
       0.0793
      ],
      [
       9.94,
       0.0797
      ],
      [
       10.08,
       0.0823
      ],
      [
       10.22,
       0.0847
      ],
      [
       10.36,
       0.0859
      ],
      [
       10.5,
       0.0862
      ],
      [
       10.64,
       0.0795
      ],
      [
       10.78,
       0.0639
      ],
      [
       10.92,
       0.0375
      ],
      [
       11.06,
       0.0115
      ],
      [
       11.2,
       0.0
      ],
      [
       11.34,
       0.0
      ],
      [
       11.48,
       0.0
      ],
      [
       11.62,
       0.0
      ],
      [
       11.76,
       0.0
      ],
      [
       11.9,
       0.0
      ],
      [
       12.04,
       0.0
      ],
      [
       12.18,
       0.0
      ],
      [
       12.32,
       0.0
      ],
      [
       12.46,
       0.0
      ],
      [
       12.6,
       0.0
      ],
      [
       12.74,
       0.0
      ],
      [
       12.88,
       0.0132
      ],
      [
       13.02,
       0.0248
      ],
      [
       13.16,
       0.0278
      ],
      [
       13.3,
       0.0263
      ],
      [
       13.44,
       0.0227
      ],
      [
       13.58,
       0.0166
      ],
      [
       13.72,
       0.0093
      ],
      [
       13.86,
       0.0015
      ],
      [
       14.0,
       0.0
      ],
      [
       14.14,
       0.0
      ],
      [
       14.28,
       0.0
      ],
      [
       14.42,
       0.0
      ],
      [
       14.56,
       0.0
      ],
      [
       14.7,
       0.0
      ],
      [
       14.84,
       0.0
      ],
      [
       14.98,
       0.0
      ],
      [
       15.12,
       0.0
      ],
      [
       15.26,
       0.0
      ],
      [
       15.4,
       0.0
      ],
      [
       15.54,
       0.0
      ],
      [
       15.68,
       0.0
      ],
      [
       15.82,
       0.0
      ],
      [
       15.96,
       0.0
      ],
      [
       16.1,
       0.0
      ],
      [
       16.24,
       0.0
      ],
      [
       16.38,
       0.0
      ],
      [
       16.52,
       0.0
      ],
      [
       16.66,
       0.0
      ],
      [
       16.8,
       0.0
      ],
      [
       16.94,
       0.0
      ],
      [
       17.08,
       0.0
      ],
      [
       17.22,
       0.0
      ],
      [
       17.36,
       0.0
      ],
      [
       17.5,
       0.0
      ],
      [
       17.64,
       0.0
      ],
      [
       17.78,
       0.0
      ],
      [
       17.92,
       0.0
      ],
      [
       18.06,
       0.0
      ],
      [
       18.2,
       0.0
      ],
      [
       18.34,
       0.0
      ],
      [
       18.48,
       0.0
      ],
      [
       18.62,
       0.0
      ],
      [
       18.76,
       0.0004
      ],
      [
       18.9,
       0.0015
      ],
      [
       19.04,
       0.0024
      ],
      [
       19.18,
       0.003
      ],
      [
       19.32,
       0.0034
      ],
      [
       19.46,
       0.0039
      ],
      [
       19.6,
       0.0047
      ],
      [
       19.74,
       0.0055
      ],
      [
       19.88,
       0.0063
      ],
      [
       20.02,
       0.007
      ],
      [
       20.16,
       0.0076
      ],
      [
       20.3,
       0.0074
      ],
      [
       20.44,
       0.0058
      ],
      [
       20.58,
       0.0031
      ],
      [
       20.72,
       0.0
      ],
      [
       20.86,
       0.0
      ],
      [
       21.0,
       0.0
      ],
      [
       21.14,
       0.0
      ],
      [
       21.28,
       0.0
      ],
      [
       21.42,
       0.0
      ],
      [
       21.56,
       0.0
      ],
      [
       21.7,
       0.0
      ],
      [
       21.84,
       0.0
      ],
      [
       21.98,
       0.0
      ],
      [
       22.12,
       0.0
      ],
      [
       22.26,
       0.0
      ],
      [
       22.4,
       0.0
      ],
      [
       22.54,
       0.0
      ],
      [
       22.68,
       0.0
      ],
      [
       22.82,
       0.0
      ],
      [
       22.96,
       0.0
      ],
      [
       23.1,
       0.0
      ],
      [
       23.24,
       0.0
      ],
      [
       23.38,
       0.0
      ],
      [
       23.52,
       0.0
      ],
      [
       23.66,
       0.0
      ],
      [
       23.8,
       0.0
      ],
      [
       23.94,
       0.0
      ],
      [
       24.0,
       0.0
      ]
     ],
     "total_reward": 0.0,
     "initial_progress": 0.0,
     "final_progress": 0.0,
     "physics_sha256": "a91c3ab335462f74308fc903e30689eac0cc2ef035791b6abfc0542c06f91d1c",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0008284932320794747,
       "final_progress": 0.0008284932320794747,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.012850184132823921,
       "final_progress": 0.012850184132823921,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.025708919484204746,
       "final_progress": 0.025708919484204746,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "layout_rejected",
       "reason": "No free table space for green_cutting_board_0"
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.016560724889535555,
       "final_progress": 0.016560724889535555
      },
      {
       "layout_seed": 2,
       "outcome": "layout_rejected",
       "reason": "No free table space for green_cutting_board_0"
      },
      {
       "layout_seed": 3,
       "outcome": "layout_rejected",
       "reason": "No free table space for green_cutting_board_0"
      },
      {
       "layout_seed": 4,
       "outcome": "layout_rejected",
       "reason": "No free table space for green_cutting_board_0"
      },
      {
       "layout_seed": 5,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0,
       "final_progress": 0.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "foam_block_ctx5",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "pudding_box_ctx5",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "teal_dish_rack_0",
       "source": "primitive:dish_rack",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal dish rack"
      },
      {
       "name": "green_cutting_board_0",
       "source": "primitive:cutting_board",
       "grounding": "observed",
       "role": "clutter",
       "label": "green cutting board"
      },
      {
       "name": "white_mug_in_rack_0",
       "source": "ycb:025_mug",
       "grounding": "observed",
       "role": "clutter",
       "label": "white mug in rack"
      },
      {
       "name": "red_container_0",
       "source": "ycb:065-g_cups",
       "grounding": "observed",
       "role": "clutter",
       "label": "red container"
      },
      {
       "name": "condiment_bottles_0",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      },
      {
       "name": "condiment_bottles_1",
       "source": "ycb:021_bleach_cleanser",
       "grounding": "observed",
       "role": "clutter",
       "label": "condiment bottles"
      }
     ]
    }
   }
  },
  {
   "example_id": "8e28782cf0323ed615ce38f1a5783146cfc7a571dd8cff309a1077dd5b5b0a52",
   "recording_id": 12651,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "black desktop",
   "human_action": true,
   "description": "In the footage: Wipe the visible black desktop with the white wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 12\u00d76 cm patch (turned 20\u00b0) on the black desktop among the white router and the phone and sweep it row by row at 2\u201310 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 2\u201310 N, no object moved >2 cm, peak force \u226430 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 12651,
    "contributor_id": 14,
    "video": "media/source-12651-f766f995b65d.mp4",
    "poster": "media/source-12651.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12651,
     "contributor_id": 14,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12651_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 80.93,
      "original_end_s": 100.93,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8536a3f2a7c4beb8bb0980148fd27f825ac394b4031070ac21de62bd610b5716",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 5,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 1,
    "recording_observed": 4,
    "recording_added": 1,
    "surface": "black desktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "8e28782cf032-panda",
     "video": "media/sim-8e28782cf032-panda-s0.mp4",
     "poster": "media/sim-8e28782cf032-panda-s0.jpg",
     "trajectory": "trajectories/8e28782cf032-panda.json",
     "recipe": "recipes/8e28782cf032-panda.json",
     "seed": 0,
     "steps": 367,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0004
      ],
      [
       0.08,
       0.0023
      ],
      [
       0.12,
       0.0059
      ],
      [
       0.16,
       0.01
      ],
      [
       0.2,
       0.0139
      ],
      [
       0.24,
       0.0179
      ],
      [
       0.28,
       0.0223
      ],
      [
       0.32,
       0.027
      ],
      [
       0.36,
       0.0318
      ],
      [
       0.4,
       0.0367
      ],
      [
       0.44,
       0.0419
      ],
      [
       0.48,
       0.0472
      ],
      [
       0.52,
       0.0526
      ],
      [
       0.56,
       0.0582
      ],
      [
       0.6,
       0.0638
      ],
      [
       0.64,
       0.0694
      ],
      [
       0.68,
       0.075
      ],
      [
       0.72,
       0.0807
      ],
      [
       0.76,
       0.0865
      ],
      [
       0.8,
       0.0923
      ],
      [
       0.84,
       0.0982
      ],
      [
       0.88,
       0.1042
      ],
      [
       0.92,
       0.1101
      ],
      [
       0.96,
       0.1161
      ],
      [
       1.0,
       0.122
      ],
      [
       1.04,
       0.1278
      ],
      [
       1.08,
       0.1335
      ],
      [
       1.12,
       0.1391
      ],
      [
       1.16,
       0.1436
      ],
      [
       1.2,
       0.1417
      ],
      [
       1.24,
       0.1416
      ],
      [
       1.28,
       0.1438
      ],
      [
       1.32,
       0.1441
      ],
      [
       1.36,
       0.1437
      ],
      [
       1.4,
       0.143
      ],
      [
       1.44,
       0.1416
      ],
      [
       1.48,
       0.1402
      ],
      [
       1.52,
       0.1393
      ],
      [
       1.56,
       0.1392
      ],
      [
       1.6,
       0.1395
      ],
      [
       1.64,
       0.14
      ],
      [
       1.68,
       0.1404
      ],
      [
       1.72,
       0.1407
      ],
      [
       1.76,
       0.1411
      ],
      [
       1.8,
       0.142
      ],
      [
       1.84,
       0.1431
      ],
      [
       1.88,
       0.1443
      ],
      [
       1.92,
       0.1455
      ],
      [
       1.96,
       0.1465
      ],
      [
       2.0,
       0.1472
      ],
      [
       2.04,
       0.1477
      ],
      [
       2.08,
       0.1481
      ],
      [
       2.12,
       0.1485
      ],
      [
       2.16,
       0.149
      ],
      [
       2.2,
       0.1495
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.15
      ],
      [
       2.64,
       0.15
      ],
      [
       2.68,
       0.15
      ],
      [
       2.72,
       0.15
      ],
      [
       2.76,
       0.15
      ],
      [
       2.8,
       0.3389
      ],
      [
       2.84,
       0.3389
      ],
      [
       2.88,
       0.3389
      ],
      [
       2.92,
       0.3389
      ],
      [
       2.96,
       0.3389
      ],
      [
       3.0,
       0.3389
      ],
      [
       3.04,
       0.3389
      ],
      [
       3.08,
       0.3389
      ],
      [
       3.12,
       0.3389
      ],
      [
       3.16,
       0.3389
      ],
      [
       3.2,
       0.3389
      ],
      [
       3.24,
       0.3389
      ],
      [
       3.28,
       0.3389
      ],
      [
       3.32,
       0.3389
      ],
      [
       3.36,
       0.3389
      ],
      [
       3.4,
       0.3389
      ],
      [
       3.44,
       0.3389
      ],
      [
       3.48,
       0.3389
      ],
      [
       3.52,
       0.3389
      ],
      [
       3.56,
       0.3389
      ],
      [
       3.6,
       0.3389
      ],
      [
       3.64,
       0.3389
      ],
      [
       3.68,
       0.3389
      ],
      [
       3.72,
       0.3389
      ],
      [
       3.76,
       0.3389
      ],
      [
       3.8,
       0.3389
      ],
      [
       3.84,
       0.3389
      ],
      [
       3.88,
       0.3389
      ],
      [
       3.92,
       0.3389
      ],
      [
       3.96,
       0.3389
      ],
      [
       4.0,
       0.3389
      ],
      [
       4.04,
       0.3389
      ],
      [
       4.08,
       0.3389
      ],
      [
       4.12,
       0.3389
      ],
      [
       4.16,
       0.3389
      ],
      [
       4.2,
       0.3389
      ],
      [
       4.24,
       0.3389
      ],
      [
       4.28,
       0.3389
      ],
      [
       4.32,
       0.3389
      ],
      [
       4.36,
       0.3389
      ],
      [
       4.4,
       0.3389
      ],
      [
       4.44,
       0.3389
      ],
      [
       4.48,
       0.3389
      ],
      [
       4.52,
       0.3389
      ],
      [
       4.56,
       0.3389
      ],
      [
       4.6,
       0.3389
      ],
      [
       4.64,
       0.3389
      ],
      [
       4.68,
       0.3389
      ],
      [
       4.72,
       0.3389
      ],
      [
       4.76,
       0.3389
      ],
      [
       4.8,
       0.6222
      ],
      [
       4.84,
       0.6222
      ],
      [
       4.88,
       0.6222
      ],
      [
       4.92,
       0.6222
      ],
      [
       4.96,
       0.6222
      ],
      [
       5.0,
       0.6222
      ],
      [
       5.04,
       0.6222
      ],
      [
       5.08,
       0.6222
      ],
      [
       5.12,
       0.6694
      ],
      [
       5.16,
       0.6694
      ],
      [
       5.2,
       0.6694
      ],
      [
       5.24,
       0.6694
      ],
      [
       5.28,
       0.7167
      ],
      [
       5.32,
       0.7167
      ],
      [
       5.36,
       0.7167
      ],
      [
       5.4,
       0.7167
      ],
      [
       5.44,
       0.7167
      ],
      [
       5.48,
       0.7167
      ],
      [
       5.52,
       0.7639
      ],
      [
       5.56,
       0.7639
      ],
      [
       5.6,
       0.7639
      ],
      [
       5.64,
       0.8111
      ],
      [
       5.68,
       0.8111
      ],
      [
       5.72,
       0.8111
      ],
      [
       5.76,
       0.8111
      ],
      [
       5.8,
       0.8111
      ],
      [
       5.84,
       0.8111
      ],
      [
       5.88,
       0.8583
      ],
      [
       5.92,
       0.8583
      ],
      [
       5.96,
       0.8583
      ],
      [
       6.0,
       0.8583
      ],
      [
       6.04,
       0.8583
      ],
      [
       6.08,
       0.8583
      ],
      [
       6.12,
       0.8583
      ],
      [
       6.16,
       0.8583
      ],
      [
       6.2,
       0.8583
      ],
      [
       6.24,
       0.8583
      ],
      [
       6.28,
       0.9056
      ],
      [
       6.32,
       0.9056
      ],
      [
       6.36,
       0.9056
      ],
      [
       6.4,
       0.9056
      ],
      [
       6.44,
       0.9056
      ],
      [
       6.48,
       0.9056
      ],
      [
       6.52,
       0.9056
      ],
      [
       6.56,
       0.9056
      ],
      [
       6.6,
       0.9056
      ],
      [
       6.64,
       0.9056
      ],
      [
       6.68,
       0.9056
      ],
      [
       6.72,
       0.9056
      ],
      [
       6.76,
       0.9056
      ],
      [
       6.8,
       0.9056
      ],
      [
       6.84,
       0.9056
      ],
      [
       6.88,
       0.9056
      ],
      [
       6.92,
       0.9056
      ],
      [
       6.96,
       0.9056
      ],
      [
       7.0,
       0.9056
      ],
      [
       7.04,
       0.9056
      ],
      [
       7.08,
       0.9056
      ],
      [
       7.12,
       0.9056
      ],
      [
       7.16,
       0.9056
      ],
      [
       7.2,
       0.9056
      ],
      [
       7.24,
       0.9056
      ],
      [
       7.28,
       0.9056
      ],
      [
       7.32,
       0.9056
      ],
      [
       7.34,
       1.0
      ]
     ],
     "total_reward": 1.9547,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "2e5e9ae70cbb46ed3a76185d432624871cfdf1229a4f6c754e545a093a0c9600",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.08055555555555552,
       "final_progress": 0.33055555555555555,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3388888888888889,
       "final_progress": 0.3388888888888889,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 367,
       "return": 1.95466774353635,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "8e28782cf032-aloha",
     "video": "media/sim-8e28782cf032-aloha-s0.mp4",
     "poster": "media/sim-8e28782cf032-aloha-s0.jpg",
     "trajectory": "trajectories/8e28782cf032-aloha.json",
     "recipe": "recipes/8e28782cf032-aloha.json",
     "seed": 0,
     "steps": 592,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0015
      ],
      [
       0.12,
       0.0036
      ],
      [
       0.18,
       0.0061
      ],
      [
       0.24,
       0.0089
      ],
      [
       0.3,
       0.0121
      ],
      [
       0.36,
       0.0156
      ],
      [
       0.42,
       0.0195
      ],
      [
       0.48,
       0.0237
      ],
      [
       0.54,
       0.0282
      ],
      [
       0.6,
       0.0329
      ],
      [
       0.66,
       0.0383
      ],
      [
       0.72,
       0.0441
      ],
      [
       0.78,
       0.05
      ],
      [
       0.84,
       0.056
      ],
      [
       0.9,
       0.0621
      ],
      [
       0.96,
       0.0685
      ],
      [
       1.02,
       0.0753
      ],
      [
       1.08,
       0.0826
      ],
      [
       1.14,
       0.0904
      ],
      [
       1.2,
       0.0988
      ],
      [
       1.26,
       0.1085
      ],
      [
       1.32,
       0.1209
      ],
      [
       1.38,
       0.1337
      ],
      [
       1.44,
       0.1402
      ],
      [
       1.5,
       0.1426
      ],
      [
       1.56,
       0.1435
      ],
      [
       1.62,
       0.144
      ],
      [
       1.68,
       0.1436
      ],
      [
       1.74,
       0.1428
      ],
      [
       1.8,
       0.142
      ],
      [
       1.86,
       0.142
      ],
      [
       1.92,
       0.1423
      ],
      [
       1.98,
       0.1417
      ],
      [
       2.04,
       0.1401
      ],
      [
       2.1,
       0.1386
      ],
      [
       2.16,
       0.1379
      ],
      [
       2.22,
       0.1377
      ],
      [
       2.28,
       0.1377
      ],
      [
       2.34,
       0.1377
      ],
      [
       2.4,
       0.1377
      ],
      [
       2.46,
       0.1377
      ],
      [
       2.52,
       0.1376
      ],
      [
       2.58,
       0.1376
      ],
      [
       2.64,
       0.1375
      ],
      [
       2.7,
       0.1375
      ],
      [
       2.76,
       0.1374
      ],
      [
       2.82,
       0.1374
      ],
      [
       2.88,
       0.1373
      ],
      [
       2.94,
       0.1372
      ],
      [
       3.0,
       0.1369
      ],
      [
       3.06,
       0.1366
      ],
      [
       3.12,
       0.1362
      ],
      [
       3.18,
       0.136
      ],
      [
       3.24,
       0.1362
      ],
      [
       3.3,
       0.1364
      ],
      [
       3.36,
       0.1367
      ],
      [
       3.42,
       0.1368
      ],
      [
       3.48,
       0.1366
      ],
      [
       3.54,
       0.1361
      ],
      [
       3.6,
       0.1356
      ],
      [
       3.66,
       0.1351
      ],
      [
       3.72,
       0.1356
      ],
      [
       3.78,
       0.137
      ],
      [
       3.84,
       0.14
      ],
      [
       3.9,
       0.1445
      ],
      [
       3.96,
       0.1491
      ],
      [
       4.02,
       0.15
      ],
      [
       4.08,
       0.15
      ],
      [
       4.14,
       0.15
      ],
      [
       4.2,
       0.15
      ],
      [
       4.26,
       0.15
      ],
      [
       4.32,
       0.15
      ],
      [
       4.38,
       0.15
      ],
      [
       4.44,
       0.15
      ],
      [
       4.5,
       0.3389
      ],
      [
       4.56,
       0.3389
      ],
      [
       4.62,
       0.3389
      ],
      [
       4.68,
       0.3389
      ],
      [
       4.74,
       0.3389
      ],
      [
       4.8,
       0.3389
      ],
      [
       4.86,
       0.3389
      ],
      [
       4.92,
       0.3389
      ],
      [
       4.98,
       0.3389
      ],
      [
       5.04,
       0.3389
      ],
      [
       5.1,
       0.3389
      ],
      [
       5.16,
       0.3389
      ],
      [
       5.22,
       0.3861
      ],
      [
       5.28,
       0.4333
      ],
      [
       5.34,
       0.4333
      ],
      [
       5.4,
       0.4333
      ],
      [
       5.46,
       0.4806
      ],
      [
       5.52,
       0.4806
      ],
      [
       5.58,
       0.4806
      ],
      [
       5.64,
       0.4806
      ],
      [
       5.7,
       0.5278
      ],
      [
       5.76,
       0.5278
      ],
      [
       5.82,
       0.5278
      ],
      [
       5.88,
       0.5278
      ],
      [
       5.94,
       0.575
      ],
      [
       6.0,
       0.6222
      ],
      [
       6.06,
       0.6222
      ],
      [
       6.12,
       0.6694
      ],
      [
       6.18,
       0.6694
      ],
      [
       6.24,
       0.7167
      ],
      [
       6.3,
       0.7167
      ],
      [
       6.36,
       0.7167
      ],
      [
       6.42,
       0.7167
      ],
      [
       6.48,
       0.7167
      ],
      [
       6.54,
       0.7639
      ],
      [
       6.6,
       0.7639
      ],
      [
       6.66,
       0.8111
      ],
      [
       6.72,
       0.8111
      ],
      [
       6.78,
       0.8111
      ],
      [
       6.84,
       0.8111
      ],
      [
       6.9,
       0.8111
      ],
      [
       6.96,
       0.8111
      ],
      [
       7.02,
       0.8111
      ],
      [
       7.08,
       0.8111
      ],
      [
       7.14,
       0.8111
      ],
      [
       7.2,
       0.8111
      ],
      [
       7.26,
       0.8111
      ],
      [
       7.32,
       0.8111
      ],
      [
       7.38,
       0.8111
      ],
      [
       7.44,
       0.8111
      ],
      [
       7.5,
       0.8111
      ],
      [
       7.56,
       0.8111
      ],
      [
       7.62,
       0.8111
      ],
      [
       7.68,
       0.8111
      ],
      [
       7.74,
       0.8111
      ],
      [
       7.8,
       0.8111
      ],
      [
       7.86,
       0.8111
      ],
      [
       7.92,
       0.8111
      ],
      [
       7.98,
       0.8111
      ],
      [
       8.04,
       0.8111
      ],
      [
       8.1,
       0.8111
      ],
      [
       8.16,
       0.8111
      ],
      [
       8.22,
       0.8111
      ],
      [
       8.28,
       0.8111
      ],
      [
       8.34,
       0.8111
      ],
      [
       8.4,
       0.8111
      ],
      [
       8.46,
       0.8111
      ],
      [
       8.52,
       0.8111
      ],
      [
       8.58,
       0.8111
      ],
      [
       8.64,
       0.8111
      ],
      [
       8.7,
       0.8111
      ],
      [
       8.76,
       0.8111
      ],
      [
       8.82,
       0.8111
      ],
      [
       8.88,
       0.8111
      ],
      [
       8.94,
       0.8111
      ],
      [
       9.0,
       0.8111
      ],
      [
       9.06,
       0.8111
      ],
      [
       9.12,
       0.8111
      ],
      [
       9.18,
       0.8111
      ],
      [
       9.24,
       0.8111
      ],
      [
       9.3,
       0.8111
      ],
      [
       9.36,
       0.8111
      ],
      [
       9.42,
       0.8111
      ],
      [
       9.48,
       0.8111
      ],
      [
       9.54,
       0.8111
      ],
      [
       9.6,
       0.8111
      ],
      [
       9.66,
       0.8111
      ],
      [
       9.72,
       0.8111
      ],
      [
       9.78,
       0.8111
      ],
      [
       9.84,
       0.8111
      ],
      [
       9.9,
       0.8111
      ],
      [
       9.96,
       0.8111
      ],
      [
       10.02,
       0.8111
      ],
      [
       10.08,
       0.8111
      ],
      [
       10.14,
       0.8111
      ],
      [
       10.2,
       0.8111
      ],
      [
       10.26,
       0.8111
      ],
      [
       10.32,
       0.8111
      ],
      [
       10.38,
       0.8111
      ],
      [
       10.44,
       0.8111
      ],
      [
       10.5,
       0.8111
      ],
      [
       10.56,
       0.8583
      ],
      [
       10.62,
       0.8583
      ],
      [
       10.68,
       0.8583
      ],
      [
       10.74,
       0.8583
      ],
      [
       10.8,
       0.8583
      ],
      [
       10.86,
       0.8583
      ],
      [
       10.92,
       0.8583
      ],
      [
       10.98,
       0.9056
      ],
      [
       11.04,
       0.9056
      ],
      [
       11.1,
       0.9056
      ],
      [
       11.16,
       0.9056
      ],
      [
       11.22,
       0.9056
      ],
      [
       11.28,
       0.9056
      ],
      [
       11.34,
       0.9056
      ],
      [
       11.4,
       0.9056
      ],
      [
       11.46,
       0.9056
      ],
      [
       11.52,
       0.9056
      ],
      [
       11.58,
       0.9056
      ],
      [
       11.64,
       0.9056
      ],
      [
       11.7,
       0.9056
      ],
      [
       11.76,
       0.9056
      ],
      [
       11.82,
       0.9056
      ],
      [
       11.84,
       0.9528
      ]
     ],
     "total_reward": 1.8943,
     "initial_progress": 0.0,
     "final_progress": 0.9528,
     "physics_sha256": "a5c13bab7ef03a3a6cce39cf807a6dfc119291d198df90252777c9666e315fca",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0013331146890127098,
       "final_progress": 0.0013331146890127098,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.19922096341645715,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3201841349088475,
       "final_progress": 0.3388888888888889,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 592,
       "return": 1.8943321495471186,
       "final_progress": 0.9527777777777777
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "b39cd9d76400275ed8c61b6018c6edfd5e05e544a6ee0978f0b279081648a698",
   "recording_id": 12651,
   "task_number": 2,
   "task_count": 4,
   "goal": "clear_then_press",
   "goal_label": "Clear, then press",
   "family": "clear_then_press",
   "family_tag": "CLEAR + PRESS",
   "target": "black desktop",
   "human_action": false,
   "description": "Lift the foam block off the red spot on the black desktop, set it aside among the power strip with cables and the white router, then press the spot with the fingertips.",
   "practice": {
    "reward_id": "clear_then_press",
    "motion": "Lift the foam block off the red spot on the black desktop, set it aside among the power strip with cables and the white router, then press the spot with the fingertips.",
    "start": "Gripper open at home; the object covers the spot.",
    "reward": "\u0394[0.1 reach + 0.2 lifted + 0.3 spot cleared + 0.4 press dwell] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released and resting \u22652 cm outside the spot, then fingertips press the spot at 1\u201325 N for 0.3 s; nothing else moved >2 cm.",
    "reward_focus": "Sequenced clearing then contact"
   },
   "source": {
    "recording_id": 12651,
    "contributor_id": 14,
    "video": "media/source-12651-f766f995b65d.mp4",
    "poster": "media/source-12651.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12651,
     "contributor_id": 14,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12651_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 80.93,
      "original_end_s": 100.93,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8536a3f2a7c4beb8bb0980148fd27f825ac394b4031070ac21de62bd610b5716",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 2,
    "recording_observed": 4,
    "recording_added": 1,
    "surface": "black desktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "b39cd9d76400-panda",
     "video": "media/sim-b39cd9d76400-panda-s0.mp4",
     "poster": "media/sim-b39cd9d76400-panda-s0.jpg",
     "trajectory": "trajectories/b39cd9d76400-panda.json",
     "recipe": "recipes/b39cd9d76400-panda.json",
     "seed": 0,
     "steps": 475,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       1.0,
       0.0032
      ],
      [
       1.04,
       0.008
      ],
      [
       1.08,
       0.0132
      ],
      [
       1.12,
       0.0185
      ],
      [
       1.16,
       0.0237
      ],
      [
       1.2,
       0.0286
      ],
      [
       1.24,
       0.0332
      ],
      [
       1.28,
       0.0373
      ],
      [
       1.32,
       0.0406
      ],
      [
       1.36,
       0.0432
      ],
      [
       1.4,
       0.0453
      ],
      [
       1.44,
       0.0473
      ],
      [
       1.48,
       0.0494
      ],
      [
       1.52,
       0.0514
      ],
      [
       1.56,
       0.0536
      ],
      [
       1.6,
       0.0558
      ],
      [
       1.64,
       0.0581
      ],
      [
       1.68,
       0.0606
      ],
      [
       1.72,
       0.0635
      ],
      [
       1.76,
       0.0668
      ],
      [
       1.8,
       0.0699
      ],
      [
       1.84,
       0.0725
      ],
      [
       1.88,
       0.075
      ],
      [
       1.92,
       0.0778
      ],
      [
       1.96,
       0.0807
      ],
      [
       2.0,
       0.0838
      ],
      [
       2.04,
       0.0871
      ],
      [
       2.08,
       0.0906
      ],
      [
       2.12,
       0.0944
      ],
      [
       2.16,
       0.0981
      ],
      [
       2.2,
       0.0962
      ],
      [
       2.24,
       0.096
      ],
      [
       2.28,
       0.0958
      ],
      [
       2.32,
       0.0964
      ],
      [
       2.36,
       0.0968
      ],
      [
       2.4,
       0.0969
      ],
      [
       2.44,
       0.097
      ],
      [
       2.48,
       0.0969
      ],
      [
       2.52,
       0.097
      ],
      [
       2.56,
       0.097
      ],
      [
       2.6,
       0.097
      ],
      [
       2.64,
       0.0971
      ],
      [
       2.68,
       0.0971
      ],
      [
       2.72,
       0.097
      ],
      [
       2.76,
       0.0968
      ],
      [
       2.8,
       0.0968
      ],
      [
       2.84,
       0.0969
      ],
      [
       2.88,
       0.097
      ],
      [
       2.92,
       0.097
      ],
      [
       2.96,
       0.097
      ],
      [
       3.0,
       0.0971
      ],
      [
       3.04,
       0.0971
      ],
      [
       3.08,
       0.0972
      ],
      [
       3.12,
       0.0972
      ],
      [
       3.16,
       0.0973
      ],
      [
       3.2,
       0.0973
      ],
      [
       3.24,
       0.5329
      ],
      [
       3.28,
       0.5324
      ],
      [
       3.32,
       0.528
      ],
      [
       3.36,
       0.5197
      ],
      [
       3.4,
       0.5071
      ],
      [
       3.44,
       0.4915
      ],
      [
       3.48,
       0.4758
      ],
      [
       3.52,
       0.46
      ],
      [
       3.56,
       0.4445
      ],
      [
       3.6,
       0.4288
      ],
      [
       3.64,
       0.4126
      ],
      [
       3.68,
       0.3969
      ],
      [
       3.72,
       0.3812
      ],
      [
       3.76,
       0.3645
      ],
      [
       3.8,
       0.3425
      ],
      [
       3.84,
       0.3133
      ],
      [
       3.88,
       0.3149
      ],
      [
       3.92,
       0.3504
      ],
      [
       3.96,
       0.4046
      ],
      [
       4.0,
       0.4695
      ],
      [
       4.04,
       0.5361
      ],
      [
       4.08,
       0.6
      ],
      [
       4.12,
       0.6
      ],
      [
       4.16,
       0.6
      ],
      [
       4.2,
       0.6
      ],
      [
       4.24,
       0.6
      ],
      [
       4.28,
       0.6
      ],
      [
       4.32,
       0.6
      ],
      [
       4.36,
       0.6
      ],
      [
       4.4,
       0.6
      ],
      [
       4.44,
       0.6
      ],
      [
       4.48,
       0.6
      ],
      [
       4.52,
       0.6
      ],
      [
       4.56,
       0.6
      ],
      [
       4.6,
       0.6
      ],
      [
       4.64,
       0.6
      ],
      [
       4.68,
       0.6
      ],
      [
       4.72,
       0.6
      ],
      [
       4.76,
       0.6
      ],
      [
       4.8,
       0.6
      ],
      [
       4.84,
       0.6
      ],
      [
       4.88,
       0.6
      ],
      [
       4.92,
       0.6
      ],
      [
       4.96,
       0.6
      ],
      [
       5.0,
       0.6
      ],
      [
       5.04,
       0.6
      ],
      [
       5.08,
       0.6
      ],
      [
       5.12,
       0.6
      ],
      [
       5.16,
       0.6
      ],
      [
       5.2,
       0.6
      ],
      [
       5.24,
       0.6
      ],
      [
       5.28,
       0.6
      ],
      [
       5.32,
       0.6
      ],
      [
       5.36,
       0.6
      ],
      [
       5.4,
       0.6
      ],
      [
       5.44,
       0.6
      ],
      [
       5.48,
       0.6
      ],
      [
       5.52,
       0.6
      ],
      [
       5.56,
       0.6
      ],
      [
       5.6,
       0.6
      ],
      [
       5.64,
       0.6
      ],
      [
       5.68,
       0.6
      ],
      [
       5.72,
       0.6
      ],
      [
       5.76,
       0.6
      ],
      [
       5.8,
       0.6
      ],
      [
       5.84,
       0.6
      ],
      [
       5.88,
       0.6
      ],
      [
       5.92,
       0.6
      ],
      [
       5.96,
       0.6
      ],
      [
       6.0,
       0.6
      ],
      [
       6.04,
       0.6
      ],
      [
       6.08,
       0.6
      ],
      [
       6.12,
       0.6
      ],
      [
       6.16,
       0.6
      ],
      [
       6.2,
       0.6
      ],
      [
       6.24,
       0.6
      ],
      [
       6.28,
       0.6
      ],
      [
       6.32,
       0.6
      ],
      [
       6.36,
       0.6
      ],
      [
       6.4,
       0.6
      ],
      [
       6.44,
       0.6
      ],
      [
       6.48,
       0.6
      ],
      [
       6.52,
       0.6
      ],
      [
       6.56,
       0.6
      ],
      [
       6.6,
       0.6
      ],
      [
       6.64,
       0.6
      ],
      [
       6.68,
       0.6
      ],
      [
       6.72,
       0.6
      ],
      [
       6.76,
       0.6
      ],
      [
       6.8,
       0.6
      ],
      [
       6.84,
       0.6
      ],
      [
       6.88,
       0.6
      ],
      [
       6.92,
       0.6
      ],
      [
       6.96,
       0.6
      ],
      [
       7.0,
       0.6
      ],
      [
       7.04,
       0.6
      ],
      [
       7.08,
       0.6
      ],
      [
       7.12,
       0.6
      ],
      [
       7.16,
       0.6
      ],
      [
       7.2,
       0.6
      ],
      [
       7.24,
       0.6
      ],
      [
       7.28,
       0.6
      ],
      [
       7.32,
       0.6
      ],
      [
       7.36,
       0.6
      ],
      [
       7.4,
       0.6
      ],
      [
       7.44,
       0.6
      ],
      [
       7.48,
       0.6
      ],
      [
       7.52,
       0.6
      ],
      [
       7.56,
       0.6
      ],
      [
       7.6,
       0.6
      ],
      [
       7.64,
       0.6
      ],
      [
       7.68,
       0.6
      ],
      [
       7.72,
       0.6
      ],
      [
       7.76,
       0.6
      ],
      [
       7.8,
       0.6
      ],
      [
       7.84,
       0.6
      ],
      [
       7.88,
       0.6
      ],
      [
       7.92,
       0.6
      ],
      [
       7.96,
       0.6
      ],
      [
       8.0,
       0.6
      ],
      [
       8.04,
       0.6
      ],
      [
       8.08,
       0.6
      ],
      [
       8.12,
       0.6
      ],
      [
       8.16,
       0.6
      ],
      [
       8.2,
       0.6
      ],
      [
       8.24,
       0.6
      ],
      [
       8.28,
       0.6
      ],
      [
       8.32,
       0.6
      ],
      [
       8.36,
       0.6
      ],
      [
       8.4,
       0.6
      ],
      [
       8.44,
       0.6
      ],
      [
       8.48,
       0.6
      ],
      [
       8.52,
       0.6
      ],
      [
       8.56,
       0.6
      ],
      [
       8.6,
       0.6
      ],
      [
       8.64,
       0.6
      ],
      [
       8.68,
       0.6
      ],
      [
       8.72,
       0.6
      ],
      [
       8.76,
       0.6
      ],
      [
       8.8,
       0.6
      ],
      [
       8.84,
       0.6
      ],
      [
       8.88,
       0.6
      ],
      [
       8.92,
       0.6
      ],
      [
       8.96,
       0.6
      ],
      [
       9.0,
       0.6
      ],
      [
       9.04,
       0.6
      ],
      [
       9.08,
       0.6
      ],
      [
       9.12,
       0.6
      ],
      [
       9.16,
       0.6
      ],
      [
       9.2,
       0.6
      ],
      [
       9.24,
       0.6533
      ],
      [
       9.28,
       0.7067
      ],
      [
       9.32,
       0.76
      ],
      [
       9.36,
       0.8133
      ],
      [
       9.4,
       0.8667
      ],
      [
       9.44,
       0.92
      ],
      [
       9.48,
       0.9733
      ],
      [
       9.5,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c733fec5b5389c6cba518937d539ef80cf509e22ad5e6a7ab43097afe4f17909",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.3971700187629404e-05,
       "final_progress": 3.3971700187629404e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": -0.9111167995271493,
       "final_progress": 0.08915434672721395,
       "steps": 150,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 475,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx41",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "b39cd9d76400-aloha",
     "video": "media/sim-b39cd9d76400-aloha-s0.mp4",
     "poster": "media/sim-b39cd9d76400-aloha-s0.jpg",
     "trajectory": "trajectories/b39cd9d76400-aloha.json",
     "recipe": "recipes/b39cd9d76400-aloha.json",
     "seed": 0,
     "steps": 933,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.1,
       0.001
      ],
      [
       0.2,
       0.0026
      ],
      [
       0.3,
       0.0045
      ],
      [
       0.4,
       0.0067
      ],
      [
       0.5,
       0.0093
      ],
      [
       0.6,
       0.0126
      ],
      [
       0.7,
       0.0167
      ],
      [
       0.8,
       0.0219
      ],
      [
       0.9,
       0.0281
      ],
      [
       1.0,
       0.0354
      ],
      [
       1.1,
       0.0439
      ],
      [
       1.2,
       0.0537
      ],
      [
       1.3,
       0.0604
      ],
      [
       1.4,
       0.0629
      ],
      [
       1.5,
       0.0648
      ],
      [
       1.6,
       0.0661
      ],
      [
       1.7,
       0.0667
      ],
      [
       1.8,
       0.0673
      ],
      [
       1.9,
       0.0678
      ],
      [
       2.0,
       0.0681
      ],
      [
       2.1,
       0.0676
      ],
      [
       2.2,
       0.0664
      ],
      [
       2.3,
       0.0644
      ],
      [
       2.4,
       0.0619
      ],
      [
       2.5,
       0.0588
      ],
      [
       2.6,
       0.0577
      ],
      [
       2.7,
       0.0578
      ],
      [
       2.8,
       0.0575
      ],
      [
       2.9,
       0.0573
      ],
      [
       3.0,
       0.0575
      ],
      [
       3.1,
       0.0587
      ],
      [
       3.2,
       0.0611
      ],
      [
       3.3,
       0.0651
      ],
      [
       3.4,
       0.0703
      ],
      [
       3.5,
       0.0759
      ],
      [
       3.6,
       0.0804
      ],
      [
       3.7,
       0.0847
      ],
      [
       3.8,
       0.0862
      ],
      [
       3.9,
       0.0877
      ],
      [
       4.0,
       0.0887
      ],
      [
       4.1,
       0.0896
      ],
      [
       4.2,
       0.0905
      ],
      [
       4.3,
       0.0911
      ],
      [
       4.4,
       0.0911
      ],
      [
       4.5,
       0.091
      ],
      [
       4.6,
       0.091
      ],
      [
       4.7,
       0.0909
      ],
      [
       4.8,
       0.0909
      ],
      [
       4.9,
       0.0909
      ],
      [
       5.0,
       0.0908
      ],
      [
       5.1,
       0.0908
      ],
      [
       5.2,
       0.0908
      ],
      [
       5.3,
       0.0907
      ],
      [
       5.4,
       0.0907
      ],
      [
       5.5,
       0.0906
      ],
      [
       5.6,
       0.0904
      ],
      [
       5.7,
       0.0901
      ],
      [
       5.8,
       0.0898
      ],
      [
       5.9,
       0.0894
      ],
      [
       6.0,
       0.0893
      ],
      [
       6.1,
       0.0891
      ],
      [
       6.2,
       0.0889
      ],
      [
       6.3,
       0.0886
      ],
      [
       6.4,
       0.0883
      ],
      [
       6.5,
       0.088
      ],
      [
       6.6,
       0.0878
      ],
      [
       6.7,
       0.0875
      ],
      [
       6.8,
       0.0872
      ],
      [
       6.9,
       0.0868
      ],
      [
       7.0,
       0.0865
      ],
      [
       7.1,
       0.0861
      ],
      [
       7.2,
       0.0858
      ],
      [
       7.3,
       0.0858
      ],
      [
       7.4,
       0.0858
      ],
      [
       7.5,
       0.0858
      ],
      [
       7.6,
       0.0858
      ],
      [
       7.7,
       0.0858
      ],
      [
       7.8,
       0.0857
      ],
      [
       7.9,
       0.0856
      ],
      [
       8.0,
       0.0855
      ],
      [
       8.1,
       0.0855
      ],
      [
       8.2,
       0.0855
      ],
      [
       8.3,
       0.0853
      ],
      [
       8.4,
       0.0853
      ],
      [
       8.5,
       0.0851
      ],
      [
       8.6,
       0.085
      ],
      [
       8.7,
       0.0849
      ],
      [
       8.8,
       0.0848
      ],
      [
       8.9,
       0.085
      ],
      [
       9.0,
       0.0846
      ],
      [
       9.1,
       0.0845
      ],
      [
       9.2,
       0.0844
      ],
      [
       9.3,
       0.0843
      ],
      [
       9.4,
       0.0841
      ],
      [
       9.5,
       0.084
      ],
      [
       9.6,
       0.0838
      ],
      [
       9.7,
       0.0836
      ],
      [
       9.8,
       0.0833
      ],
      [
       9.9,
       0.0831
      ],
      [
       10.0,
       0.083
      ],
      [
       10.1,
       0.6
      ],
      [
       10.2,
       0.6
      ],
      [
       10.3,
       0.6
      ],
      [
       10.4,
       0.6
      ],
      [
       10.5,
       0.6
      ],
      [
       10.6,
       0.6
      ],
      [
       10.7,
       0.6
      ],
      [
       10.8,
       0.6
      ],
      [
       10.9,
       0.6
      ],
      [
       11.0,
       0.6
      ],
      [
       11.1,
       0.6
      ],
      [
       11.2,
       0.6
      ],
      [
       11.3,
       0.6
      ],
      [
       11.4,
       0.6
      ],
      [
       11.5,
       0.6
      ],
      [
       11.6,
       0.6
      ],
      [
       11.7,
       0.6
      ],
      [
       11.8,
       0.6
      ],
      [
       11.9,
       0.6
      ],
      [
       12.0,
       0.6
      ],
      [
       12.1,
       0.6
      ],
      [
       12.2,
       0.6
      ],
      [
       12.3,
       0.6
      ],
      [
       12.4,
       0.6
      ],
      [
       12.5,
       0.6
      ],
      [
       12.6,
       0.6
      ],
      [
       12.7,
       0.6
      ],
      [
       12.8,
       0.6
      ],
      [
       12.9,
       0.6
      ],
      [
       13.0,
       0.6
      ],
      [
       13.1,
       0.6
      ],
      [
       13.2,
       0.6
      ],
      [
       13.3,
       0.6
      ],
      [
       13.4,
       0.6
      ],
      [
       13.5,
       0.6
      ],
      [
       13.6,
       0.6
      ],
      [
       13.7,
       0.6
      ],
      [
       13.8,
       0.6
      ],
      [
       13.9,
       0.6
      ],
      [
       14.0,
       0.6
      ],
      [
       14.1,
       0.6
      ],
      [
       14.2,
       0.6
      ],
      [
       14.3,
       0.6
      ],
      [
       14.4,
       0.6
      ],
      [
       14.5,
       0.6
      ],
      [
       14.6,
       0.6
      ],
      [
       14.7,
       0.6
      ],
      [
       14.8,
       0.6
      ],
      [
       14.9,
       0.6
      ],
      [
       15.0,
       0.6
      ],
      [
       15.1,
       0.6
      ],
      [
       15.2,
       0.6
      ],
      [
       15.3,
       0.6
      ],
      [
       15.4,
       0.6
      ],
      [
       15.5,
       0.6
      ],
      [
       15.6,
       0.6
      ],
      [
       15.7,
       0.6
      ],
      [
       15.8,
       0.6
      ],
      [
       15.9,
       0.6
      ],
      [
       16.0,
       0.6
      ],
      [
       16.1,
       0.6
      ],
      [
       16.2,
       0.6
      ],
      [
       16.3,
       0.6
      ],
      [
       16.4,
       0.6
      ],
      [
       16.5,
       0.6
      ],
      [
       16.6,
       0.6
      ],
      [
       16.7,
       0.6
      ],
      [
       16.8,
       0.6
      ],
      [
       16.9,
       0.6
      ],
      [
       17.0,
       0.6
      ],
      [
       17.1,
       0.6
      ],
      [
       17.2,
       0.6
      ],
      [
       17.3,
       0.6
      ],
      [
       17.4,
       0.6
      ],
      [
       17.5,
       0.6
      ],
      [
       17.6,
       0.6
      ],
      [
       17.7,
       0.6
      ],
      [
       17.8,
       0.6
      ],
      [
       17.9,
       0.6
      ],
      [
       18.0,
       0.6
      ],
      [
       18.1,
       0.6533
      ],
      [
       18.2,
       0.7867
      ],
      [
       18.3,
       0.92
      ],
      [
       18.4,
       0.6533
      ],
      [
       18.5,
       0.7867
      ],
      [
       18.6,
       0.92
      ],
      [
       18.66,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "8309c5bf4144faa30431596d5a095349c99222bca9737730ee59b4ae6ab702d3",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0004907925455394313,
       "final_progress": 0.0004907925455394313,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 1.0587911840678754e-20,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "press_without_clearing",
       "success": false,
       "return": 0.06737266342800045,
       "final_progress": 0.06737266342800045,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 933,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "foam_block_ctx41",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "ce4de0e271e235fd329ee3ccf700aa302c29210b045f01d735b274a53170098a",
   "recording_id": 12651,
   "task_number": 3,
   "task_count": 4,
   "goal": "stack",
   "goal_label": "Stack",
   "family": "stack",
   "family_tag": "STACK",
   "target": "black desktop",
   "human_action": false,
   "description": "Pick up the foam block and balance it on top of the pudding box on the black desktop among the white router and the power strip with cables.",
   "practice": {
    "reward_id": "stack",
    "motion": "Pick up the foam block and balance it on top of the pudding box on the black desktop among the white router and the power strip with cables.",
    "start": "Gripper open at home; both objects resting on the table.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 alignment over the base + 0.1 released on top] \u2212 \u0394 clutter + 1 on success",
    "success": "Object resting only on the base (not the table), centred within 3.5 cm, released and still for 0.5 s; base moved <3 cm.",
    "reward_focus": "Precise placement on a small support"
   },
   "source": {
    "recording_id": 12651,
    "contributor_id": 14,
    "video": "media/source-12651-f766f995b65d.mp4",
    "poster": "media/source-12651.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12651,
     "contributor_id": 14,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12651_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 80.93,
      "original_end_s": 100.93,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8536a3f2a7c4beb8bb0980148fd27f825ac394b4031070ac21de62bd610b5716",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 7,
    "physical_objects": 7,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 3,
    "recording_observed": 4,
    "recording_added": 1,
    "surface": "black desktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "ce4de0e271e2-panda",
     "video": "media/sim-ce4de0e271e2-panda-s0.mp4",
     "poster": "media/sim-ce4de0e271e2-panda-s0.jpg",
     "trajectory": "trajectories/ce4de0e271e2-panda.json",
     "recipe": "recipes/ce4de0e271e2-panda.json",
     "seed": 0,
     "steps": 396,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.92,
       0.0014
      ],
      [
       0.96,
       0.0041
      ],
      [
       1.0,
       0.007
      ],
      [
       1.04,
       0.0102
      ],
      [
       1.08,
       0.0138
      ],
      [
       1.12,
       0.0178
      ],
      [
       1.16,
       0.0221
      ],
      [
       1.2,
       0.027
      ],
      [
       1.24,
       0.0323
      ],
      [
       1.28,
       0.038
      ],
      [
       1.32,
       0.0436
      ],
      [
       1.36,
       0.0488
      ],
      [
       1.4,
       0.0532
      ],
      [
       1.44,
       0.0575
      ],
      [
       1.48,
       0.0617
      ],
      [
       1.52,
       0.0657
      ],
      [
       1.56,
       0.0697
      ],
      [
       1.6,
       0.0734
      ],
      [
       1.64,
       0.0769
      ],
      [
       1.68,
       0.0802
      ],
      [
       1.72,
       0.0832
      ],
      [
       1.76,
       0.086
      ],
      [
       1.8,
       0.0886
      ],
      [
       1.84,
       0.091
      ],
      [
       1.88,
       0.0932
      ],
      [
       1.92,
       0.0953
      ],
      [
       1.96,
       0.0974
      ],
      [
       2.0,
       0.0994
      ],
      [
       2.04,
       0.1015
      ],
      [
       2.08,
       0.1038
      ],
      [
       2.12,
       0.1062
      ],
      [
       2.16,
       0.109
      ],
      [
       2.2,
       0.1121
      ],
      [
       2.24,
       0.1145
      ],
      [
       2.28,
       0.1162
      ],
      [
       2.32,
       0.118
      ],
      [
       2.36,
       0.1203
      ],
      [
       2.4,
       0.1229
      ],
      [
       2.44,
       0.1257
      ],
      [
       2.48,
       0.1286
      ],
      [
       2.52,
       0.1318
      ],
      [
       2.56,
       0.1352
      ],
      [
       2.6,
       0.1389
      ],
      [
       2.64,
       0.1427
      ],
      [
       2.68,
       0.1452
      ],
      [
       2.72,
       0.1439
      ],
      [
       2.76,
       0.1435
      ],
      [
       2.8,
       0.1438
      ],
      [
       2.84,
       0.1441
      ],
      [
       2.88,
       0.1452
      ],
      [
       2.92,
       0.1458
      ],
      [
       2.96,
       0.1461
      ],
      [
       3.0,
       0.1465
      ],
      [
       3.04,
       0.1466
      ],
      [
       3.08,
       0.1467
      ],
      [
       3.12,
       0.1468
      ],
      [
       3.16,
       0.1469
      ],
      [
       3.2,
       0.147
      ],
      [
       3.24,
       0.147
      ],
      [
       3.28,
       0.1471
      ],
      [
       3.32,
       0.1471
      ],
      [
       3.36,
       0.1472
      ],
      [
       3.4,
       0.1473
      ],
      [
       3.44,
       0.1473
      ],
      [
       3.48,
       0.1474
      ],
      [
       3.52,
       0.1473
      ],
      [
       3.56,
       0.1472
      ],
      [
       3.6,
       0.1473
      ],
      [
       3.64,
       0.1474
      ],
      [
       3.68,
       0.1474
      ],
      [
       3.72,
       0.1475
      ],
      [
       3.76,
       0.1476
      ],
      [
       3.8,
       0.1476
      ],
      [
       3.84,
       0.1477
      ],
      [
       3.88,
       0.1478
      ],
      [
       3.92,
       0.1478
      ],
      [
       3.96,
       0.4
      ],
      [
       4.0,
       0.4
      ],
      [
       4.04,
       0.4
      ],
      [
       4.08,
       0.4
      ],
      [
       4.12,
       0.4
      ],
      [
       4.16,
       0.4
      ],
      [
       4.2,
       0.4
      ],
      [
       4.24,
       0.4
      ],
      [
       4.28,
       0.4
      ],
      [
       4.32,
       0.4
      ],
      [
       4.36,
       0.4
      ],
      [
       4.4,
       0.4
      ],
      [
       4.44,
       0.4
      ],
      [
       4.48,
       0.4
      ],
      [
       4.52,
       0.4
      ],
      [
       4.56,
       0.4
      ],
      [
       4.6,
       0.4
      ],
      [
       4.64,
       0.4
      ],
      [
       4.68,
       0.4042
      ],
      [
       4.72,
       0.4159
      ],
      [
       4.76,
       0.4367
      ],
      [
       4.8,
       0.4628
      ],
      [
       4.84,
       0.4882
      ],
      [
       4.88,
       0.5126
      ],
      [
       4.92,
       0.5375
      ],
      [
       4.96,
       0.5635
      ],
      [
       5.0,
       0.59
      ],
      [
       5.04,
       0.6167
      ],
      [
       5.08,
       0.6435
      ],
      [
       5.12,
       0.6702
      ],
      [
       5.16,
       0.6968
      ],
      [
       5.2,
       0.7232
      ],
      [
       5.24,
       0.7493
      ],
      [
       5.28,
       0.7748
      ],
      [
       5.32,
       0.7998
      ],
      [
       5.36,
       0.8261
      ],
      [
       5.4,
       0.8541
      ],
      [
       5.44,
       0.8832
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       0.9
      ],
      [
       5.64,
       0.9
      ],
      [
       5.68,
       0.9
      ],
      [
       5.72,
       0.9
      ],
      [
       5.76,
       0.9
      ],
      [
       5.8,
       0.9
      ],
      [
       5.84,
       0.9
      ],
      [
       5.88,
       0.9
      ],
      [
       5.92,
       0.9
      ],
      [
       5.96,
       0.9
      ],
      [
       6.0,
       0.9
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       0.9
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       0.9
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       0.9
      ],
      [
       6.32,
       0.9
      ],
      [
       6.36,
       0.9
      ],
      [
       6.4,
       0.9
      ],
      [
       6.44,
       0.9
      ],
      [
       6.48,
       0.9
      ],
      [
       6.52,
       0.9
      ],
      [
       6.56,
       0.9
      ],
      [
       6.6,
       0.9
      ],
      [
       6.64,
       0.9
      ],
      [
       6.68,
       0.9
      ],
      [
       6.72,
       0.9
      ],
      [
       6.76,
       0.9
      ],
      [
       6.8,
       0.9
      ],
      [
       6.84,
       0.9
      ],
      [
       6.88,
       0.9
      ],
      [
       6.92,
       0.9
      ],
      [
       6.96,
       0.9
      ],
      [
       7.0,
       0.9
      ],
      [
       7.04,
       0.9
      ],
      [
       7.08,
       0.9
      ],
      [
       7.12,
       0.9
      ],
      [
       7.16,
       0.9
      ],
      [
       7.2,
       0.9
      ],
      [
       7.24,
       0.9
      ],
      [
       7.28,
       0.9
      ],
      [
       7.32,
       0.9
      ],
      [
       7.36,
       0.9
      ],
      [
       7.4,
       0.9
      ],
      [
       7.44,
       1.0
      ],
      [
       7.48,
       1.0
      ],
      [
       7.52,
       1.0
      ],
      [
       7.56,
       1.0
      ],
      [
       7.6,
       1.0
      ],
      [
       7.64,
       1.0
      ],
      [
       7.68,
       1.0
      ],
      [
       7.72,
       1.0
      ],
      [
       7.76,
       1.0
      ],
      [
       7.8,
       1.0
      ],
      [
       7.84,
       1.0
      ],
      [
       7.88,
       1.0
      ],
      [
       7.92,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "69eca06823749f3af2878ff9fd02d98861dcc94164296bcd61c8fd79ad0b6ba1",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.4196575363089917,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.7193918984153893,
       "final_progress": 0.7193918984153893,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 396,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx41",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "pudding_box_ctx41",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "ce4de0e271e2-aloha",
     "video": "media/sim-ce4de0e271e2-aloha-s5.mp4",
     "poster": "media/sim-ce4de0e271e2-aloha-s5.jpg",
     "trajectory": "trajectories/ce4de0e271e2-aloha.json",
     "recipe": "recipes/ce4de0e271e2-aloha.json",
     "seed": 5,
     "steps": 778,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.08,
       0.0033
      ],
      [
       0.16,
       0.0089
      ],
      [
       0.24,
       0.0146
      ],
      [
       0.32,
       0.0202
      ],
      [
       0.4,
       0.0256
      ],
      [
       0.48,
       0.031
      ],
      [
       0.56,
       0.0365
      ],
      [
       0.64,
       0.0425
      ],
      [
       0.72,
       0.0487
      ],
      [
       0.8,
       0.0547
      ],
      [
       0.88,
       0.0609
      ],
      [
       0.96,
       0.0683
      ],
      [
       1.04,
       0.0754
      ],
      [
       1.12,
       0.0828
      ],
      [
       1.2,
       0.0914
      ],
      [
       1.28,
       0.1007
      ],
      [
       1.36,
       0.1101
      ],
      [
       1.44,
       0.1183
      ],
      [
       1.52,
       0.1235
      ],
      [
       1.6,
       0.1241
      ],
      [
       1.68,
       0.1292
      ],
      [
       1.76,
       0.1325
      ],
      [
       1.84,
       0.1344
      ],
      [
       1.92,
       0.1332
      ],
      [
       2.0,
       0.1329
      ],
      [
       2.08,
       0.1328
      ],
      [
       2.16,
       0.1326
      ],
      [
       2.24,
       0.132
      ],
      [
       2.32,
       0.1312
      ],
      [
       2.4,
       0.1304
      ],
      [
       2.48,
       0.1292
      ],
      [
       2.56,
       0.128
      ],
      [
       2.64,
       0.1274
      ],
      [
       2.72,
       0.1268
      ],
      [
       2.8,
       0.1264
      ],
      [
       2.88,
       0.1261
      ],
      [
       2.96,
       0.1257
      ],
      [
       3.04,
       0.1255
      ],
      [
       3.12,
       0.1255
      ],
      [
       3.2,
       0.1256
      ],
      [
       3.28,
       0.1258
      ],
      [
       3.36,
       0.126
      ],
      [
       3.44,
       0.1262
      ],
      [
       3.52,
       0.1264
      ],
      [
       3.6,
       0.1267
      ],
      [
       3.68,
       0.1269
      ],
      [
       3.76,
       0.1272
      ],
      [
       3.84,
       0.1275
      ],
      [
       3.92,
       0.1278
      ],
      [
       4.0,
       0.1281
      ],
      [
       4.08,
       0.1283
      ],
      [
       4.16,
       0.1286
      ],
      [
       4.24,
       0.1289
      ],
      [
       4.32,
       0.1291
      ],
      [
       4.4,
       0.1293
      ],
      [
       4.48,
       0.1294
      ],
      [
       4.56,
       0.1298
      ],
      [
       4.64,
       0.13
      ],
      [
       4.72,
       0.1304
      ],
      [
       4.8,
       0.1308
      ],
      [
       4.88,
       0.1313
      ],
      [
       4.96,
       0.1317
      ],
      [
       5.04,
       0.1321
      ],
      [
       5.12,
       0.1324
      ],
      [
       5.2,
       0.1327
      ],
      [
       5.28,
       0.1332
      ],
      [
       5.36,
       0.1336
      ],
      [
       5.44,
       0.1343
      ],
      [
       5.52,
       0.1348
      ],
      [
       5.6,
       0.1354
      ],
      [
       5.68,
       0.1356
      ],
      [
       5.76,
       0.1356
      ],
      [
       5.84,
       0.1357
      ],
      [
       5.92,
       0.1357
      ],
      [
       6.0,
       0.488
      ],
      [
       6.08,
       0.4896
      ],
      [
       6.16,
       0.4899
      ],
      [
       6.24,
       0.4892
      ],
      [
       6.32,
       0.4879
      ],
      [
       6.4,
       0.4862
      ],
      [
       6.48,
       0.4838
      ],
      [
       6.56,
       0.4808
      ],
      [
       6.64,
       0.4769
      ],
      [
       6.72,
       0.4722
      ],
      [
       6.8,
       0.4663
      ],
      [
       6.88,
       0.4593
      ],
      [
       6.96,
       0.4507
      ],
      [
       7.04,
       0.4419
      ],
      [
       7.12,
       0.4351
      ],
      [
       7.2,
       0.4298
      ],
      [
       7.28,
       0.4239
      ],
      [
       7.36,
       0.4161
      ],
      [
       7.44,
       0.4089
      ],
      [
       7.52,
       0.4041
      ],
      [
       7.6,
       0.4148
      ],
      [
       7.68,
       0.4329
      ],
      [
       7.76,
       0.4547
      ],
      [
       7.84,
       0.4794
      ],
      [
       7.92,
       0.5063
      ],
      [
       8.0,
       0.5347
      ],
      [
       8.08,
       0.5639
      ],
      [
       8.16,
       0.5929
      ],
      [
       8.24,
       0.6206
      ],
      [
       8.32,
       0.6469
      ],
      [
       8.4,
       0.6716
      ],
      [
       8.48,
       0.6939
      ],
      [
       8.56,
       0.7149
      ],
      [
       8.64,
       0.738
      ],
      [
       8.72,
       0.7668
      ],
      [
       8.8,
       0.8041
      ],
      [
       8.88,
       0.8495
      ],
      [
       8.96,
       0.8996
      ],
      [
       9.04,
       0.9
      ],
      [
       9.12,
       0.9
      ],
      [
       9.2,
       0.9
      ],
      [
       9.28,
       0.9
      ],
      [
       9.36,
       0.9
      ],
      [
       9.44,
       0.8784
      ],
      [
       9.52,
       0.8619
      ],
      [
       9.6,
       0.8542
      ],
      [
       9.68,
       0.8496
      ],
      [
       9.76,
       0.8472
      ],
      [
       9.84,
       0.8464
      ],
      [
       9.92,
       0.8478
      ],
      [
       10.0,
       0.8531
      ],
      [
       10.08,
       0.8598
      ],
      [
       10.16,
       0.8681
      ],
      [
       10.24,
       0.8808
      ],
      [
       10.32,
       0.8973
      ],
      [
       10.4,
       0.9
      ],
      [
       10.48,
       0.9
      ],
      [
       10.56,
       0.9
      ],
      [
       10.64,
       0.9
      ],
      [
       10.72,
       0.9
      ],
      [
       10.8,
       0.9
      ],
      [
       10.88,
       0.9
      ],
      [
       10.96,
       0.9
      ],
      [
       11.04,
       0.9
      ],
      [
       11.12,
       0.9
      ],
      [
       11.2,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.36,
       0.9
      ],
      [
       11.44,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.6,
       0.9
      ],
      [
       11.68,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.84,
       0.9
      ],
      [
       11.92,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.08,
       0.9
      ],
      [
       12.16,
       0.9
      ],
      [
       12.24,
       0.9
      ],
      [
       12.32,
       0.9
      ],
      [
       12.4,
       0.9
      ],
      [
       12.48,
       0.9
      ],
      [
       12.56,
       0.9
      ],
      [
       12.64,
       0.9
      ],
      [
       12.72,
       0.9
      ],
      [
       12.8,
       0.9
      ],
      [
       12.88,
       0.9
      ],
      [
       12.96,
       0.9
      ],
      [
       13.04,
       0.9
      ],
      [
       13.12,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.28,
       0.9
      ],
      [
       13.36,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.52,
       0.9
      ],
      [
       13.6,
       0.9
      ],
      [
       13.68,
       0.9
      ],
      [
       13.76,
       0.9
      ],
      [
       13.84,
       0.9
      ],
      [
       13.92,
       0.9
      ],
      [
       14.0,
       0.9
      ],
      [
       14.08,
       1.0
      ],
      [
       14.16,
       1.0
      ],
      [
       14.24,
       1.0
      ],
      [
       14.32,
       1.0
      ],
      [
       14.4,
       1.0
      ],
      [
       14.48,
       1.0
      ],
      [
       14.56,
       1.0
      ],
      [
       14.64,
       0.9
      ],
      [
       14.72,
       0.9
      ],
      [
       14.8,
       0.9
      ],
      [
       14.88,
       0.9
      ],
      [
       14.96,
       1.0
      ],
      [
       15.04,
       1.0
      ],
      [
       15.12,
       1.0
      ],
      [
       15.2,
       1.0
      ],
      [
       15.28,
       1.0
      ],
      [
       15.36,
       1.0
      ],
      [
       15.44,
       1.0
      ],
      [
       15.52,
       1.0
      ],
      [
       15.56,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "e2dfb2c0d92587818f3461ea0dc9eb867eb81c9a52c0ff800c5faa7a980c21d8",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0010650250844964292,
       "final_progress": 0.0010650250844964292,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.06371717067179015,
       "final_progress": 0.06371717067179015,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.6491798864485816,
       "final_progress": 0.6491798864485816,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6494951251745031,
       "final_progress": 1.0
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7433620301238119,
       "final_progress": 0.7433620301238119
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.033312657868891885,
       "final_progress": 0.033312657868891885
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.661971805785041,
       "final_progress": 0.661971805785041
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8820405685485131,
       "final_progress": 0.8820405685485131
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 778,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx41",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "pudding_box_ctx41",
       "source": "ycb:008_pudding_box",
       "grounding": "added_context",
       "role": "goal_support",
       "label": "pudding box"
      },
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "21aa705bcac4607fccc30727f6309f462fce1211e3620cdcca68d54377dccc3f",
   "recording_id": 12651,
   "task_number": 4,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "black desktop",
   "human_action": false,
   "description": "Slide the sponge across the black desktop among the white router and the power strip with cables onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the sponge across the black desktop among the white router and the power strip with cables onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 12651,
    "contributor_id": 14,
    "video": "media/source-12651-f766f995b65d.mp4",
    "poster": "media/source-12651.jpg",
    "source_sha256": null,
    "interval_s": [
     6.0,
     19.8
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 12651,
     "contributor_id": 14,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/012/12651_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 80.93,
      "original_end_s": 100.93,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "8536a3f2a7c4beb8bb0980148fd27f825ac394b4031070ac21de62bd610b5716",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 6.00\u201319.80 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
      "duration_s": 13.8,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "f766f995b65d051c7dff5b8a10cd499796807add5c67673a0545db4c61625db0",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 4,
    "added_context": 2,
    "recording_observed": 4,
    "recording_added": 1,
    "surface": "black desktop",
    "lighting": "warm"
   },
   "variants": {
    "panda": {
     "gym_id": "21aa705bcac4-panda",
     "video": "media/sim-21aa705bcac4-panda-s0.mp4",
     "poster": "media/sim-21aa705bcac4-panda-s0.jpg",
     "trajectory": "trajectories/21aa705bcac4-panda.json",
     "recipe": "recipes/21aa705bcac4-panda.json",
     "seed": 0,
     "steps": 159,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0003
      ],
      [
       0.28,
       0.0008
      ],
      [
       0.3,
       0.0014
      ],
      [
       0.32,
       0.0021
      ],
      [
       0.34,
       0.0031
      ],
      [
       0.36,
       0.0044
      ],
      [
       0.38,
       0.006
      ],
      [
       0.4,
       0.0079
      ],
      [
       0.42,
       0.01
      ],
      [
       0.44,
       0.0123
      ],
      [
       0.46,
       0.0149
      ],
      [
       0.48,
       0.0177
      ],
      [
       0.5,
       0.0207
      ],
      [
       0.52,
       0.0238
      ],
      [
       0.54,
       0.0272
      ],
      [
       0.56,
       0.0307
      ],
      [
       0.58,
       0.0343
      ],
      [
       0.6,
       0.0381
      ],
      [
       0.62,
       0.0421
      ],
      [
       0.64,
       0.0462
      ],
      [
       0.66,
       0.0504
      ],
      [
       0.68,
       0.0548
      ],
      [
       0.7,
       0.0594
      ],
      [
       0.72,
       0.064
      ],
      [
       0.74,
       0.0687
      ],
      [
       0.76,
       0.0733
      ],
      [
       0.78,
       0.0776
      ],
      [
       0.8,
       0.0818
      ],
      [
       0.82,
       0.0858
      ],
      [
       0.84,
       0.0898
      ],
      [
       0.86,
       0.0938
      ],
      [
       0.88,
       0.0978
      ],
      [
       0.9,
       0.1016
      ],
      [
       0.92,
       0.105
      ],
      [
       0.94,
       0.1081
      ],
      [
       0.96,
       0.1108
      ],
      [
       0.98,
       0.1133
      ],
      [
       1.0,
       0.1156
      ],
      [
       1.02,
       0.1176
      ],
      [
       1.04,
       0.1194
      ],
      [
       1.06,
       0.121
      ],
      [
       1.08,
       0.1226
      ],
      [
       1.1,
       0.1242
      ],
      [
       1.12,
       0.1259
      ],
      [
       1.14,
       0.1276
      ],
      [
       1.16,
       0.1292
      ],
      [
       1.18,
       0.1307
      ],
      [
       1.2,
       0.1321
      ],
      [
       1.22,
       0.1336
      ],
      [
       1.24,
       0.1354
      ],
      [
       1.26,
       0.137
      ],
      [
       1.28,
       0.1383
      ],
      [
       1.3,
       0.1392
      ],
      [
       1.32,
       0.14
      ],
      [
       1.34,
       0.1457
      ],
      [
       1.36,
       0.1469
      ],
      [
       1.38,
       0.1513
      ],
      [
       1.4,
       0.1659
      ],
      [
       1.42,
       0.1937
      ],
      [
       1.44,
       0.2137
      ],
      [
       1.46,
       0.2359
      ],
      [
       1.48,
       0.2607
      ],
      [
       1.5,
       0.2816
      ],
      [
       1.52,
       0.3071
      ],
      [
       1.54,
       0.3291
      ],
      [
       1.56,
       0.3577
      ],
      [
       1.58,
       0.3737
      ],
      [
       1.6,
       0.3918
      ],
      [
       1.62,
       0.3966
      ],
      [
       1.64,
       0.4072
      ],
      [
       1.66,
       0.4251
      ],
      [
       1.68,
       0.4339
      ],
      [
       1.7,
       0.4428
      ],
      [
       1.72,
       0.4572
      ],
      [
       1.74,
       0.4689
      ],
      [
       1.76,
       0.4834
      ],
      [
       1.78,
       0.4981
      ],
      [
       1.8,
       0.5089
      ],
      [
       1.82,
       0.5234
      ],
      [
       1.84,
       0.5334
      ],
      [
       1.86,
       0.5466
      ],
      [
       1.88,
       0.5576
      ],
      [
       1.9,
       0.568
      ],
      [
       1.92,
       0.579
      ],
      [
       1.94,
       0.5923
      ],
      [
       1.96,
       0.6033
      ],
      [
       1.98,
       0.613
      ],
      [
       2.0,
       0.625
      ],
      [
       2.02,
       0.6334
      ],
      [
       2.04,
       0.6425
      ],
      [
       2.06,
       0.6523
      ],
      [
       2.08,
       0.6605
      ],
      [
       2.1,
       0.6698
      ],
      [
       2.12,
       0.6787
      ],
      [
       2.14,
       0.6824
      ],
      [
       2.16,
       0.6912
      ],
      [
       2.18,
       0.6983
      ],
      [
       2.2,
       0.7058
      ],
      [
       2.22,
       0.7091
      ],
      [
       2.24,
       0.7166
      ],
      [
       2.26,
       0.723
      ],
      [
       2.28,
       0.7286
      ],
      [
       2.3,
       0.7327
      ],
      [
       2.32,
       0.7366
      ],
      [
       2.34,
       0.7401
      ],
      [
       2.36,
       0.7431
      ],
      [
       2.38,
       0.7458
      ],
      [
       2.4,
       0.7483
      ],
      [
       2.42,
       0.7507
      ],
      [
       2.44,
       0.7529
      ],
      [
       2.46,
       0.7551
      ],
      [
       2.48,
       0.7572
      ],
      [
       2.5,
       0.7594
      ],
      [
       2.52,
       0.7616
      ],
      [
       2.54,
       0.7638
      ],
      [
       2.56,
       0.7661
      ],
      [
       2.58,
       0.7684
      ],
      [
       2.6,
       0.7708
      ],
      [
       2.62,
       0.7734
      ],
      [
       2.64,
       0.7762
      ],
      [
       2.66,
       0.7792
      ],
      [
       2.68,
       0.7822
      ],
      [
       2.7,
       0.7854
      ],
      [
       2.72,
       0.7887
      ],
      [
       2.74,
       0.7921
      ],
      [
       2.76,
       0.7957
      ],
      [
       2.78,
       0.8007
      ],
      [
       2.8,
       0.806
      ],
      [
       2.82,
       0.8115
      ],
      [
       2.84,
       0.8174
      ],
      [
       2.86,
       0.8235
      ],
      [
       2.88,
       0.83
      ],
      [
       2.9,
       0.8383
      ],
      [
       2.92,
       0.8481
      ],
      [
       2.94,
       0.8599
      ],
      [
       2.96,
       0.8718
      ],
      [
       2.98,
       0.8841
      ],
      [
       3.0,
       0.8972
      ],
      [
       3.02,
       0.9106
      ],
      [
       3.04,
       0.9245
      ],
      [
       3.06,
       0.938
      ],
      [
       3.08,
       0.9512
      ],
      [
       3.1,
       0.9642
      ],
      [
       3.12,
       0.9742
      ],
      [
       3.14,
       0.9875
      ],
      [
       3.16,
       0.9979
      ],
      [
       3.18,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "2d07634d40a67a1856e33f5adbf718b32d109efa66399dfec0874b85e5c4597d",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.02993648873346322,
       "final_progress": 0.02993648873346322,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 159,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "sponge_ctx41",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    },
    "aloha": {
     "gym_id": "21aa705bcac4-aloha",
     "video": "media/sim-21aa705bcac4-aloha-s1.mp4",
     "poster": "media/sim-21aa705bcac4-aloha-s1.jpg",
     "trajectory": "trajectories/21aa705bcac4-aloha.json",
     "recipe": "recipes/21aa705bcac4-aloha.json",
     "seed": 1,
     "steps": 300,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0001
      ],
      [
       0.04,
       0.0003
      ],
      [
       0.06,
       0.0004
      ],
      [
       0.08,
       0.0005
      ],
      [
       0.1,
       0.0006
      ],
      [
       0.12,
       0.0007
      ],
      [
       0.14,
       0.0008
      ],
      [
       0.16,
       0.0009
      ],
      [
       0.18,
       0.001
      ],
      [
       0.2,
       0.0011
      ],
      [
       0.22,
       0.0012
      ],
      [
       0.24,
       0.0013
      ],
      [
       0.26,
       0.0014
      ],
      [
       0.28,
       0.0016
      ],
      [
       0.3,
       0.0017
      ],
      [
       0.32,
       0.0019
      ],
      [
       0.34,
       0.0021
      ],
      [
       0.36,
       0.0023
      ],
      [
       0.38,
       0.0025
      ],
      [
       0.4,
       0.0028
      ],
      [
       0.42,
       0.0031
      ],
      [
       0.44,
       0.0034
      ],
      [
       0.46,
       0.0037
      ],
      [
       0.48,
       0.0041
      ],
      [
       0.5,
       0.0045
      ],
      [
       0.52,
       0.0049
      ],
      [
       0.54,
       0.0054
      ],
      [
       0.56,
       0.0059
      ],
      [
       0.58,
       0.0064
      ],
      [
       0.6,
       0.007
      ],
      [
       0.62,
       0.0077
      ],
      [
       0.64,
       0.0084
      ],
      [
       0.66,
       0.0091
      ],
      [
       0.68,
       0.0099
      ],
      [
       0.7,
       0.0107
      ],
      [
       0.72,
       0.0116
      ],
      [
       0.74,
       0.0124
      ],
      [
       0.76,
       0.0133
      ],
      [
       0.78,
       0.0142
      ],
      [
       0.8,
       0.0151
      ],
      [
       0.82,
       0.016
      ],
      [
       0.84,
       0.0169
      ],
      [
       0.86,
       0.0179
      ],
      [
       0.88,
       0.0188
      ],
      [
       0.9,
       0.0199
      ],
      [
       0.92,
       0.0209
      ],
      [
       0.94,
       0.022
      ],
      [
       0.96,
       0.0231
      ],
      [
       0.98,
       0.0242
      ],
      [
       1.0,
       0.0254
      ],
      [
       1.02,
       0.0265
      ],
      [
       1.04,
       0.0277
      ],
      [
       1.06,
       0.0288
      ],
      [
       1.08,
       0.03
      ],
      [
       1.1,
       0.0312
      ],
      [
       1.12,
       0.0324
      ],
      [
       1.14,
       0.0337
      ],
      [
       1.16,
       0.0349
      ],
      [
       1.18,
       0.0361
      ],
      [
       1.2,
       0.0374
      ],
      [
       1.22,
       0.0387
      ],
      [
       1.24,
       0.04
      ],
      [
       1.26,
       0.0413
      ],
      [
       1.28,
       0.0426
      ],
      [
       1.3,
       0.0439
      ],
      [
       1.32,
       0.0452
      ],
      [
       1.34,
       0.0466
      ],
      [
       1.36,
       0.048
      ],
      [
       1.38,
       0.0494
      ],
      [
       1.4,
       0.0508
      ],
      [
       1.42,
       0.0522
      ],
      [
       1.44,
       0.0536
      ],
      [
       1.46,
       0.055
      ],
      [
       1.48,
       0.0564
      ],
      [
       1.5,
       0.0578
      ],
      [
       1.52,
       0.0592
      ],
      [
       1.54,
       0.0606
      ],
      [
       1.56,
       0.062
      ],
      [
       1.58,
       0.0634
      ],
      [
       1.6,
       0.0648
      ],
      [
       1.62,
       0.0661
      ],
      [
       1.64,
       0.0675
      ],
      [
       1.66,
       0.0689
      ],
      [
       1.68,
       0.0702
      ],
      [
       1.7,
       0.0715
      ],
      [
       1.72,
       0.0729
      ],
      [
       1.74,
       0.0742
      ],
      [
       1.76,
       0.0755
      ],
      [
       1.78,
       0.0769
      ],
      [
       1.8,
       0.0782
      ],
      [
       1.82,
       0.0795
      ],
      [
       1.84,
       0.0808
      ],
      [
       1.86,
       0.0821
      ],
      [
       1.88,
       0.0835
      ],
      [
       1.9,
       0.0849
      ],
      [
       1.92,
       0.0863
      ],
      [
       1.94,
       0.0877
      ],
      [
       1.96,
       0.0892
      ],
      [
       1.98,
       0.0907
      ],
      [
       2.0,
       0.0922
      ],
      [
       2.02,
       0.0938
      ],
      [
       2.04,
       0.0953
      ],
      [
       2.06,
       0.0969
      ],
      [
       2.08,
       0.0983
      ],
      [
       2.1,
       0.0997
      ],
      [
       2.12,
       0.1011
      ],
      [
       2.14,
       0.1025
      ],
      [
       2.16,
       0.1039
      ],
      [
       2.18,
       0.1052
      ],
      [
       2.2,
       0.1063
      ],
      [
       2.22,
       0.1073
      ],
      [
       2.24,
       0.1082
      ],
      [
       2.26,
       0.1091
      ],
      [
       2.28,
       0.1099
      ],
      [
       2.3,
       0.1107
      ],
      [
       2.32,
       0.1115
      ],
      [
       2.34,
       0.1122
      ],
      [
       2.36,
       0.1127
      ],
      [
       2.38,
       0.1131
      ],
      [
       2.4,
       0.1134
      ],
      [
       2.42,
       0.1136
      ],
      [
       2.44,
       0.1136
      ],
      [
       2.46,
       0.1135
      ],
      [
       2.48,
       0.1133
      ],
      [
       2.5,
       0.113
      ],
      [
       2.52,
       0.1126
      ],
      [
       2.54,
       0.1122
      ],
      [
       2.56,
       0.1117
      ],
      [
       2.58,
       0.1112
      ],
      [
       2.6,
       0.1107
      ],
      [
       2.62,
       0.1102
      ],
      [
       2.64,
       0.1098
      ],
      [
       2.66,
       0.1096
      ],
      [
       2.68,
       0.1096
      ],
      [
       2.7,
       0.1095
      ],
      [
       2.72,
       0.1094
      ],
      [
       2.74,
       0.1094
      ],
      [
       2.76,
       0.1093
      ],
      [
       2.78,
       0.1093
      ],
      [
       2.8,
       0.1092
      ],
      [
       2.82,
       0.1092
      ],
      [
       2.84,
       0.1091
      ],
      [
       2.86,
       0.1091
      ],
      [
       2.88,
       0.109
      ],
      [
       2.9,
       0.109
      ],
      [
       2.92,
       0.1089
      ],
      [
       2.94,
       0.1089
      ],
      [
       2.96,
       0.1088
      ],
      [
       2.98,
       0.1088
      ],
      [
       3.0,
       0.1088
      ],
      [
       3.02,
       0.1089
      ],
      [
       3.04,
       0.109
      ],
      [
       3.06,
       0.109
      ],
      [
       3.08,
       0.109
      ],
      [
       3.1,
       0.109
      ],
      [
       3.12,
       0.1089
      ],
      [
       3.14,
       0.1089
      ],
      [
       3.16,
       0.1089
      ],
      [
       3.18,
       0.1089
      ],
      [
       3.2,
       0.1089
      ],
      [
       3.22,
       0.1089
      ],
      [
       3.24,
       0.1089
      ],
      [
       3.26,
       0.1089
      ],
      [
       3.28,
       0.1089
      ],
      [
       3.3,
       0.1089
      ],
      [
       3.32,
       0.1089
      ],
      [
       3.34,
       0.1089
      ],
      [
       3.36,
       0.1089
      ],
      [
       3.38,
       0.109
      ],
      [
       3.4,
       0.109
      ],
      [
       3.42,
       0.109
      ],
      [
       3.44,
       0.1091
      ],
      [
       3.46,
       0.1091
      ],
      [
       3.48,
       0.1092
      ],
      [
       3.5,
       0.1092
      ],
      [
       3.52,
       0.1093
      ],
      [
       3.54,
       0.1094
      ],
      [
       3.56,
       0.1094
      ],
      [
       3.58,
       0.1095
      ],
      [
       3.6,
       0.1096
      ],
      [
       3.62,
       0.1097
      ],
      [
       3.64,
       0.1098
      ],
      [
       3.66,
       0.1098
      ],
      [
       3.68,
       0.1099
      ],
      [
       3.7,
       0.11
      ],
      [
       3.72,
       0.1101
      ],
      [
       3.74,
       0.1103
      ],
      [
       3.76,
       0.1104
      ],
      [
       3.78,
       0.1105
      ],
      [
       3.8,
       0.1107
      ],
      [
       3.82,
       0.111
      ],
      [
       3.84,
       0.1112
      ],
      [
       3.86,
       0.1115
      ],
      [
       3.88,
       0.1118
      ],
      [
       3.9,
       0.1122
      ],
      [
       3.92,
       0.1126
      ],
      [
       3.94,
       0.1131
      ],
      [
       3.96,
       0.1136
      ],
      [
       3.98,
       0.1141
      ],
      [
       4.0,
       0.1146
      ],
      [
       4.02,
       0.1153
      ],
      [
       4.04,
       0.1159
      ],
      [
       4.06,
       0.1166
      ],
      [
       4.08,
       0.1175
      ],
      [
       4.1,
       0.1184
      ],
      [
       4.12,
       0.1193
      ],
      [
       4.14,
       0.1202
      ],
      [
       4.16,
       0.1213
      ],
      [
       4.18,
       0.1224
      ],
      [
       4.2,
       0.1236
      ],
      [
       4.22,
       0.1249
      ],
      [
       4.24,
       0.1262
      ],
      [
       4.26,
       0.1276
      ],
      [
       4.28,
       0.1291
      ],
      [
       4.3,
       0.1306
      ],
      [
       4.32,
       0.132
      ],
      [
       4.34,
       0.1333
      ],
      [
       4.36,
       0.1345
      ],
      [
       4.38,
       0.1357
      ],
      [
       4.4,
       0.1369
      ],
      [
       4.42,
       0.138
      ],
      [
       4.44,
       0.1392
      ],
      [
       4.46,
       0.1403
      ],
      [
       4.48,
       0.1415
      ],
      [
       4.5,
       0.1572
      ],
      [
       4.52,
       0.1748
      ],
      [
       4.54,
       0.2016
      ],
      [
       4.56,
       0.2209
      ],
      [
       4.58,
       0.2362
      ],
      [
       4.6,
       0.2527
      ],
      [
       4.62,
       0.27
      ],
      [
       4.64,
       0.2899
      ],
      [
       4.66,
       0.3069
      ],
      [
       4.68,
       0.3257
      ],
      [
       4.7,
       0.3429
      ],
      [
       4.72,
       0.3611
      ],
      [
       4.74,
       0.38
      ],
      [
       4.76,
       0.3983
      ],
      [
       4.78,
       0.4147
      ],
      [
       4.8,
       0.4321
      ],
      [
       4.82,
       0.4498
      ],
      [
       4.84,
       0.4687
      ],
      [
       4.86,
       0.4862
      ],
      [
       4.88,
       0.5012
      ],
      [
       4.9,
       0.5144
      ],
      [
       4.92,
       0.5307
      ],
      [
       4.94,
       0.5457
      ],
      [
       4.96,
       0.5543
      ],
      [
       4.98,
       0.5707
      ],
      [
       5.0,
       0.5801
      ],
      [
       5.02,
       0.5946
      ],
      [
       5.04,
       0.6064
      ],
      [
       5.06,
       0.6193
      ],
      [
       5.08,
       0.6338
      ],
      [
       5.1,
       0.6432
      ],
      [
       5.12,
       0.6564
      ],
      [
       5.14,
       0.6663
      ],
      [
       5.16,
       0.6816
      ],
      [
       5.18,
       0.6943
      ],
      [
       5.2,
       0.7024
      ],
      [
       5.22,
       0.713
      ],
      [
       5.24,
       0.7248
      ],
      [
       5.26,
       0.7358
      ],
      [
       5.28,
       0.7456
      ],
      [
       5.3,
       0.7582
      ],
      [
       5.32,
       0.7707
      ],
      [
       5.34,
       0.7852
      ],
      [
       5.36,
       0.7959
      ],
      [
       5.38,
       0.8112
      ],
      [
       5.4,
       0.8225
      ],
      [
       5.42,
       0.8345
      ],
      [
       5.44,
       0.8488
      ],
      [
       5.46,
       0.8591
      ],
      [
       5.48,
       0.8728
      ],
      [
       5.5,
       0.8817
      ],
      [
       5.52,
       0.893
      ],
      [
       5.54,
       0.9006
      ],
      [
       5.56,
       0.9117
      ],
      [
       5.58,
       0.9235
      ],
      [
       5.6,
       0.9333
      ],
      [
       5.62,
       0.9414
      ],
      [
       5.64,
       0.9489
      ],
      [
       5.66,
       0.9543
      ],
      [
       5.68,
       0.9597
      ],
      [
       5.7,
       0.965
      ],
      [
       5.72,
       0.9703
      ],
      [
       5.74,
       0.9759
      ],
      [
       5.76,
       0.9809
      ],
      [
       5.78,
       0.9842
      ],
      [
       5.8,
       0.9863
      ],
      [
       5.82,
       0.9879
      ],
      [
       5.84,
       0.9892
      ],
      [
       5.86,
       0.9907
      ],
      [
       5.88,
       0.992
      ],
      [
       5.9,
       0.9933
      ],
      [
       5.92,
       0.9946
      ],
      [
       5.94,
       0.9961
      ],
      [
       5.96,
       0.9975
      ],
      [
       5.98,
       0.9988
      ],
      [
       6.0,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "9c37f12aa3768097114eda5106590edc54600236e8b6eeaefa60869b75b161d0",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0005757308098451763,
       "final_progress": 0.0005757308098451763,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.03754401411571152,
       "final_progress": 0.03754401411571152,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.0730853976049438,
       "final_progress": 0.0730853976049438
      },
      {
       "layout_seed": 1,
       "outcome": "success",
       "steps": 300,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "sponge_ctx41",
       "source": "ycb:026_sponge",
       "grounding": "added_context",
       "role": "task_object",
       "label": "sponge"
      },
      {
       "name": "power_strip_with_cables_0",
       "source": "primitive:power_strip",
       "grounding": "observed",
       "role": "clutter",
       "label": "power strip with cables"
      },
      {
       "name": "white_router_0",
       "source": "primitive:router",
       "grounding": "observed",
       "role": "clutter",
       "label": "white router"
      },
      {
       "name": "phone_0",
       "source": "primitive:phone",
       "grounding": "observed",
       "role": "clutter",
       "label": "phone"
      },
      {
       "name": "remote_control_0",
       "source": "primitive:remote",
       "grounding": "observed",
       "role": "clutter",
       "label": "remote control"
      },
      {
       "name": "glass_0",
       "source": "primitive:glass",
       "grounding": "added_context",
       "role": "clutter",
       "label": "glass"
      }
     ]
    }
   }
  },
  {
   "example_id": "0014855570f571e7ef8d6e3a01ca305e09b2466aa20f80f05f36c237bdd2f1d9",
   "recording_id": 13191,
   "task_number": 1,
   "task_count": 4,
   "goal": "wipe_region",
   "goal_label": "Wipe region",
   "family": "wipe_region",
   "family_tag": "WIPE",
   "target": "grey speckled kitchen countertop",
   "human_action": true,
   "description": "In the footage: Wipe the visible grey speckled kitchen countertop with the dark wiping cloth.",
   "practice": {
    "reward_id": "wipe_region",
    "motion": "Press the pad onto the 12\u00d76 cm patch (turned 20\u00b0) on the grey speckled kitchen countertop among the blue slipper and the teal basin and sweep it row by row at 2\u201310 N without disturbing them.",
    "start": "Pad mounted under the gripper, raised above the table beside the patch.",
    "reward": "\u0394[0.15 \u00d7 approach + 0.85 \u00d7 patch coverage] \u2212 \u0394[clutter displacement + excess force] + 1 on success",
    "success": "\u226590% of patch cells covered by the pad footprint at 2\u201310 N, no object moved >2 cm, peak force \u226430 N.",
    "reward_focus": "Coverage under valid pressure; no collateral"
   },
   "source": {
    "recording_id": 13191,
    "contributor_id": 11,
    "video": "media/source-13191-9cb363b64581.mp4",
    "poster": "media/source-13191.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     12.066667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 13191,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/013/13191_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 121.475,
      "original_end_s": 141.475,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "aa1f57001932d409067498abc019b880dcbd0ab2cc3565e24b3c2c282c4563b0",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201312.07 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
      "duration_s": 12.08,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 5,
    "physical_objects": 5,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 3,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "grey speckled kitchen countertop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "0014855570f5-panda",
     "video": "media/sim-0014855570f5-panda-s0.mp4",
     "poster": "media/sim-0014855570f5-panda-s0.jpg",
     "trajectory": "trajectories/0014855570f5-panda.json",
     "recipe": "recipes/0014855570f5-panda.json",
     "seed": 0,
     "steps": 374,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0012
      ],
      [
       0.08,
       0.0045
      ],
      [
       0.12,
       0.0097
      ],
      [
       0.16,
       0.0156
      ],
      [
       0.2,
       0.0214
      ],
      [
       0.24,
       0.0275
      ],
      [
       0.28,
       0.0341
      ],
      [
       0.32,
       0.0409
      ],
      [
       0.36,
       0.0478
      ],
      [
       0.4,
       0.0549
      ],
      [
       0.44,
       0.062
      ],
      [
       0.48,
       0.0692
      ],
      [
       0.52,
       0.0765
      ],
      [
       0.56,
       0.0838
      ],
      [
       0.6,
       0.0911
      ],
      [
       0.64,
       0.0983
      ],
      [
       0.68,
       0.1054
      ],
      [
       0.72,
       0.1123
      ],
      [
       0.76,
       0.1189
      ],
      [
       0.8,
       0.1252
      ],
      [
       0.84,
       0.1309
      ],
      [
       0.88,
       0.1359
      ],
      [
       0.92,
       0.1408
      ],
      [
       0.96,
       0.1444
      ],
      [
       1.0,
       0.1432
      ],
      [
       1.04,
       0.1439
      ],
      [
       1.08,
       0.1454
      ],
      [
       1.12,
       0.1447
      ],
      [
       1.16,
       0.143
      ],
      [
       1.2,
       0.1412
      ],
      [
       1.24,
       0.1398
      ],
      [
       1.28,
       0.1391
      ],
      [
       1.32,
       0.1391
      ],
      [
       1.36,
       0.1396
      ],
      [
       1.4,
       0.1401
      ],
      [
       1.44,
       0.1405
      ],
      [
       1.48,
       0.1407
      ],
      [
       1.52,
       0.1411
      ],
      [
       1.56,
       0.1419
      ],
      [
       1.6,
       0.1431
      ],
      [
       1.64,
       0.1444
      ],
      [
       1.68,
       0.1456
      ],
      [
       1.72,
       0.1467
      ],
      [
       1.76,
       0.1475
      ],
      [
       1.8,
       0.148
      ],
      [
       1.84,
       0.1484
      ],
      [
       1.88,
       0.1488
      ],
      [
       1.92,
       0.1492
      ],
      [
       1.96,
       0.1497
      ],
      [
       2.0,
       0.15
      ],
      [
       2.04,
       0.15
      ],
      [
       2.08,
       0.15
      ],
      [
       2.12,
       0.15
      ],
      [
       2.16,
       0.15
      ],
      [
       2.2,
       0.15
      ],
      [
       2.24,
       0.15
      ],
      [
       2.28,
       0.15
      ],
      [
       2.32,
       0.15
      ],
      [
       2.36,
       0.15
      ],
      [
       2.4,
       0.15
      ],
      [
       2.44,
       0.15
      ],
      [
       2.48,
       0.15
      ],
      [
       2.52,
       0.15
      ],
      [
       2.56,
       0.15
      ],
      [
       2.6,
       0.3389
      ],
      [
       2.64,
       0.3389
      ],
      [
       2.68,
       0.3389
      ],
      [
       2.72,
       0.3389
      ],
      [
       2.76,
       0.3389
      ],
      [
       2.8,
       0.3389
      ],
      [
       2.84,
       0.3389
      ],
      [
       2.88,
       0.3389
      ],
      [
       2.92,
       0.3389
      ],
      [
       2.96,
       0.3389
      ],
      [
       3.0,
       0.3389
      ],
      [
       3.04,
       0.3389
      ],
      [
       3.08,
       0.3389
      ],
      [
       3.12,
       0.3389
      ],
      [
       3.16,
       0.3389
      ],
      [
       3.2,
       0.3389
      ],
      [
       3.24,
       0.3389
      ],
      [
       3.28,
       0.3389
      ],
      [
       3.32,
       0.3389
      ],
      [
       3.36,
       0.3389
      ],
      [
       3.4,
       0.3389
      ],
      [
       3.44,
       0.3389
      ],
      [
       3.48,
       0.3389
      ],
      [
       3.52,
       0.3389
      ],
      [
       3.56,
       0.3389
      ],
      [
       3.6,
       0.3389
      ],
      [
       3.64,
       0.3389
      ],
      [
       3.68,
       0.3389
      ],
      [
       3.72,
       0.3389
      ],
      [
       3.76,
       0.3389
      ],
      [
       3.8,
       0.3389
      ],
      [
       3.84,
       0.3389
      ],
      [
       3.88,
       0.3389
      ],
      [
       3.92,
       0.3389
      ],
      [
       3.96,
       0.3389
      ],
      [
       4.0,
       0.3389
      ],
      [
       4.04,
       0.3389
      ],
      [
       4.08,
       0.3389
      ],
      [
       4.12,
       0.3389
      ],
      [
       4.16,
       0.3389
      ],
      [
       4.2,
       0.3389
      ],
      [
       4.24,
       0.3389
      ],
      [
       4.28,
       0.3389
      ],
      [
       4.32,
       0.3389
      ],
      [
       4.36,
       0.5278
      ],
      [
       4.4,
       0.5278
      ],
      [
       4.44,
       0.575
      ],
      [
       4.48,
       0.575
      ],
      [
       4.52,
       0.6222
      ],
      [
       4.56,
       0.6222
      ],
      [
       4.6,
       0.6222
      ],
      [
       4.64,
       0.6222
      ],
      [
       4.68,
       0.6222
      ],
      [
       4.72,
       0.6222
      ],
      [
       4.76,
       0.6222
      ],
      [
       4.8,
       0.6222
      ],
      [
       4.84,
       0.6222
      ],
      [
       4.88,
       0.6222
      ],
      [
       4.92,
       0.6222
      ],
      [
       4.96,
       0.6222
      ],
      [
       5.0,
       0.6222
      ],
      [
       5.04,
       0.6222
      ],
      [
       5.08,
       0.6694
      ],
      [
       5.12,
       0.7167
      ],
      [
       5.16,
       0.7167
      ],
      [
       5.2,
       0.7167
      ],
      [
       5.24,
       0.7167
      ],
      [
       5.28,
       0.7167
      ],
      [
       5.32,
       0.7167
      ],
      [
       5.36,
       0.7167
      ],
      [
       5.4,
       0.7639
      ],
      [
       5.44,
       0.7639
      ],
      [
       5.48,
       0.8111
      ],
      [
       5.52,
       0.8111
      ],
      [
       5.56,
       0.8111
      ],
      [
       5.6,
       0.8111
      ],
      [
       5.64,
       0.8111
      ],
      [
       5.68,
       0.8111
      ],
      [
       5.72,
       0.8111
      ],
      [
       5.76,
       0.8111
      ],
      [
       5.8,
       0.8111
      ],
      [
       5.84,
       0.8111
      ],
      [
       5.88,
       0.8111
      ],
      [
       5.92,
       0.8583
      ],
      [
       5.96,
       0.8583
      ],
      [
       6.0,
       0.8583
      ],
      [
       6.04,
       0.8583
      ],
      [
       6.08,
       0.8583
      ],
      [
       6.12,
       0.8583
      ],
      [
       6.16,
       0.8583
      ],
      [
       6.2,
       0.8583
      ],
      [
       6.24,
       0.8583
      ],
      [
       6.28,
       0.9056
      ],
      [
       6.32,
       0.9056
      ],
      [
       6.36,
       0.9056
      ],
      [
       6.4,
       0.9056
      ],
      [
       6.44,
       0.9056
      ],
      [
       6.48,
       0.9056
      ],
      [
       6.52,
       0.9056
      ],
      [
       6.56,
       0.9056
      ],
      [
       6.6,
       0.9056
      ],
      [
       6.64,
       0.9056
      ],
      [
       6.68,
       0.9056
      ],
      [
       6.72,
       0.9056
      ],
      [
       6.76,
       0.9056
      ],
      [
       6.8,
       0.9056
      ],
      [
       6.84,
       0.9056
      ],
      [
       6.88,
       0.9056
      ],
      [
       6.92,
       0.9056
      ],
      [
       6.96,
       0.9056
      ],
      [
       7.0,
       0.9056
      ],
      [
       7.04,
       0.9056
      ],
      [
       7.08,
       0.9056
      ],
      [
       7.12,
       0.9056
      ],
      [
       7.16,
       0.9056
      ],
      [
       7.2,
       0.9056
      ],
      [
       7.24,
       0.9056
      ],
      [
       7.28,
       0.9056
      ],
      [
       7.32,
       0.9056
      ],
      [
       7.36,
       0.9056
      ],
      [
       7.4,
       0.9056
      ],
      [
       7.44,
       0.9056
      ],
      [
       7.48,
       1.0
      ]
     ],
     "total_reward": 1.9445,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "e632c1ab298e1c05efefe71c1f2aaf0a9c62bb99bfc9bb3260491e9983cf78c9",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.25,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.3388888888888889,
       "final_progress": 0.3388888888888889,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 374,
       "return": 1.944502945841756,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal basin"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "0014855570f5-aloha",
     "video": "media/sim-0014855570f5-aloha-s5.mp4",
     "poster": "media/sim-0014855570f5-aloha-s5.jpg",
     "trajectory": "trajectories/0014855570f5-aloha.json",
     "recipe": "recipes/0014855570f5-aloha.json",
     "seed": 5,
     "steps": 622,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.06,
       0.0009
      ],
      [
       0.12,
       0.0018
      ],
      [
       0.18,
       0.0029
      ],
      [
       0.24,
       0.0042
      ],
      [
       0.3,
       0.0058
      ],
      [
       0.36,
       0.0079
      ],
      [
       0.42,
       0.0106
      ],
      [
       0.48,
       0.0138
      ],
      [
       0.54,
       0.0177
      ],
      [
       0.6,
       0.0222
      ],
      [
       0.66,
       0.0275
      ],
      [
       0.72,
       0.0331
      ],
      [
       0.78,
       0.0389
      ],
      [
       0.84,
       0.0448
      ],
      [
       0.9,
       0.0516
      ],
      [
       0.96,
       0.0595
      ],
      [
       1.02,
       0.0688
      ],
      [
       1.08,
       0.0797
      ],
      [
       1.14,
       0.0922
      ],
      [
       1.2,
       0.1067
      ],
      [
       1.26,
       0.1235
      ],
      [
       1.32,
       0.1376
      ],
      [
       1.38,
       0.1431
      ],
      [
       1.44,
       0.1448
      ],
      [
       1.5,
       0.1461
      ],
      [
       1.56,
       0.1475
      ],
      [
       1.62,
       0.1489
      ],
      [
       1.68,
       0.15
      ],
      [
       1.74,
       0.4333
      ],
      [
       1.8,
       0.4333
      ],
      [
       1.86,
       0.4806
      ],
      [
       1.92,
       0.4806
      ],
      [
       1.98,
       0.4806
      ],
      [
       2.04,
       0.4806
      ],
      [
       2.1,
       0.479
      ],
      [
       2.16,
       0.4738
      ],
      [
       2.22,
       0.4695
      ],
      [
       2.28,
       0.467
      ],
      [
       2.34,
       0.4661
      ],
      [
       2.4,
       0.4658
      ],
      [
       2.46,
       0.4657
      ],
      [
       2.52,
       0.4656
      ],
      [
       2.58,
       0.4657
      ],
      [
       2.64,
       0.4658
      ],
      [
       2.7,
       0.466
      ],
      [
       2.76,
       0.4662
      ],
      [
       2.82,
       0.4664
      ],
      [
       2.88,
       0.4665
      ],
      [
       2.94,
       0.4664
      ],
      [
       3.0,
       0.4662
      ],
      [
       3.06,
       0.4659
      ],
      [
       3.12,
       0.4655
      ],
      [
       3.18,
       0.4649
      ],
      [
       3.24,
       0.4641
      ],
      [
       3.3,
       0.4634
      ],
      [
       3.36,
       0.4636
      ],
      [
       3.42,
       0.4654
      ],
      [
       3.48,
       0.4685
      ],
      [
       3.54,
       0.473
      ],
      [
       3.6,
       0.478
      ],
      [
       3.66,
       0.4806
      ],
      [
       3.72,
       0.4806
      ],
      [
       3.78,
       0.4806
      ],
      [
       3.84,
       0.4806
      ],
      [
       3.9,
       0.4806
      ],
      [
       3.96,
       0.4806
      ],
      [
       4.02,
       0.4806
      ],
      [
       4.08,
       0.4806
      ],
      [
       4.14,
       0.4806
      ],
      [
       4.2,
       0.4806
      ],
      [
       4.26,
       0.4806
      ],
      [
       4.32,
       0.4806
      ],
      [
       4.38,
       0.4806
      ],
      [
       4.44,
       0.4806
      ],
      [
       4.5,
       0.4806
      ],
      [
       4.56,
       0.4806
      ],
      [
       4.62,
       0.4806
      ],
      [
       4.68,
       0.4806
      ],
      [
       4.74,
       0.4806
      ],
      [
       4.8,
       0.5278
      ],
      [
       4.86,
       0.5278
      ],
      [
       4.92,
       0.5278
      ],
      [
       4.98,
       0.575
      ],
      [
       5.04,
       0.6222
      ],
      [
       5.1,
       0.6222
      ],
      [
       5.16,
       0.6222
      ],
      [
       5.22,
       0.6222
      ],
      [
       5.28,
       0.6222
      ],
      [
       5.34,
       0.6694
      ],
      [
       5.4,
       0.6694
      ],
      [
       5.46,
       0.7167
      ],
      [
       5.52,
       0.7167
      ],
      [
       5.58,
       0.7639
      ],
      [
       5.64,
       0.8111
      ],
      [
       5.7,
       0.8111
      ],
      [
       5.76,
       0.8111
      ],
      [
       5.82,
       0.8111
      ],
      [
       5.88,
       0.8111
      ],
      [
       5.94,
       0.8111
      ],
      [
       6.0,
       0.8111
      ],
      [
       6.06,
       0.8111
      ],
      [
       6.12,
       0.8111
      ],
      [
       6.18,
       0.8111
      ],
      [
       6.24,
       0.8111
      ],
      [
       6.3,
       0.8111
      ],
      [
       6.36,
       0.8111
      ],
      [
       6.42,
       0.8111
      ],
      [
       6.48,
       0.8111
      ],
      [
       6.54,
       0.8111
      ],
      [
       6.6,
       0.8111
      ],
      [
       6.66,
       0.8111
      ],
      [
       6.72,
       0.8111
      ],
      [
       6.78,
       0.8111
      ],
      [
       6.84,
       0.8111
      ],
      [
       6.9,
       0.8111
      ],
      [
       6.96,
       0.8111
      ],
      [
       7.02,
       0.8111
      ],
      [
       7.08,
       0.8111
      ],
      [
       7.14,
       0.8111
      ],
      [
       7.2,
       0.8111
      ],
      [
       7.26,
       0.8111
      ],
      [
       7.32,
       0.8111
      ],
      [
       7.38,
       0.8111
      ],
      [
       7.44,
       0.8111
      ],
      [
       7.5,
       0.8111
      ],
      [
       7.56,
       0.8111
      ],
      [
       7.62,
       0.8111
      ],
      [
       7.68,
       0.8111
      ],
      [
       7.74,
       0.8111
      ],
      [
       7.8,
       0.8111
      ],
      [
       7.86,
       0.8111
      ],
      [
       7.92,
       0.8583
      ],
      [
       7.98,
       0.8583
      ],
      [
       8.04,
       0.8583
      ],
      [
       8.1,
       0.8583
      ],
      [
       8.16,
       0.8583
      ],
      [
       8.22,
       0.8583
      ],
      [
       8.28,
       0.8583
      ],
      [
       8.34,
       0.8583
      ],
      [
       8.4,
       0.8583
      ],
      [
       8.46,
       0.8583
      ],
      [
       8.52,
       0.8583
      ],
      [
       8.58,
       0.8583
      ],
      [
       8.64,
       0.8583
      ],
      [
       8.7,
       0.8583
      ],
      [
       8.76,
       0.8583
      ],
      [
       8.82,
       0.8583
      ],
      [
       8.88,
       0.8583
      ],
      [
       8.94,
       0.8583
      ],
      [
       9.0,
       0.8583
      ],
      [
       9.06,
       0.8583
      ],
      [
       9.12,
       0.8583
      ],
      [
       9.18,
       0.8583
      ],
      [
       9.24,
       0.8583
      ],
      [
       9.3,
       0.8583
      ],
      [
       9.36,
       0.8583
      ],
      [
       9.42,
       0.8583
      ],
      [
       9.48,
       0.8583
      ],
      [
       9.54,
       0.8583
      ],
      [
       9.6,
       0.8583
      ],
      [
       9.66,
       0.9056
      ],
      [
       9.72,
       0.9056
      ],
      [
       9.78,
       0.9056
      ],
      [
       9.84,
       0.9056
      ],
      [
       9.9,
       0.9056
      ],
      [
       9.96,
       0.9056
      ],
      [
       10.02,
       0.9056
      ],
      [
       10.08,
       0.9056
      ],
      [
       10.14,
       0.9056
      ],
      [
       10.2,
       0.9056
      ],
      [
       10.26,
       0.9056
      ],
      [
       10.32,
       0.9056
      ],
      [
       10.38,
       0.9056
      ],
      [
       10.44,
       0.9056
      ],
      [
       10.5,
       0.9056
      ],
      [
       10.56,
       0.9056
      ],
      [
       10.62,
       0.9056
      ],
      [
       10.68,
       0.9056
      ],
      [
       10.74,
       0.9056
      ],
      [
       10.8,
       0.9056
      ],
      [
       10.86,
       0.9056
      ],
      [
       10.92,
       0.9056
      ],
      [
       10.98,
       0.9056
      ],
      [
       11.04,
       0.9056
      ],
      [
       11.1,
       0.9056
      ],
      [
       11.16,
       0.9056
      ],
      [
       11.22,
       0.9056
      ],
      [
       11.28,
       0.9056
      ],
      [
       11.34,
       0.9056
      ],
      [
       11.4,
       0.9056
      ],
      [
       11.46,
       0.9056
      ],
      [
       11.52,
       0.9056
      ],
      [
       11.58,
       0.9056
      ],
      [
       11.64,
       0.9056
      ],
      [
       11.7,
       0.9056
      ],
      [
       11.76,
       0.9056
      ],
      [
       11.82,
       0.9056
      ],
      [
       11.88,
       0.9056
      ],
      [
       11.94,
       0.9056
      ],
      [
       12.0,
       0.9056
      ],
      [
       12.06,
       0.9056
      ],
      [
       12.12,
       0.9056
      ],
      [
       12.18,
       0.9056
      ],
      [
       12.24,
       0.9056
      ],
      [
       12.3,
       0.9056
      ],
      [
       12.36,
       0.9056
      ],
      [
       12.42,
       0.9056
      ],
      [
       12.44,
       0.9528
      ]
     ],
     "total_reward": 1.9024,
     "initial_progress": 0.0,
     "final_progress": 0.9528,
     "physics_sha256": "b46fe2ceb549b4b4e2fbe56872125b5bd94dca971fc030e3e2330eb676295894",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0014408356472345007,
       "final_progress": 0.0014408356472345007,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "scrub_in_place",
       "success": false,
       "return": 0.45855858579861347,
       "final_progress": 0.4805555555555555,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.830459160029113,
       "final_progress": 0.9055555555555556
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.7789986210759835,
       "final_progress": 0.8583333333333334
      },
      {
       "layout_seed": 2,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.8900399835139264,
       "final_progress": 0.9527777777777777
      },
      {
       "layout_seed": 3,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.1,
       "final_progress": 0.15
      },
      {
       "layout_seed": 4,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.6444385995676787,
       "final_progress": 0.7638888888888888
      },
      {
       "layout_seed": 5,
       "outcome": "success",
       "steps": 622,
       "return": 1.9024497710682535,
       "final_progress": 0.9527777777777777
      }
     ],
     "arm": "right",
     "scene": [
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal basin"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "19ce509e87802c0b25edbff90887ff4f97716fb8716235e19885d6c2d5e42773",
   "recording_id": 13191,
   "task_number": 2,
   "task_count": 4,
   "goal": "push_slide",
   "goal_label": "Push to target",
   "family": "push_slide",
   "family_tag": "PUSH",
   "target": "grey speckled kitchen countertop",
   "human_action": false,
   "description": "Slide the tuna can across the grey speckled kitchen countertop among the teal basin and the blue slipper onto the target without grasping or lifting it.",
   "practice": {
    "reward_id": "push_slide",
    "motion": "Slide the tuna can across the grey speckled kitchen countertop among the teal basin and the blue slipper onto the target without grasping or lifting it.",
    "start": "Closed gripper at its home pose; object resting upright.",
    "reward": "\u0394[0.15 reach push point + 0.85 push progress] \u2212 \u0394 clutter + 1 on success (push progress is 0 once grasped or lifted)",
    "success": "Object centre within 3 cm of the target, upright, never grasped or lifted >1.5 cm; nothing else moved >2 cm.",
    "reward_focus": "Non-prehensile push accuracy"
   },
   "source": {
    "recording_id": 13191,
    "contributor_id": 11,
    "video": "media/source-13191-9cb363b64581.mp4",
    "poster": "media/source-13191.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     12.066667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 13191,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/013/13191_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 121.475,
      "original_end_s": 141.475,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "aa1f57001932d409067498abc019b880dcbd0ab2cc3565e24b3c2c282c4563b0",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201312.07 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
      "duration_s": 12.08,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 4,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "grey speckled kitchen countertop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "19ce509e8780-panda",
     "video": "media/sim-19ce509e8780-panda-s0.mp4",
     "poster": "media/sim-19ce509e8780-panda-s0.jpg",
     "trajectory": "trajectories/19ce509e8780-panda.json",
     "recipe": "recipes/19ce509e8780-panda.json",
     "seed": 0,
     "steps": 317,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0002
      ],
      [
       0.1,
       0.0011
      ],
      [
       0.12,
       0.0021
      ],
      [
       0.14,
       0.0031
      ],
      [
       0.16,
       0.0038
      ],
      [
       0.18,
       0.0043
      ],
      [
       0.2,
       0.0048
      ],
      [
       0.22,
       0.0052
      ],
      [
       0.24,
       0.0058
      ],
      [
       0.26,
       0.0064
      ],
      [
       0.28,
       0.0071
      ],
      [
       0.3,
       0.0078
      ],
      [
       0.32,
       0.0085
      ],
      [
       0.34,
       0.0092
      ],
      [
       0.36,
       0.0099
      ],
      [
       0.38,
       0.0106
      ],
      [
       0.4,
       0.0113
      ],
      [
       0.42,
       0.0121
      ],
      [
       0.44,
       0.0128
      ],
      [
       0.46,
       0.0136
      ],
      [
       0.48,
       0.0144
      ],
      [
       0.5,
       0.0152
      ],
      [
       0.52,
       0.016
      ],
      [
       0.54,
       0.0168
      ],
      [
       0.56,
       0.0177
      ],
      [
       0.58,
       0.0185
      ],
      [
       0.6,
       0.0194
      ],
      [
       0.62,
       0.0203
      ],
      [
       0.64,
       0.0212
      ],
      [
       0.66,
       0.0221
      ],
      [
       0.68,
       0.0231
      ],
      [
       0.7,
       0.0241
      ],
      [
       0.72,
       0.025
      ],
      [
       0.74,
       0.0261
      ],
      [
       0.76,
       0.0271
      ],
      [
       0.78,
       0.0282
      ],
      [
       0.8,
       0.0293
      ],
      [
       0.82,
       0.0304
      ],
      [
       0.84,
       0.0315
      ],
      [
       0.86,
       0.0327
      ],
      [
       0.88,
       0.0339
      ],
      [
       0.9,
       0.0351
      ],
      [
       0.92,
       0.0363
      ],
      [
       0.94,
       0.0376
      ],
      [
       0.96,
       0.0389
      ],
      [
       0.98,
       0.0403
      ],
      [
       1.0,
       0.0417
      ],
      [
       1.02,
       0.0431
      ],
      [
       1.04,
       0.0446
      ],
      [
       1.06,
       0.0461
      ],
      [
       1.08,
       0.0476
      ],
      [
       1.1,
       0.0492
      ],
      [
       1.12,
       0.0508
      ],
      [
       1.14,
       0.0524
      ],
      [
       1.16,
       0.0541
      ],
      [
       1.18,
       0.0559
      ],
      [
       1.2,
       0.0577
      ],
      [
       1.22,
       0.0595
      ],
      [
       1.24,
       0.0614
      ],
      [
       1.26,
       0.0633
      ],
      [
       1.28,
       0.0652
      ],
      [
       1.3,
       0.0672
      ],
      [
       1.32,
       0.0693
      ],
      [
       1.34,
       0.0714
      ],
      [
       1.36,
       0.0736
      ],
      [
       1.38,
       0.0757
      ],
      [
       1.4,
       0.078
      ],
      [
       1.42,
       0.0803
      ],
      [
       1.44,
       0.0826
      ],
      [
       1.46,
       0.0849
      ],
      [
       1.48,
       0.0873
      ],
      [
       1.5,
       0.0896
      ],
      [
       1.52,
       0.0921
      ],
      [
       1.54,
       0.0945
      ],
      [
       1.56,
       0.0969
      ],
      [
       1.58,
       0.0994
      ],
      [
       1.6,
       0.1019
      ],
      [
       1.62,
       0.1045
      ],
      [
       1.64,
       0.107
      ],
      [
       1.66,
       0.1095
      ],
      [
       1.68,
       0.1119
      ],
      [
       1.7,
       0.1141
      ],
      [
       1.72,
       0.1158
      ],
      [
       1.74,
       0.1173
      ],
      [
       1.76,
       0.1186
      ],
      [
       1.78,
       0.1197
      ],
      [
       1.8,
       0.1206
      ],
      [
       1.82,
       0.1214
      ],
      [
       1.84,
       0.1221
      ],
      [
       1.86,
       0.123
      ],
      [
       1.88,
       0.1239
      ],
      [
       1.9,
       0.125
      ],
      [
       1.92,
       0.1262
      ],
      [
       1.94,
       0.1274
      ],
      [
       1.96,
       0.1285
      ],
      [
       1.98,
       0.1296
      ],
      [
       2.0,
       0.1307
      ],
      [
       2.02,
       0.1316
      ],
      [
       2.04,
       0.1326
      ],
      [
       2.06,
       0.1336
      ],
      [
       2.08,
       0.1345
      ],
      [
       2.1,
       0.1354
      ],
      [
       2.12,
       0.1362
      ],
      [
       2.14,
       0.1369
      ],
      [
       2.16,
       0.1375
      ],
      [
       2.18,
       0.1381
      ],
      [
       2.2,
       0.1388
      ],
      [
       2.22,
       0.1395
      ],
      [
       2.24,
       0.1405
      ],
      [
       2.26,
       0.1413
      ],
      [
       2.28,
       0.1416
      ],
      [
       2.3,
       0.1415
      ],
      [
       2.32,
       0.1413
      ],
      [
       2.34,
       0.1411
      ],
      [
       2.36,
       0.1412
      ],
      [
       2.38,
       0.1414
      ],
      [
       2.4,
       0.1416
      ],
      [
       2.42,
       0.142
      ],
      [
       2.44,
       0.1426
      ],
      [
       2.46,
       0.1432
      ],
      [
       2.48,
       0.1439
      ],
      [
       2.5,
       0.1444
      ],
      [
       2.52,
       0.1529
      ],
      [
       2.54,
       0.1742
      ],
      [
       2.56,
       0.1942
      ],
      [
       2.58,
       0.2161
      ],
      [
       2.6,
       0.2406
      ],
      [
       2.62,
       0.2632
      ],
      [
       2.64,
       0.2852
      ],
      [
       2.66,
       0.3139
      ],
      [
       2.68,
       0.3324
      ],
      [
       2.7,
       0.3572
      ],
      [
       2.72,
       0.378
      ],
      [
       2.74,
       0.4036
      ],
      [
       2.76,
       0.4264
      ],
      [
       2.78,
       0.4486
      ],
      [
       2.8,
       0.473
      ],
      [
       2.82,
       0.4879
      ],
      [
       2.84,
       0.5188
      ],
      [
       2.86,
       0.5436
      ],
      [
       2.88,
       0.5545
      ],
      [
       2.9,
       0.5798
      ],
      [
       2.92,
       0.6
      ],
      [
       2.94,
       0.6226
      ],
      [
       2.96,
       0.6417
      ],
      [
       2.98,
       0.6649
      ],
      [
       3.0,
       0.6806
      ],
      [
       3.02,
       0.6987
      ],
      [
       3.04,
       0.7174
      ],
      [
       3.06,
       0.7369
      ],
      [
       3.08,
       0.7524
      ],
      [
       3.1,
       0.7697
      ],
      [
       3.12,
       0.7805
      ],
      [
       3.14,
       0.7986
      ],
      [
       3.16,
       0.8098
      ],
      [
       3.18,
       0.8242
      ],
      [
       3.2,
       0.8383
      ],
      [
       3.22,
       0.8509
      ],
      [
       3.24,
       0.8644
      ],
      [
       3.26,
       0.8776
      ],
      [
       3.28,
       0.8872
      ],
      [
       3.3,
       0.8961
      ],
      [
       3.32,
       0.9003
      ],
      [
       3.34,
       0.9073
      ],
      [
       3.36,
       0.9156
      ],
      [
       3.38,
       0.921
      ],
      [
       3.4,
       0.9277
      ],
      [
       3.42,
       0.9339
      ],
      [
       3.44,
       0.9357
      ],
      [
       3.46,
       0.9368
      ],
      [
       3.48,
       0.9359
      ],
      [
       3.5,
       0.9361
      ],
      [
       3.52,
       0.9362
      ],
      [
       3.54,
       0.9363
      ],
      [
       3.56,
       0.9364
      ],
      [
       3.58,
       0.9364
      ],
      [
       3.6,
       0.9363
      ],
      [
       3.62,
       0.9361
      ],
      [
       3.64,
       0.9363
      ],
      [
       3.66,
       0.9362
      ],
      [
       3.68,
       0.9358
      ],
      [
       3.7,
       0.9359
      ],
      [
       3.72,
       0.936
      ],
      [
       3.74,
       0.936
      ],
      [
       3.76,
       0.9363
      ],
      [
       3.78,
       0.9361
      ],
      [
       3.8,
       0.9361
      ],
      [
       3.82,
       0.936
      ],
      [
       3.84,
       0.9357
      ],
      [
       3.86,
       0.9358
      ],
      [
       3.88,
       0.9356
      ],
      [
       3.9,
       0.9357
      ],
      [
       3.92,
       0.9358
      ],
      [
       3.94,
       0.9359
      ],
      [
       3.96,
       0.9359
      ],
      [
       3.98,
       0.9356
      ],
      [
       4.0,
       0.9358
      ],
      [
       4.02,
       0.9358
      ],
      [
       4.04,
       0.9356
      ],
      [
       4.06,
       0.9354
      ],
      [
       4.08,
       0.9354
      ],
      [
       4.1,
       0.9355
      ],
      [
       4.12,
       0.9356
      ],
      [
       4.14,
       0.9356
      ],
      [
       4.16,
       0.9356
      ],
      [
       4.18,
       0.9355
      ],
      [
       4.2,
       0.9356
      ],
      [
       4.22,
       0.9357
      ],
      [
       4.24,
       0.9354
      ],
      [
       4.26,
       0.9351
      ],
      [
       4.28,
       0.9352
      ],
      [
       4.3,
       0.9353
      ],
      [
       4.32,
       0.9353
      ],
      [
       4.34,
       0.9355
      ],
      [
       4.36,
       0.9355
      ],
      [
       4.38,
       0.9353
      ],
      [
       4.4,
       0.9352
      ],
      [
       4.42,
       0.9354
      ],
      [
       4.44,
       0.9352
      ],
      [
       4.46,
       0.9349
      ],
      [
       4.48,
       0.935
      ],
      [
       4.5,
       0.9351
      ],
      [
       4.52,
       0.9351
      ],
      [
       4.54,
       0.9354
      ],
      [
       4.56,
       0.9352
      ],
      [
       4.58,
       0.9352
      ],
      [
       4.6,
       0.9351
      ],
      [
       4.62,
       0.9348
      ],
      [
       4.64,
       0.9349
      ],
      [
       4.66,
       0.9347
      ],
      [
       4.68,
       0.9348
      ],
      [
       4.7,
       0.9349
      ],
      [
       4.72,
       0.935
      ],
      [
       4.74,
       0.935
      ],
      [
       4.76,
       0.9347
      ],
      [
       4.78,
       0.9349
      ],
      [
       4.8,
       0.9349
      ],
      [
       4.82,
       0.9346
      ],
      [
       4.84,
       0.9345
      ],
      [
       4.86,
       0.9345
      ],
      [
       4.88,
       0.9346
      ],
      [
       4.9,
       0.9346
      ],
      [
       4.92,
       0.9346
      ],
      [
       4.94,
       0.9347
      ],
      [
       4.96,
       0.9346
      ],
      [
       4.98,
       0.9347
      ],
      [
       5.0,
       0.9348
      ],
      [
       5.02,
       0.9344
      ],
      [
       5.04,
       0.9342
      ],
      [
       5.06,
       0.9343
      ],
      [
       5.08,
       0.9344
      ],
      [
       5.1,
       0.9344
      ],
      [
       5.12,
       0.9345
      ],
      [
       5.14,
       0.9346
      ],
      [
       5.16,
       0.9344
      ],
      [
       5.18,
       0.9342
      ],
      [
       5.2,
       0.9345
      ],
      [
       5.22,
       0.9343
      ],
      [
       5.24,
       0.9339
      ],
      [
       5.26,
       0.9341
      ],
      [
       5.28,
       0.9342
      ],
      [
       5.3,
       0.9342
      ],
      [
       5.32,
       0.9344
      ],
      [
       5.34,
       0.9343
      ],
      [
       5.36,
       0.9343
      ],
      [
       5.38,
       0.9341
      ],
      [
       5.4,
       0.9339
      ],
      [
       5.42,
       0.934
      ],
      [
       5.44,
       0.9337
      ],
      [
       5.46,
       0.9377
      ],
      [
       5.48,
       0.9372
      ],
      [
       5.5,
       0.9371
      ],
      [
       5.52,
       0.937
      ],
      [
       5.54,
       0.9371
      ],
      [
       5.56,
       0.937
      ],
      [
       5.58,
       0.9368
      ],
      [
       5.6,
       0.9367
      ],
      [
       5.62,
       0.9363
      ],
      [
       5.64,
       0.9364
      ],
      [
       5.66,
       0.9364
      ],
      [
       5.68,
       0.9365
      ],
      [
       5.7,
       0.9366
      ],
      [
       5.72,
       0.9362
      ],
      [
       5.74,
       0.9363
      ],
      [
       5.76,
       0.9363
      ],
      [
       5.78,
       0.9364
      ],
      [
       5.8,
       0.9366
      ],
      [
       5.82,
       0.9364
      ],
      [
       5.84,
       0.9365
      ],
      [
       5.86,
       0.9363
      ],
      [
       5.88,
       0.936
      ],
      [
       5.9,
       0.9362
      ],
      [
       5.92,
       0.9359
      ],
      [
       5.94,
       0.936
      ],
      [
       5.96,
       0.9361
      ],
      [
       5.98,
       0.9362
      ],
      [
       6.0,
       0.9362
      ],
      [
       6.02,
       0.9359
      ],
      [
       6.04,
       0.9361
      ],
      [
       6.06,
       0.9361
      ],
      [
       6.08,
       0.9359
      ],
      [
       6.1,
       0.9357
      ],
      [
       6.12,
       0.9357
      ],
      [
       6.14,
       0.9358
      ],
      [
       6.16,
       0.9359
      ],
      [
       6.18,
       0.9359
      ],
      [
       6.2,
       0.936
      ],
      [
       6.22,
       0.9358
      ],
      [
       6.24,
       0.9359
      ],
      [
       6.26,
       0.941
      ],
      [
       6.28,
       0.9617
      ],
      [
       6.3,
       0.982
      ],
      [
       6.32,
       0.9961
      ],
      [
       6.34,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "c46aec276648004f9c2c2d12fccbb60169a07062535a0fd93070b41966d50030",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 1.0842021724855044e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.04317633125316554,
       "final_progress": 0.04317633125316554,
       "steps": 1200,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 317,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "tuna_can_ctx96",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "task_object",
       "label": "tuna can"
      },
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal basin"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "19ce509e8780-aloha",
     "video": "media/sim-19ce509e8780-aloha-s0.mp4",
     "poster": "media/sim-19ce509e8780-aloha-s0.jpg",
     "trajectory": "trajectories/19ce509e8780-aloha.json",
     "recipe": "recipes/19ce509e8780-aloha.json",
     "seed": 0,
     "steps": 316,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0004
      ],
      [
       0.04,
       0.0011
      ],
      [
       0.06,
       0.002
      ],
      [
       0.08,
       0.0029
      ],
      [
       0.1,
       0.0039
      ],
      [
       0.12,
       0.0048
      ],
      [
       0.14,
       0.0059
      ],
      [
       0.16,
       0.0069
      ],
      [
       0.18,
       0.008
      ],
      [
       0.2,
       0.0091
      ],
      [
       0.22,
       0.0102
      ],
      [
       0.24,
       0.0113
      ],
      [
       0.26,
       0.0124
      ],
      [
       0.28,
       0.0136
      ],
      [
       0.3,
       0.0147
      ],
      [
       0.32,
       0.0159
      ],
      [
       0.34,
       0.0171
      ],
      [
       0.36,
       0.0183
      ],
      [
       0.38,
       0.0196
      ],
      [
       0.4,
       0.0208
      ],
      [
       0.42,
       0.0221
      ],
      [
       0.44,
       0.0234
      ],
      [
       0.46,
       0.0247
      ],
      [
       0.48,
       0.026
      ],
      [
       0.5,
       0.0273
      ],
      [
       0.52,
       0.0286
      ],
      [
       0.54,
       0.03
      ],
      [
       0.56,
       0.0313
      ],
      [
       0.58,
       0.0326
      ],
      [
       0.6,
       0.034
      ],
      [
       0.62,
       0.0353
      ],
      [
       0.64,
       0.0367
      ],
      [
       0.66,
       0.0381
      ],
      [
       0.68,
       0.0394
      ],
      [
       0.7,
       0.0408
      ],
      [
       0.72,
       0.0422
      ],
      [
       0.74,
       0.0436
      ],
      [
       0.76,
       0.045
      ],
      [
       0.78,
       0.0464
      ],
      [
       0.8,
       0.0478
      ],
      [
       0.82,
       0.0492
      ],
      [
       0.84,
       0.0507
      ],
      [
       0.86,
       0.0521
      ],
      [
       0.88,
       0.0535
      ],
      [
       0.9,
       0.0549
      ],
      [
       0.92,
       0.0563
      ],
      [
       0.94,
       0.0578
      ],
      [
       0.96,
       0.0592
      ],
      [
       0.98,
       0.0606
      ],
      [
       1.0,
       0.062
      ],
      [
       1.02,
       0.0635
      ],
      [
       1.04,
       0.0649
      ],
      [
       1.06,
       0.0663
      ],
      [
       1.08,
       0.0677
      ],
      [
       1.1,
       0.0691
      ],
      [
       1.12,
       0.0705
      ],
      [
       1.14,
       0.0718
      ],
      [
       1.16,
       0.0732
      ],
      [
       1.18,
       0.0745
      ],
      [
       1.2,
       0.0758
      ],
      [
       1.22,
       0.0771
      ],
      [
       1.24,
       0.0783
      ],
      [
       1.26,
       0.0796
      ],
      [
       1.28,
       0.0807
      ],
      [
       1.3,
       0.0819
      ],
      [
       1.32,
       0.083
      ],
      [
       1.34,
       0.084
      ],
      [
       1.36,
       0.0849
      ],
      [
       1.38,
       0.0858
      ],
      [
       1.4,
       0.0866
      ],
      [
       1.42,
       0.0873
      ],
      [
       1.44,
       0.0878
      ],
      [
       1.46,
       0.0883
      ],
      [
       1.48,
       0.0886
      ],
      [
       1.5,
       0.0889
      ],
      [
       1.52,
       0.089
      ],
      [
       1.54,
       0.0891
      ],
      [
       1.56,
       0.0892
      ],
      [
       1.58,
       0.0893
      ],
      [
       1.6,
       0.0894
      ],
      [
       1.62,
       0.0894
      ],
      [
       1.64,
       0.0894
      ],
      [
       1.66,
       0.0892
      ],
      [
       1.68,
       0.089
      ],
      [
       1.7,
       0.0887
      ],
      [
       1.72,
       0.0884
      ],
      [
       1.74,
       0.088
      ],
      [
       1.76,
       0.0876
      ],
      [
       1.78,
       0.0872
      ],
      [
       1.8,
       0.0868
      ],
      [
       1.82,
       0.0864
      ],
      [
       1.84,
       0.086
      ],
      [
       1.86,
       0.0857
      ],
      [
       1.88,
       0.0855
      ],
      [
       1.9,
       0.0854
      ],
      [
       1.92,
       0.0855
      ],
      [
       1.94,
       0.0857
      ],
      [
       1.96,
       0.086
      ],
      [
       1.98,
       0.0863
      ],
      [
       2.0,
       0.0867
      ],
      [
       2.02,
       0.0871
      ],
      [
       2.04,
       0.0875
      ],
      [
       2.06,
       0.088
      ],
      [
       2.08,
       0.0884
      ],
      [
       2.1,
       0.089
      ],
      [
       2.12,
       0.0895
      ],
      [
       2.14,
       0.0901
      ],
      [
       2.16,
       0.0907
      ],
      [
       2.18,
       0.0913
      ],
      [
       2.2,
       0.0919
      ],
      [
       2.22,
       0.0925
      ],
      [
       2.24,
       0.0931
      ],
      [
       2.26,
       0.0936
      ],
      [
       2.28,
       0.0941
      ],
      [
       2.3,
       0.0947
      ],
      [
       2.32,
       0.0952
      ],
      [
       2.34,
       0.0957
      ],
      [
       2.36,
       0.0962
      ],
      [
       2.38,
       0.0967
      ],
      [
       2.4,
       0.0972
      ],
      [
       2.42,
       0.0977
      ],
      [
       2.44,
       0.0982
      ],
      [
       2.46,
       0.0987
      ],
      [
       2.48,
       0.0992
      ],
      [
       2.5,
       0.0997
      ],
      [
       2.52,
       0.1002
      ],
      [
       2.54,
       0.1006
      ],
      [
       2.56,
       0.101
      ],
      [
       2.58,
       0.1014
      ],
      [
       2.6,
       0.1018
      ],
      [
       2.62,
       0.1021
      ],
      [
       2.64,
       0.1025
      ],
      [
       2.66,
       0.1028
      ],
      [
       2.68,
       0.1031
      ],
      [
       2.7,
       0.1034
      ],
      [
       2.72,
       0.1038
      ],
      [
       2.74,
       0.1041
      ],
      [
       2.76,
       0.1044
      ],
      [
       2.78,
       0.1047
      ],
      [
       2.8,
       0.105
      ],
      [
       2.82,
       0.1053
      ],
      [
       2.84,
       0.1056
      ],
      [
       2.86,
       0.106
      ],
      [
       2.88,
       0.1063
      ],
      [
       2.9,
       0.1066
      ],
      [
       2.92,
       0.1069
      ],
      [
       2.94,
       0.1072
      ],
      [
       2.96,
       0.1075
      ],
      [
       2.98,
       0.1078
      ],
      [
       3.0,
       0.1081
      ],
      [
       3.02,
       0.1085
      ],
      [
       3.04,
       0.109
      ],
      [
       3.06,
       0.1098
      ],
      [
       3.08,
       0.1107
      ],
      [
       3.1,
       0.1112
      ],
      [
       3.12,
       0.1115
      ],
      [
       3.14,
       0.1117
      ],
      [
       3.16,
       0.1119
      ],
      [
       3.18,
       0.112
      ],
      [
       3.2,
       0.1121
      ],
      [
       3.22,
       0.1123
      ],
      [
       3.24,
       0.1124
      ],
      [
       3.26,
       0.1125
      ],
      [
       3.28,
       0.1126
      ],
      [
       3.3,
       0.1127
      ],
      [
       3.32,
       0.1128
      ],
      [
       3.34,
       0.113
      ],
      [
       3.36,
       0.1131
      ],
      [
       3.38,
       0.1132
      ],
      [
       3.4,
       0.1134
      ],
      [
       3.42,
       0.1135
      ],
      [
       3.44,
       0.1137
      ],
      [
       3.46,
       0.1138
      ],
      [
       3.48,
       0.114
      ],
      [
       3.5,
       0.1141
      ],
      [
       3.52,
       0.1144
      ],
      [
       3.54,
       0.1146
      ],
      [
       3.56,
       0.1147
      ],
      [
       3.58,
       0.1149
      ],
      [
       3.6,
       0.1151
      ],
      [
       3.62,
       0.1153
      ],
      [
       3.64,
       0.1154
      ],
      [
       3.66,
       0.1156
      ],
      [
       3.68,
       0.1158
      ],
      [
       3.7,
       0.116
      ],
      [
       3.72,
       0.1162
      ],
      [
       3.74,
       0.1164
      ],
      [
       3.76,
       0.1166
      ],
      [
       3.78,
       0.1168
      ],
      [
       3.8,
       0.117
      ],
      [
       3.82,
       0.1172
      ],
      [
       3.84,
       0.1173
      ],
      [
       3.86,
       0.1175
      ],
      [
       3.88,
       0.1177
      ],
      [
       3.9,
       0.1179
      ],
      [
       3.92,
       0.1181
      ],
      [
       3.94,
       0.1183
      ],
      [
       3.96,
       0.1185
      ],
      [
       3.98,
       0.1187
      ],
      [
       4.0,
       0.1188
      ],
      [
       4.02,
       0.119
      ],
      [
       4.04,
       0.1192
      ],
      [
       4.06,
       0.1193
      ],
      [
       4.08,
       0.1194
      ],
      [
       4.1,
       0.1196
      ],
      [
       4.12,
       0.1196
      ],
      [
       4.14,
       0.1197
      ],
      [
       4.16,
       0.1198
      ],
      [
       4.18,
       0.1199
      ],
      [
       4.2,
       0.1199
      ],
      [
       4.22,
       0.12
      ],
      [
       4.24,
       0.12
      ],
      [
       4.26,
       0.1201
      ],
      [
       4.28,
       0.1201
      ],
      [
       4.3,
       0.1201
      ],
      [
       4.32,
       0.1202
      ],
      [
       4.34,
       0.1202
      ],
      [
       4.36,
       0.1202
      ],
      [
       4.38,
       0.1202
      ],
      [
       4.4,
       0.1202
      ],
      [
       4.42,
       0.1202
      ],
      [
       4.44,
       0.1202
      ],
      [
       4.46,
       0.1202
      ],
      [
       4.48,
       0.1202
      ],
      [
       4.5,
       0.1202
      ],
      [
       4.52,
       0.1202
      ],
      [
       4.54,
       0.1202
      ],
      [
       4.56,
       0.1201
      ],
      [
       4.58,
       0.1201
      ],
      [
       4.6,
       0.1201
      ],
      [
       4.62,
       0.1201
      ],
      [
       4.64,
       0.1201
      ],
      [
       4.66,
       0.1201
      ],
      [
       4.68,
       0.1201
      ],
      [
       4.7,
       0.1201
      ],
      [
       4.72,
       0.1201
      ],
      [
       4.74,
       0.12
      ],
      [
       4.76,
       0.12
      ],
      [
       4.78,
       0.12
      ],
      [
       4.8,
       0.12
      ],
      [
       4.82,
       0.12
      ],
      [
       4.84,
       0.12
      ],
      [
       4.86,
       0.1199
      ],
      [
       4.88,
       0.1199
      ],
      [
       4.9,
       0.1199
      ],
      [
       4.92,
       0.1199
      ],
      [
       4.94,
       0.1198
      ],
      [
       4.96,
       0.1198
      ],
      [
       4.98,
       0.1198
      ],
      [
       5.0,
       0.1197
      ],
      [
       5.02,
       0.1197
      ],
      [
       5.04,
       0.1197
      ],
      [
       5.06,
       0.1196
      ],
      [
       5.08,
       0.1196
      ],
      [
       5.1,
       0.1196
      ],
      [
       5.12,
       0.1195
      ],
      [
       5.14,
       0.1195
      ],
      [
       5.16,
       0.1195
      ],
      [
       5.18,
       0.1194
      ],
      [
       5.2,
       0.1194
      ],
      [
       5.22,
       0.1194
      ],
      [
       5.24,
       0.1193
      ],
      [
       5.26,
       0.1193
      ],
      [
       5.28,
       0.1193
      ],
      [
       5.3,
       0.1193
      ],
      [
       5.32,
       0.1193
      ],
      [
       5.34,
       0.1192
      ],
      [
       5.36,
       0.1192
      ],
      [
       5.38,
       0.1192
      ],
      [
       5.4,
       0.1192
      ],
      [
       5.42,
       0.1192
      ],
      [
       5.44,
       0.1192
      ],
      [
       5.46,
       0.1193
      ],
      [
       5.48,
       0.1199
      ],
      [
       5.5,
       0.1205
      ],
      [
       5.52,
       0.1213
      ],
      [
       5.54,
       0.1222
      ],
      [
       5.56,
       0.1231
      ],
      [
       5.58,
       0.1245
      ],
      [
       5.6,
       0.1256
      ],
      [
       5.62,
       0.1271
      ],
      [
       5.64,
       0.1282
      ],
      [
       5.66,
       0.1297
      ],
      [
       5.68,
       0.1314
      ],
      [
       5.7,
       0.1333
      ],
      [
       5.72,
       0.1356
      ],
      [
       5.74,
       0.138
      ],
      [
       5.76,
       0.14
      ],
      [
       5.78,
       0.1426
      ],
      [
       5.8,
       0.145
      ],
      [
       5.82,
       0.162
      ],
      [
       5.84,
       0.2065
      ],
      [
       5.86,
       0.2355
      ],
      [
       5.88,
       0.2829
      ],
      [
       5.9,
       0.3263
      ],
      [
       5.92,
       0.3623
      ],
      [
       5.94,
       0.4097
      ],
      [
       5.96,
       0.4625
      ],
      [
       5.98,
       0.5043
      ],
      [
       6.0,
       0.5502
      ],
      [
       6.02,
       0.5913
      ],
      [
       6.04,
       0.6407
      ],
      [
       6.06,
       0.6807
      ],
      [
       6.08,
       0.6948
      ],
      [
       6.1,
       0.7377
      ],
      [
       6.12,
       0.7732
      ],
      [
       6.14,
       0.8004
      ],
      [
       6.16,
       0.8423
      ],
      [
       6.18,
       0.87
      ],
      [
       6.2,
       0.8841
      ],
      [
       6.22,
       0.9163
      ],
      [
       6.24,
       0.941
      ],
      [
       6.26,
       0.9664
      ],
      [
       6.28,
       0.9826
      ],
      [
       6.3,
       0.9995
      ],
      [
       6.32,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6e7dd47ab1e9d9bb42a6049462a7fe5ec642ee334a8cc40fbb6612d59ddc474e",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0008359848404100478,
       "final_progress": 0.0008359848404100478,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.11936916710177374,
       "final_progress": 0.11936916710177374,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "grasp_and_carry",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 316,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "tuna_can_ctx96",
       "source": "ycb:007_tuna_fish_can",
       "grounding": "added_context",
       "role": "task_object",
       "label": "tuna can"
      },
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal basin"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "98aa8d7a0a3e29baaf9de2e380399f80709919648514b0eeb00de105c41e530f",
   "recording_id": 13191,
   "task_number": 3,
   "task_count": 4,
   "goal": "pick_place",
   "goal_label": "Pick and place",
   "family": "pick_place",
   "family_tag": "PICK & PLACE",
   "target": "grey speckled kitchen countertop",
   "human_action": false,
   "description": "Grasp the foam block from among the blue slipper and the teal basin, lift it clear and set it down on the teal basin on the grey speckled kitchen countertop.",
   "practice": {
    "reward_id": "pick_place",
    "motion": "Grasp the foam block from among the blue slipper and the teal basin, lift it clear and set it down on the teal basin on the grey speckled kitchen countertop.",
    "start": "Gripper open at its home pose; object resting among the scene objects.",
    "reward": "\u0394[0.15 reach + 0.25 lifted + 0.5 transport + 0.1 released on goal] \u2212 \u0394 clutter + 1 on success",
    "success": "Object released (\u22643.5 cm drop), resting inside the marked goal and still for 0.5 s; nothing else moved >2 cm.",
    "reward_focus": "Lift, transport and gentle release"
   },
   "source": {
    "recording_id": 13191,
    "contributor_id": 11,
    "video": "media/source-13191-9cb363b64581.mp4",
    "poster": "media/source-13191.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     12.066667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 13191,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/013/13191_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 121.475,
      "original_end_s": 141.475,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "aa1f57001932d409067498abc019b880dcbd0ab2cc3565e24b3c2c282c4563b0",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201312.07 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
      "duration_s": 12.08,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 4,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "grey speckled kitchen countertop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "98aa8d7a0a3e-panda",
     "video": "media/sim-98aa8d7a0a3e-panda-s0.mp4",
     "poster": "media/sim-98aa8d7a0a3e-panda-s0.jpg",
     "trajectory": "trajectories/98aa8d7a0a3e-panda.json",
     "recipe": "recipes/98aa8d7a0a3e-panda.json",
     "seed": 0,
     "steps": 337,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.36,
       0.0047
      ],
      [
       0.4,
       0.0087
      ],
      [
       0.44,
       0.0104
      ],
      [
       0.48,
       0.0115
      ],
      [
       0.52,
       0.0134
      ],
      [
       0.56,
       0.0159
      ],
      [
       0.6,
       0.0182
      ],
      [
       0.64,
       0.0206
      ],
      [
       0.68,
       0.0231
      ],
      [
       0.72,
       0.0259
      ],
      [
       0.76,
       0.0288
      ],
      [
       0.8,
       0.0318
      ],
      [
       0.84,
       0.035
      ],
      [
       0.88,
       0.0384
      ],
      [
       0.92,
       0.042
      ],
      [
       0.96,
       0.0457
      ],
      [
       1.0,
       0.0497
      ],
      [
       1.04,
       0.0537
      ],
      [
       1.08,
       0.058
      ],
      [
       1.12,
       0.0624
      ],
      [
       1.16,
       0.067
      ],
      [
       1.2,
       0.0717
      ],
      [
       1.24,
       0.0766
      ],
      [
       1.28,
       0.0816
      ],
      [
       1.32,
       0.0866
      ],
      [
       1.36,
       0.0917
      ],
      [
       1.4,
       0.0967
      ],
      [
       1.44,
       0.1015
      ],
      [
       1.48,
       0.1063
      ],
      [
       1.52,
       0.1103
      ],
      [
       1.56,
       0.1132
      ],
      [
       1.6,
       0.1156
      ],
      [
       1.64,
       0.118
      ],
      [
       1.68,
       0.1207
      ],
      [
       1.72,
       0.1235
      ],
      [
       1.76,
       0.1262
      ],
      [
       1.8,
       0.1289
      ],
      [
       1.84,
       0.1318
      ],
      [
       1.88,
       0.1349
      ],
      [
       1.92,
       0.1384
      ],
      [
       1.96,
       0.1421
      ],
      [
       2.0,
       0.1466
      ],
      [
       2.04,
       0.1468
      ],
      [
       2.08,
       0.1446
      ],
      [
       2.12,
       0.1447
      ],
      [
       2.16,
       0.1452
      ],
      [
       2.2,
       0.1456
      ],
      [
       2.24,
       0.146
      ],
      [
       2.28,
       0.1462
      ],
      [
       2.32,
       0.1462
      ],
      [
       2.36,
       0.1463
      ],
      [
       2.4,
       0.1463
      ],
      [
       2.44,
       0.1464
      ],
      [
       2.48,
       0.1464
      ],
      [
       2.52,
       0.1465
      ],
      [
       2.56,
       0.1464
      ],
      [
       2.6,
       0.1462
      ],
      [
       2.64,
       0.1463
      ],
      [
       2.68,
       0.1465
      ],
      [
       2.72,
       0.1466
      ],
      [
       2.76,
       0.1466
      ],
      [
       2.8,
       0.1467
      ],
      [
       2.84,
       0.1468
      ],
      [
       2.88,
       0.1468
      ],
      [
       2.92,
       0.1469
      ],
      [
       2.96,
       0.147
      ],
      [
       3.0,
       0.147
      ],
      [
       3.04,
       0.1471
      ],
      [
       3.08,
       0.4
      ],
      [
       3.12,
       0.4
      ],
      [
       3.16,
       0.4
      ],
      [
       3.2,
       0.4
      ],
      [
       3.24,
       0.4
      ],
      [
       3.28,
       0.4
      ],
      [
       3.32,
       0.4
      ],
      [
       3.36,
       0.4
      ],
      [
       3.4,
       0.4
      ],
      [
       3.44,
       0.4
      ],
      [
       3.48,
       0.4
      ],
      [
       3.52,
       0.4
      ],
      [
       3.56,
       0.4
      ],
      [
       3.6,
       0.4
      ],
      [
       3.64,
       0.4
      ],
      [
       3.68,
       0.4
      ],
      [
       3.72,
       0.4
      ],
      [
       3.76,
       0.4
      ],
      [
       3.8,
       0.4017
      ],
      [
       3.84,
       0.4048
      ],
      [
       3.88,
       0.4193
      ],
      [
       3.92,
       0.447
      ],
      [
       3.96,
       0.4818
      ],
      [
       4.0,
       0.521
      ],
      [
       4.04,
       0.5633
      ],
      [
       4.08,
       0.608
      ],
      [
       4.12,
       0.6549
      ],
      [
       4.16,
       0.7035
      ],
      [
       4.2,
       0.7533
      ],
      [
       4.24,
       0.8038
      ],
      [
       4.28,
       0.8538
      ],
      [
       4.32,
       0.9
      ],
      [
       4.36,
       0.9
      ],
      [
       4.4,
       0.9
      ],
      [
       4.44,
       0.9
      ],
      [
       4.48,
       0.9
      ],
      [
       4.52,
       0.9
      ],
      [
       4.56,
       0.9
      ],
      [
       4.6,
       0.9
      ],
      [
       4.64,
       0.9
      ],
      [
       4.68,
       0.9
      ],
      [
       4.72,
       0.9
      ],
      [
       4.76,
       0.9
      ],
      [
       4.8,
       0.9
      ],
      [
       4.84,
       0.9
      ],
      [
       4.88,
       0.9
      ],
      [
       4.92,
       0.9
      ],
      [
       4.96,
       0.9
      ],
      [
       5.0,
       0.9
      ],
      [
       5.04,
       0.9
      ],
      [
       5.08,
       0.9
      ],
      [
       5.12,
       0.9
      ],
      [
       5.16,
       0.9
      ],
      [
       5.2,
       0.9
      ],
      [
       5.24,
       0.9
      ],
      [
       5.28,
       0.9
      ],
      [
       5.32,
       0.9
      ],
      [
       5.36,
       0.9
      ],
      [
       5.4,
       0.9
      ],
      [
       5.44,
       0.9
      ],
      [
       5.48,
       0.9
      ],
      [
       5.52,
       0.9
      ],
      [
       5.56,
       0.9
      ],
      [
       5.6,
       1.0
      ],
      [
       5.64,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.76,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.88,
       1.0
      ],
      [
       5.92,
       1.0
      ],
      [
       5.96,
       1.0
      ],
      [
       6.0,
       1.0
      ],
      [
       6.04,
       0.9
      ],
      [
       6.08,
       1.0
      ],
      [
       6.12,
       0.9
      ],
      [
       6.16,
       1.0
      ],
      [
       6.2,
       0.9
      ],
      [
       6.24,
       0.9
      ],
      [
       6.28,
       1.0
      ],
      [
       6.32,
       1.0
      ],
      [
       6.36,
       1.0
      ],
      [
       6.4,
       1.0
      ],
      [
       6.44,
       1.0
      ],
      [
       6.48,
       1.0
      ],
      [
       6.52,
       1.0
      ],
      [
       6.56,
       1.0
      ],
      [
       6.6,
       1.0
      ],
      [
       6.64,
       1.0
      ],
      [
       6.68,
       1.0
      ],
      [
       6.72,
       1.0
      ],
      [
       6.74,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "5742759b694aa808b9a77a395265e6b3eb77584fcea668babe93c00055f2f1d2",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -2.168404344971009e-19,
       "final_progress": 0.0,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": false,
       "return": 0.9,
       "final_progress": 0.9,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 337,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx96",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "goal_support",
       "label": "teal basin"
      },
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "98aa8d7a0a3e-aloha",
     "video": "media/sim-98aa8d7a0a3e-aloha-s0.mp4",
     "poster": "media/sim-98aa8d7a0a3e-aloha-s0.jpg",
     "trajectory": "trajectories/98aa8d7a0a3e-aloha.json",
     "recipe": "recipes/98aa8d7a0a3e-aloha.json",
     "seed": 0,
     "steps": 968,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.12,
       0.0014
      ],
      [
       0.24,
       0.0036
      ],
      [
       0.36,
       0.0064
      ],
      [
       0.48,
       0.0105
      ],
      [
       0.6,
       0.0166
      ],
      [
       0.72,
       0.0247
      ],
      [
       0.84,
       0.0351
      ],
      [
       0.96,
       0.0477
      ],
      [
       1.08,
       0.0626
      ],
      [
       1.2,
       0.08
      ],
      [
       1.32,
       0.095
      ],
      [
       1.44,
       0.1106
      ],
      [
       1.56,
       0.1255
      ],
      [
       1.68,
       0.1362
      ],
      [
       1.8,
       0.1347
      ],
      [
       1.92,
       0.1332
      ],
      [
       2.04,
       0.1322
      ],
      [
       2.16,
       0.1324
      ],
      [
       2.28,
       0.1326
      ],
      [
       2.4,
       0.133
      ],
      [
       2.52,
       0.1336
      ],
      [
       2.64,
       0.1343
      ],
      [
       2.76,
       0.1353
      ],
      [
       2.88,
       0.1368
      ],
      [
       3.0,
       0.1385
      ],
      [
       3.12,
       0.14
      ],
      [
       3.24,
       0.1417
      ],
      [
       3.36,
       0.1434
      ],
      [
       3.48,
       0.1435
      ],
      [
       3.6,
       0.1393
      ],
      [
       3.72,
       0.1388
      ],
      [
       3.84,
       0.1388
      ],
      [
       3.96,
       0.1388
      ],
      [
       4.08,
       0.1388
      ],
      [
       4.2,
       0.1388
      ],
      [
       4.32,
       0.1388
      ],
      [
       4.44,
       0.1388
      ],
      [
       4.56,
       0.1388
      ],
      [
       4.68,
       0.1388
      ],
      [
       4.8,
       0.139
      ],
      [
       4.92,
       0.1339
      ],
      [
       5.04,
       0.1305
      ],
      [
       5.16,
       0.131
      ],
      [
       5.28,
       0.1314
      ],
      [
       5.4,
       0.1317
      ],
      [
       5.52,
       0.1318
      ],
      [
       5.64,
       0.132
      ],
      [
       5.76,
       0.132
      ],
      [
       5.88,
       0.132
      ],
      [
       6.0,
       0.132
      ],
      [
       6.12,
       0.132
      ],
      [
       6.24,
       0.1321
      ],
      [
       6.36,
       0.1324
      ],
      [
       6.48,
       0.1321
      ],
      [
       6.6,
       0.1322
      ],
      [
       6.72,
       0.1322
      ],
      [
       6.84,
       0.1323
      ],
      [
       6.96,
       0.1323
      ],
      [
       7.08,
       0.1327
      ],
      [
       7.2,
       0.1329
      ],
      [
       7.32,
       0.1336
      ],
      [
       7.44,
       0.1341
      ],
      [
       7.56,
       0.1348
      ],
      [
       7.68,
       0.1355
      ],
      [
       7.8,
       0.1359
      ],
      [
       7.92,
       0.1368
      ],
      [
       8.04,
       0.1374
      ],
      [
       8.16,
       0.1374
      ],
      [
       8.28,
       0.1374
      ],
      [
       8.4,
       0.4388
      ],
      [
       8.52,
       0.4368
      ],
      [
       8.64,
       0.4439
      ],
      [
       8.76,
       0.4625
      ],
      [
       8.88,
       0.494
      ],
      [
       9.0,
       0.5387
      ],
      [
       9.12,
       0.5945
      ],
      [
       9.24,
       0.6613
      ],
      [
       9.36,
       0.7387
      ],
      [
       9.48,
       0.8257
      ],
      [
       9.6,
       0.9
      ],
      [
       9.72,
       0.9
      ],
      [
       9.84,
       0.9
      ],
      [
       9.96,
       0.9
      ],
      [
       10.08,
       0.9
      ],
      [
       10.2,
       0.9
      ],
      [
       10.32,
       0.9
      ],
      [
       10.44,
       0.8946
      ],
      [
       10.56,
       0.8845
      ],
      [
       10.68,
       0.8809
      ],
      [
       10.8,
       0.8839
      ],
      [
       10.92,
       0.892
      ],
      [
       11.04,
       0.9
      ],
      [
       11.16,
       0.9
      ],
      [
       11.28,
       0.9
      ],
      [
       11.4,
       0.9
      ],
      [
       11.52,
       0.9
      ],
      [
       11.64,
       0.9
      ],
      [
       11.76,
       0.9
      ],
      [
       11.88,
       0.9
      ],
      [
       12.0,
       0.9
      ],
      [
       12.12,
       0.9
      ],
      [
       12.24,
       0.9
      ],
      [
       12.36,
       0.9
      ],
      [
       12.48,
       0.9
      ],
      [
       12.6,
       0.9
      ],
      [
       12.72,
       0.9
      ],
      [
       12.84,
       0.9
      ],
      [
       12.96,
       0.9
      ],
      [
       13.08,
       0.9
      ],
      [
       13.2,
       0.9
      ],
      [
       13.32,
       0.9
      ],
      [
       13.44,
       0.9
      ],
      [
       13.56,
       0.9
      ],
      [
       13.68,
       0.9
      ],
      [
       13.8,
       0.9
      ],
      [
       13.92,
       0.9
      ],
      [
       14.04,
       0.9
      ],
      [
       14.16,
       0.9
      ],
      [
       14.28,
       0.9
      ],
      [
       14.4,
       0.9
      ],
      [
       14.52,
       0.9
      ],
      [
       14.64,
       0.9
      ],
      [
       14.76,
       1.0
      ],
      [
       14.88,
       1.0
      ],
      [
       15.0,
       0.9
      ],
      [
       15.12,
       0.9
      ],
      [
       15.24,
       0.9
      ],
      [
       15.36,
       0.9
      ],
      [
       15.48,
       0.9
      ],
      [
       15.6,
       1.0
      ],
      [
       15.72,
       1.0
      ],
      [
       15.84,
       0.9
      ],
      [
       15.96,
       0.9
      ],
      [
       16.08,
       0.9
      ],
      [
       16.2,
       0.9
      ],
      [
       16.32,
       0.9
      ],
      [
       16.44,
       0.9
      ],
      [
       16.56,
       0.9
      ],
      [
       16.68,
       0.9
      ],
      [
       16.8,
       0.9
      ],
      [
       16.92,
       0.9
      ],
      [
       17.04,
       0.9
      ],
      [
       17.16,
       0.9
      ],
      [
       17.28,
       0.9
      ],
      [
       17.4,
       0.9
      ],
      [
       17.52,
       1.0
      ],
      [
       17.64,
       0.9
      ],
      [
       17.76,
       0.9
      ],
      [
       17.88,
       0.9
      ],
      [
       18.0,
       0.9
      ],
      [
       18.12,
       0.9
      ],
      [
       18.24,
       0.9
      ],
      [
       18.36,
       0.9
      ],
      [
       18.48,
       0.9
      ],
      [
       18.6,
       1.0
      ],
      [
       18.72,
       0.9
      ],
      [
       18.84,
       1.0
      ],
      [
       18.96,
       1.0
      ],
      [
       19.08,
       1.0
      ],
      [
       19.2,
       1.0
      ],
      [
       19.32,
       1.0
      ],
      [
       19.36,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "6cf8232547e14251dbe44553624983468961e425f3248ff4c44344c0889eb536",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0007819647494880011,
       "final_progress": 0.0007819647494880011,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 0.049844657254862965,
       "final_progress": 0.04984465725486295,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "drop_from_height",
       "success": true,
       "return": 2.0,
       "final_progress": 1.0,
       "steps": 537,
       "shortcut_executed": false
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 968,
       "return": 2.0,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "foam_block_ctx96",
       "source": "ycb:061_foam_brick",
       "grounding": "added_context",
       "role": "task_object",
       "label": "foam block"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "goal_support",
       "label": "teal basin"
      },
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    }
   }
  },
  {
   "example_id": "c1632bf7995875aa32d947ebef9a0f445944f969ac24a0c8d7814f8f889635f7",
   "recording_id": 13191,
   "task_number": 4,
   "task_count": 4,
   "goal": "open_drawer",
   "goal_label": "Open drawer",
   "family": "open_drawer",
   "family_tag": "DRAWER",
   "target": "grey speckled kitchen countertop",
   "human_action": false,
   "description": "Grip the knob of the desk organiser drawer on the grey speckled kitchen countertop among the blue slipper and the teal basin and pull the drawer 10 cm straight out without dragging the organiser.",
   "practice": {
    "reward_id": "open_drawer",
    "motion": "Grip the knob of the desk organiser drawer on the grey speckled kitchen countertop among the blue slipper and the teal basin and pull the drawer 10 cm straight out without dragging the organiser.",
    "start": "Gripper open at home; drawer closed.",
    "reward": "\u0394[0.15 reach handle + 0.85 drawer opening] \u2212 \u0394[clutter + dragging the unit] + 1 on success",
    "success": "Drawer open \u226510 cm for 0.3 s while the unit itself moves <2 cm; nothing else moved >2 cm.",
    "reward_focus": "Articulated pull without dragging the fixture"
   },
   "source": {
    "recording_id": 13191,
    "contributor_id": 11,
    "video": "media/source-13191-9cb363b64581.mp4",
    "poster": "media/source-13191.jpg",
    "source_sha256": null,
    "interval_s": [
     0.0,
     12.066667
    ],
    "attribution": {
     "provider": "Eidon AI",
     "dataset": "eidon-ai/tracker-pov",
     "revision": "47c55ccc6d0308894ab482009c6fa91569057a08",
     "recording_id": 13191,
     "contributor_id": 11,
     "source_url": "https://huggingface.co/datasets/eidon-ai/tracker-pov/resolve/47c55ccc6d0308894ab482009c6fa91569057a08/recordings/data/013/13191_video.mp4",
     "license": "CC-BY-4.0",
     "license_url": "https://creativecommons.org/licenses/by/4.0/",
     "video_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
     "original_video_sha256": null,
     "derivation": {
      "kind": "bounded transcoded POV excerpt",
      "original_start_s": 121.475,
      "original_end_s": 141.475,
      "requested_duration_s": 20.0,
      "retained_excerpt_sha256": "aa1f57001932d409067498abc019b880dcbd0ab2cc3565e24b3c2c282c4563b0",
      "scale_width": 640,
      "fps": 15,
      "audio_retained": false,
      "original_bytes_not_fully_downloaded_or_hashed": true
     },
     "provider_task_type": "cleaning",
     "provider_qc_status": "valid",
     "provider_flag_reasons": [],
     "metadata_sha256": "d450018059bf6696ad793bab40fcb19fc49dcded8700df09047b2d508a8741e1",
     "metadata_not_used_as_action_evidence": true,
     "modifications": "Clipped to 0.00\u201312.07 s of the retained excerpt and transcoded to 640x360 H.264 at 25 fps without audio.",
     "hosted_clip": {
      "sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
      "duration_s": 12.08,
      "width": 640,
      "height": 360
     }
    },
    "excerpt_sha256": "9cb363b645815daea1fe04e471107643f34a48d6ea52ced36bc52cf905df19da",
    "provider_qc": null
   },
   "source_grounding": "provided_observations_not_automatic_extraction",
   "scene_summary": {
    "objects": 6,
    "physical_objects": 6,
    "flat_decor": 0,
    "observed": 2,
    "added_context": 4,
    "recording_observed": 2,
    "recording_added": 3,
    "surface": "grey speckled kitchen countertop",
    "lighting": "bright"
   },
   "variants": {
    "panda": {
     "gym_id": "c1632bf79958-panda",
     "video": "media/sim-c1632bf79958-panda-s0.mp4",
     "poster": "media/sim-c1632bf79958-panda-s0.jpg",
     "trajectory": "trajectories/c1632bf79958-panda.json",
     "recipe": "recipes/c1632bf79958-panda.json",
     "seed": 0,
     "steps": 247,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0
      ],
      [
       0.04,
       0.0
      ],
      [
       0.06,
       0.0
      ],
      [
       0.08,
       0.0
      ],
      [
       0.1,
       0.0
      ],
      [
       0.12,
       0.0
      ],
      [
       0.14,
       0.0
      ],
      [
       0.16,
       0.0
      ],
      [
       0.18,
       0.0
      ],
      [
       0.2,
       0.0
      ],
      [
       0.22,
       0.0
      ],
      [
       0.24,
       0.0
      ],
      [
       0.26,
       0.0
      ],
      [
       0.28,
       0.0
      ],
      [
       0.3,
       0.0
      ],
      [
       0.32,
       0.0
      ],
      [
       0.34,
       0.0
      ],
      [
       0.36,
       0.0
      ],
      [
       0.38,
       0.0
      ],
      [
       0.4,
       0.0
      ],
      [
       0.42,
       0.0
      ],
      [
       0.44,
       0.0
      ],
      [
       0.46,
       0.0
      ],
      [
       0.48,
       0.0
      ],
      [
       0.5,
       0.0
      ],
      [
       0.52,
       0.0
      ],
      [
       0.54,
       0.0
      ],
      [
       0.56,
       0.0
      ],
      [
       0.58,
       0.0
      ],
      [
       0.6,
       0.0
      ],
      [
       0.62,
       0.0
      ],
      [
       0.64,
       0.0
      ],
      [
       0.66,
       0.0
      ],
      [
       0.68,
       0.0
      ],
      [
       0.7,
       0.0
      ],
      [
       0.72,
       0.0
      ],
      [
       0.74,
       0.0
      ],
      [
       0.76,
       0.0
      ],
      [
       0.78,
       0.0
      ],
      [
       0.8,
       0.0
      ],
      [
       0.82,
       0.0
      ],
      [
       0.84,
       0.0
      ],
      [
       0.86,
       0.0
      ],
      [
       0.88,
       0.0
      ],
      [
       0.9,
       0.0
      ],
      [
       0.92,
       0.0
      ],
      [
       0.94,
       0.0
      ],
      [
       0.96,
       0.0
      ],
      [
       0.98,
       0.0
      ],
      [
       1.0,
       0.0
      ],
      [
       1.02,
       0.0
      ],
      [
       1.04,
       0.0
      ],
      [
       1.06,
       0.0
      ],
      [
       1.08,
       0.0
      ],
      [
       1.1,
       0.0
      ],
      [
       1.12,
       0.0
      ],
      [
       1.14,
       0.0
      ],
      [
       1.16,
       0.0
      ],
      [
       1.18,
       0.0
      ],
      [
       1.2,
       0.0
      ],
      [
       1.22,
       0.0
      ],
      [
       1.24,
       0.0
      ],
      [
       1.26,
       0.0006
      ],
      [
       1.28,
       0.0037
      ],
      [
       1.3,
       0.007
      ],
      [
       1.32,
       0.0105
      ],
      [
       1.34,
       0.0141
      ],
      [
       1.36,
       0.0177
      ],
      [
       1.38,
       0.0213
      ],
      [
       1.4,
       0.0247
      ],
      [
       1.42,
       0.0281
      ],
      [
       1.44,
       0.0312
      ],
      [
       1.46,
       0.0341
      ],
      [
       1.48,
       0.0368
      ],
      [
       1.5,
       0.0392
      ],
      [
       1.52,
       0.0415
      ],
      [
       1.54,
       0.0436
      ],
      [
       1.56,
       0.0455
      ],
      [
       1.58,
       0.0473
      ],
      [
       1.6,
       0.0489
      ],
      [
       1.62,
       0.0505
      ],
      [
       1.64,
       0.052
      ],
      [
       1.66,
       0.0534
      ],
      [
       1.68,
       0.0549
      ],
      [
       1.7,
       0.0563
      ],
      [
       1.72,
       0.0577
      ],
      [
       1.74,
       0.059
      ],
      [
       1.76,
       0.0603
      ],
      [
       1.78,
       0.0616
      ],
      [
       1.8,
       0.0628
      ],
      [
       1.82,
       0.064
      ],
      [
       1.84,
       0.0652
      ],
      [
       1.86,
       0.0663
      ],
      [
       1.88,
       0.0674
      ],
      [
       1.9,
       0.0685
      ],
      [
       1.92,
       0.0696
      ],
      [
       1.94,
       0.0707
      ],
      [
       1.96,
       0.0718
      ],
      [
       1.98,
       0.0729
      ],
      [
       2.0,
       0.074
      ],
      [
       2.02,
       0.0751
      ],
      [
       2.04,
       0.0762
      ],
      [
       2.06,
       0.0774
      ],
      [
       2.08,
       0.0785
      ],
      [
       2.1,
       0.0797
      ],
      [
       2.12,
       0.0809
      ],
      [
       2.14,
       0.0821
      ],
      [
       2.16,
       0.0834
      ],
      [
       2.18,
       0.0847
      ],
      [
       2.2,
       0.0861
      ],
      [
       2.22,
       0.0875
      ],
      [
       2.24,
       0.089
      ],
      [
       2.26,
       0.0905
      ],
      [
       2.28,
       0.0921
      ],
      [
       2.3,
       0.0938
      ],
      [
       2.32,
       0.0956
      ],
      [
       2.34,
       0.0975
      ],
      [
       2.36,
       0.0994
      ],
      [
       2.38,
       0.1015
      ],
      [
       2.4,
       0.1037
      ],
      [
       2.42,
       0.1061
      ],
      [
       2.44,
       0.1087
      ],
      [
       2.46,
       0.1111
      ],
      [
       2.48,
       0.1132
      ],
      [
       2.5,
       0.115
      ],
      [
       2.52,
       0.1167
      ],
      [
       2.54,
       0.1183
      ],
      [
       2.56,
       0.1196
      ],
      [
       2.58,
       0.1209
      ],
      [
       2.6,
       0.1221
      ],
      [
       2.62,
       0.1233
      ],
      [
       2.64,
       0.1248
      ],
      [
       2.66,
       0.1264
      ],
      [
       2.68,
       0.1282
      ],
      [
       2.7,
       0.1301
      ],
      [
       2.72,
       0.1321
      ],
      [
       2.74,
       0.1341
      ],
      [
       2.76,
       0.1362
      ],
      [
       2.78,
       0.1383
      ],
      [
       2.8,
       0.1406
      ],
      [
       2.82,
       0.143
      ],
      [
       2.84,
       0.1455
      ],
      [
       2.86,
       0.1472
      ],
      [
       2.88,
       0.1518
      ],
      [
       2.9,
       0.1501
      ],
      [
       2.92,
       0.1463
      ],
      [
       2.94,
       0.1465
      ],
      [
       2.96,
       0.1466
      ],
      [
       2.98,
       0.1467
      ],
      [
       3.0,
       0.1467
      ],
      [
       3.02,
       0.1467
      ],
      [
       3.04,
       0.1467
      ],
      [
       3.06,
       0.1467
      ],
      [
       3.08,
       0.1467
      ],
      [
       3.1,
       0.1468
      ],
      [
       3.12,
       0.1468
      ],
      [
       3.14,
       0.1468
      ],
      [
       3.16,
       0.1469
      ],
      [
       3.18,
       0.1469
      ],
      [
       3.2,
       0.147
      ],
      [
       3.22,
       0.1493
      ],
      [
       3.24,
       0.1521
      ],
      [
       3.26,
       0.1555
      ],
      [
       3.28,
       0.1594
      ],
      [
       3.3,
       0.1637
      ],
      [
       3.32,
       0.1684
      ],
      [
       3.34,
       0.1736
      ],
      [
       3.36,
       0.1791
      ],
      [
       3.38,
       0.1851
      ],
      [
       3.4,
       0.1914
      ],
      [
       3.42,
       0.1981
      ],
      [
       3.44,
       0.2052
      ],
      [
       3.46,
       0.2096
      ],
      [
       3.48,
       0.2119
      ],
      [
       3.5,
       0.2138
      ],
      [
       3.52,
       0.2158
      ],
      [
       3.54,
       0.2181
      ],
      [
       3.56,
       0.2209
      ],
      [
       3.58,
       0.2243
      ],
      [
       3.6,
       0.2283
      ],
      [
       3.62,
       0.2363
      ],
      [
       3.64,
       0.2432
      ],
      [
       3.66,
       0.252
      ],
      [
       3.68,
       0.2619
      ],
      [
       3.7,
       0.2725
      ],
      [
       3.72,
       0.2833
      ],
      [
       3.74,
       0.2943
      ],
      [
       3.76,
       0.3054
      ],
      [
       3.78,
       0.3167
      ],
      [
       3.8,
       0.3283
      ],
      [
       3.82,
       0.3402
      ],
      [
       3.84,
       0.3525
      ],
      [
       3.86,
       0.365
      ],
      [
       3.88,
       0.3779
      ],
      [
       3.9,
       0.391
      ],
      [
       3.92,
       0.4044
      ],
      [
       3.94,
       0.4181
      ],
      [
       3.96,
       0.4321
      ],
      [
       3.98,
       0.4463
      ],
      [
       4.0,
       0.4608
      ],
      [
       4.02,
       0.4756
      ],
      [
       4.04,
       0.4906
      ],
      [
       4.06,
       0.5059
      ],
      [
       4.08,
       0.5214
      ],
      [
       4.1,
       0.5371
      ],
      [
       4.12,
       0.553
      ],
      [
       4.14,
       0.5692
      ],
      [
       4.16,
       0.5856
      ],
      [
       4.18,
       0.6021
      ],
      [
       4.2,
       0.6189
      ],
      [
       4.22,
       0.6358
      ],
      [
       4.24,
       0.6529
      ],
      [
       4.26,
       0.6701
      ],
      [
       4.28,
       0.6874
      ],
      [
       4.3,
       0.7047
      ],
      [
       4.32,
       0.7222
      ],
      [
       4.34,
       0.7396
      ],
      [
       4.36,
       0.757
      ],
      [
       4.38,
       0.7744
      ],
      [
       4.4,
       0.7919
      ],
      [
       4.42,
       0.8093
      ],
      [
       4.44,
       0.8265
      ],
      [
       4.46,
       0.8436
      ],
      [
       4.48,
       0.8604
      ],
      [
       4.5,
       0.8771
      ],
      [
       4.52,
       0.8935
      ],
      [
       4.54,
       0.9097
      ],
      [
       4.56,
       0.9256
      ],
      [
       4.58,
       0.9412
      ],
      [
       4.6,
       0.9566
      ],
      [
       4.62,
       0.9731
      ],
      [
       4.64,
       0.9921
      ],
      [
       4.66,
       1.0
      ],
      [
       4.68,
       1.0
      ],
      [
       4.7,
       1.0
      ],
      [
       4.72,
       1.0
      ],
      [
       4.74,
       1.0
      ],
      [
       4.76,
       1.0
      ],
      [
       4.78,
       1.0
      ],
      [
       4.8,
       1.0
      ],
      [
       4.82,
       1.0
      ],
      [
       4.84,
       1.0
      ],
      [
       4.86,
       1.0
      ],
      [
       4.88,
       1.0
      ],
      [
       4.9,
       1.0
      ],
      [
       4.92,
       1.0
      ],
      [
       4.94,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "a10fc958df51159adbb8af474b5e978d3690e0704d55759b8c6c52f042f0c8ee",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 3.946331534069649e-05,
       "final_progress": 4.274682484850151e-05,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": -0.05386329211095324,
       "final_progress": 0.011332558990362158,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 0.058825879036533336,
       "final_progress": 0.05882916254604114,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "success",
       "steps": 247,
       "return": 1.9999967164904922,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx96",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal basin"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    },
    "aloha": {
     "gym_id": "c1632bf79958-aloha",
     "video": "media/sim-c1632bf79958-aloha-s2.mp4",
     "poster": "media/sim-c1632bf79958-aloha-s2.jpg",
     "trajectory": "trajectories/c1632bf79958-aloha.json",
     "recipe": "recipes/c1632bf79958-aloha.json",
     "seed": 2,
     "steps": 294,
     "success": true,
     "reward_curve": [
      [
       0.0,
       0.0
      ],
      [
       0.02,
       0.0004
      ],
      [
       0.04,
       0.0013
      ],
      [
       0.06,
       0.0025
      ],
      [
       0.08,
       0.0039
      ],
      [
       0.1,
       0.0053
      ],
      [
       0.12,
       0.0069
      ],
      [
       0.14,
       0.0084
      ],
      [
       0.16,
       0.01
      ],
      [
       0.18,
       0.0117
      ],
      [
       0.2,
       0.0134
      ],
      [
       0.22,
       0.0151
      ],
      [
       0.24,
       0.0168
      ],
      [
       0.26,
       0.0186
      ],
      [
       0.28,
       0.0204
      ],
      [
       0.3,
       0.0223
      ],
      [
       0.32,
       0.0242
      ],
      [
       0.34,
       0.0262
      ],
      [
       0.36,
       0.0282
      ],
      [
       0.38,
       0.0303
      ],
      [
       0.4,
       0.0325
      ],
      [
       0.42,
       0.0346
      ],
      [
       0.44,
       0.0368
      ],
      [
       0.46,
       0.039
      ],
      [
       0.48,
       0.0412
      ],
      [
       0.5,
       0.0434
      ],
      [
       0.52,
       0.0456
      ],
      [
       0.54,
       0.0478
      ],
      [
       0.56,
       0.05
      ],
      [
       0.58,
       0.0522
      ],
      [
       0.6,
       0.0544
      ],
      [
       0.62,
       0.0567
      ],
      [
       0.64,
       0.0589
      ],
      [
       0.66,
       0.0612
      ],
      [
       0.68,
       0.0636
      ],
      [
       0.7,
       0.0658
      ],
      [
       0.72,
       0.0677
      ],
      [
       0.74,
       0.0691
      ],
      [
       0.76,
       0.0701
      ],
      [
       0.78,
       0.0707
      ],
      [
       0.8,
       0.0711
      ],
      [
       0.82,
       0.0714
      ],
      [
       0.84,
       0.0717
      ],
      [
       0.86,
       0.0721
      ],
      [
       0.88,
       0.0724
      ],
      [
       0.9,
       0.0728
      ],
      [
       0.92,
       0.0732
      ],
      [
       0.94,
       0.0738
      ],
      [
       0.96,
       0.0747
      ],
      [
       0.98,
       0.076
      ],
      [
       1.0,
       0.0775
      ],
      [
       1.02,
       0.079
      ],
      [
       1.04,
       0.0805
      ],
      [
       1.06,
       0.0821
      ],
      [
       1.08,
       0.0838
      ],
      [
       1.1,
       0.0854
      ],
      [
       1.12,
       0.0871
      ],
      [
       1.14,
       0.0888
      ],
      [
       1.16,
       0.0905
      ],
      [
       1.18,
       0.0922
      ],
      [
       1.2,
       0.094
      ],
      [
       1.22,
       0.0957
      ],
      [
       1.24,
       0.0974
      ],
      [
       1.26,
       0.0992
      ],
      [
       1.28,
       0.0996
      ],
      [
       1.3,
       0.1005
      ],
      [
       1.32,
       0.1014
      ],
      [
       1.34,
       0.1022
      ],
      [
       1.36,
       0.1027
      ],
      [
       1.38,
       0.1034
      ],
      [
       1.4,
       0.1039
      ],
      [
       1.42,
       0.1042
      ],
      [
       1.44,
       0.1048
      ],
      [
       1.46,
       0.1051
      ],
      [
       1.48,
       0.1056
      ],
      [
       1.5,
       0.1062
      ],
      [
       1.52,
       0.1069
      ],
      [
       1.54,
       0.1075
      ],
      [
       1.56,
       0.1084
      ],
      [
       1.58,
       0.1094
      ],
      [
       1.6,
       0.1107
      ],
      [
       1.62,
       0.1119
      ],
      [
       1.64,
       0.1183
      ],
      [
       1.66,
       0.1254
      ],
      [
       1.68,
       0.1263
      ],
      [
       1.7,
       0.1232
      ],
      [
       1.72,
       0.1227
      ],
      [
       1.74,
       0.1225
      ],
      [
       1.76,
       0.1224
      ],
      [
       1.78,
       0.1223
      ],
      [
       1.8,
       0.1222
      ],
      [
       1.82,
       0.1221
      ],
      [
       1.84,
       0.122
      ],
      [
       1.86,
       0.1219
      ],
      [
       1.88,
       0.1217
      ],
      [
       1.9,
       0.1216
      ],
      [
       1.92,
       0.1215
      ],
      [
       1.94,
       0.1214
      ],
      [
       1.96,
       0.1213
      ],
      [
       1.98,
       0.1212
      ],
      [
       2.0,
       0.121
      ],
      [
       2.02,
       0.1209
      ],
      [
       2.04,
       0.1208
      ],
      [
       2.06,
       0.1207
      ],
      [
       2.08,
       0.1205
      ],
      [
       2.1,
       0.1204
      ],
      [
       2.12,
       0.1203
      ],
      [
       2.14,
       0.1202
      ],
      [
       2.16,
       0.12
      ],
      [
       2.18,
       0.1199
      ],
      [
       2.2,
       0.1198
      ],
      [
       2.22,
       0.1196
      ],
      [
       2.24,
       0.1195
      ],
      [
       2.26,
       0.1194
      ],
      [
       2.28,
       0.1192
      ],
      [
       2.3,
       0.1191
      ],
      [
       2.32,
       0.119
      ],
      [
       2.34,
       0.1188
      ],
      [
       2.36,
       0.1187
      ],
      [
       2.38,
       0.1185
      ],
      [
       2.4,
       0.1184
      ],
      [
       2.42,
       0.1182
      ],
      [
       2.44,
       0.1181
      ],
      [
       2.46,
       0.1179
      ],
      [
       2.48,
       0.1178
      ],
      [
       2.5,
       0.1176
      ],
      [
       2.52,
       0.1175
      ],
      [
       2.54,
       0.1173
      ],
      [
       2.56,
       0.1172
      ],
      [
       2.58,
       0.117
      ],
      [
       2.6,
       0.1169
      ],
      [
       2.62,
       0.1167
      ],
      [
       2.64,
       0.1166
      ],
      [
       2.66,
       0.1164
      ],
      [
       2.68,
       0.1162
      ],
      [
       2.7,
       0.1161
      ],
      [
       2.72,
       0.1159
      ],
      [
       2.74,
       0.1158
      ],
      [
       2.76,
       0.1156
      ],
      [
       2.78,
       0.1155
      ],
      [
       2.8,
       0.1153
      ],
      [
       2.82,
       0.1152
      ],
      [
       2.84,
       0.115
      ],
      [
       2.86,
       0.1148
      ],
      [
       2.88,
       0.1147
      ],
      [
       2.9,
       0.1145
      ],
      [
       2.92,
       0.1144
      ],
      [
       2.94,
       0.1142
      ],
      [
       2.96,
       0.1141
      ],
      [
       2.98,
       0.1139
      ],
      [
       3.0,
       0.1138
      ],
      [
       3.02,
       0.1136
      ],
      [
       3.04,
       0.1134
      ],
      [
       3.06,
       0.1133
      ],
      [
       3.08,
       0.1131
      ],
      [
       3.1,
       0.113
      ],
      [
       3.12,
       0.1128
      ],
      [
       3.14,
       0.1127
      ],
      [
       3.16,
       0.1125
      ],
      [
       3.18,
       0.1124
      ],
      [
       3.2,
       0.1122
      ],
      [
       3.22,
       0.1121
      ],
      [
       3.24,
       0.1119
      ],
      [
       3.26,
       0.1118
      ],
      [
       3.28,
       0.1116
      ],
      [
       3.3,
       0.1115
      ],
      [
       3.32,
       0.1113
      ],
      [
       3.34,
       0.1112
      ],
      [
       3.36,
       0.111
      ],
      [
       3.38,
       0.1109
      ],
      [
       3.4,
       0.1108
      ],
      [
       3.42,
       0.1106
      ],
      [
       3.44,
       0.1105
      ],
      [
       3.46,
       0.1104
      ],
      [
       3.48,
       0.1103
      ],
      [
       3.5,
       0.1101
      ],
      [
       3.52,
       0.11
      ],
      [
       3.54,
       0.1099
      ],
      [
       3.56,
       0.1098
      ],
      [
       3.58,
       0.1097
      ],
      [
       3.6,
       0.1096
      ],
      [
       3.62,
       0.1095
      ],
      [
       3.64,
       0.1094
      ],
      [
       3.66,
       0.1094
      ],
      [
       3.68,
       0.1093
      ],
      [
       3.7,
       0.1092
      ],
      [
       3.72,
       0.1092
      ],
      [
       3.74,
       0.1092
      ],
      [
       3.76,
       0.1091
      ],
      [
       3.78,
       0.1091
      ],
      [
       3.8,
       0.1091
      ],
      [
       3.82,
       0.1092
      ],
      [
       3.84,
       0.1092
      ],
      [
       3.86,
       0.1093
      ],
      [
       3.88,
       0.1094
      ],
      [
       3.9,
       0.1095
      ],
      [
       3.92,
       0.1096
      ],
      [
       3.94,
       0.1098
      ],
      [
       3.96,
       0.11
      ],
      [
       3.98,
       0.1101
      ],
      [
       4.0,
       0.1104
      ],
      [
       4.02,
       0.1108
      ],
      [
       4.04,
       0.1114
      ],
      [
       4.06,
       0.1122
      ],
      [
       4.08,
       0.1134
      ],
      [
       4.1,
       0.1152
      ],
      [
       4.12,
       0.121
      ],
      [
       4.14,
       0.1297
      ],
      [
       4.16,
       0.1439
      ],
      [
       4.18,
       0.1456
      ],
      [
       4.2,
       0.1444
      ],
      [
       4.22,
       0.1447
      ],
      [
       4.24,
       0.1444
      ],
      [
       4.26,
       0.1444
      ],
      [
       4.28,
       0.1444
      ],
      [
       4.3,
       0.1443
      ],
      [
       4.32,
       0.1443
      ],
      [
       4.34,
       0.1443
      ],
      [
       4.36,
       0.1443
      ],
      [
       4.38,
       0.1443
      ],
      [
       4.4,
       0.1443
      ],
      [
       4.42,
       0.1443
      ],
      [
       4.44,
       0.1446
      ],
      [
       4.46,
       0.1478
      ],
      [
       4.48,
       0.1551
      ],
      [
       4.5,
       0.1634
      ],
      [
       4.52,
       0.1729
      ],
      [
       4.54,
       0.1832
      ],
      [
       4.56,
       0.1942
      ],
      [
       4.58,
       0.2056
      ],
      [
       4.6,
       0.2176
      ],
      [
       4.62,
       0.2369
      ],
      [
       4.64,
       0.2499
      ],
      [
       4.66,
       0.2635
      ],
      [
       4.68,
       0.2775
      ],
      [
       4.7,
       0.292
      ],
      [
       4.72,
       0.307
      ],
      [
       4.74,
       0.3224
      ],
      [
       4.76,
       0.3382
      ],
      [
       4.78,
       0.3545
      ],
      [
       4.8,
       0.3712
      ],
      [
       4.82,
       0.3883
      ],
      [
       4.84,
       0.4058
      ],
      [
       4.86,
       0.4238
      ],
      [
       4.88,
       0.4422
      ],
      [
       4.9,
       0.461
      ],
      [
       4.92,
       0.4802
      ],
      [
       4.94,
       0.4998
      ],
      [
       4.96,
       0.5198
      ],
      [
       4.98,
       0.5402
      ],
      [
       5.0,
       0.561
      ],
      [
       5.02,
       0.5822
      ],
      [
       5.04,
       0.6037
      ],
      [
       5.06,
       0.6257
      ],
      [
       5.08,
       0.648
      ],
      [
       5.1,
       0.6708
      ],
      [
       5.12,
       0.6939
      ],
      [
       5.14,
       0.7172
      ],
      [
       5.16,
       0.7406
      ],
      [
       5.18,
       0.7642
      ],
      [
       5.2,
       0.788
      ],
      [
       5.22,
       0.812
      ],
      [
       5.24,
       0.8365
      ],
      [
       5.26,
       0.858
      ],
      [
       5.28,
       0.8604
      ],
      [
       5.3,
       0.8773
      ],
      [
       5.32,
       0.8819
      ],
      [
       5.34,
       0.895
      ],
      [
       5.36,
       0.9013
      ],
      [
       5.38,
       0.9114
      ],
      [
       5.4,
       0.9182
      ],
      [
       5.42,
       0.9251
      ],
      [
       5.44,
       0.9304
      ],
      [
       5.46,
       0.94
      ],
      [
       5.48,
       0.9484
      ],
      [
       5.5,
       0.9564
      ],
      [
       5.52,
       0.964
      ],
      [
       5.54,
       0.9737
      ],
      [
       5.56,
       0.9814
      ],
      [
       5.58,
       0.99
      ],
      [
       5.6,
       1.0
      ],
      [
       5.62,
       1.0
      ],
      [
       5.64,
       1.0
      ],
      [
       5.66,
       1.0
      ],
      [
       5.68,
       1.0
      ],
      [
       5.7,
       1.0
      ],
      [
       5.72,
       1.0
      ],
      [
       5.74,
       1.0
      ],
      [
       5.76,
       1.0
      ],
      [
       5.78,
       1.0
      ],
      [
       5.8,
       1.0
      ],
      [
       5.82,
       1.0
      ],
      [
       5.84,
       1.0
      ],
      [
       5.86,
       1.0
      ],
      [
       5.88,
       1.0
      ]
     ],
     "total_reward": 2.0,
     "initial_progress": 0.0,
     "final_progress": 1.0,
     "physics_sha256": "b71dfa6655545b83f3e0ddcfe4f6b3860a8a2624238cf436ec0ed9f57d89df20",
     "controls": {
      "idle": {
       "kind": "idle",
       "success": false,
       "return": 0.0011646974750797465,
       "final_progress": 0.0011653346264368179,
       "steps": 1200,
       "shortcut_executed": true
      },
      "random": {
       "kind": "random",
       "success": false,
       "return": 7.895628069410605e-06,
       "final_progress": 8.532779426481993e-06,
       "steps": 1200,
       "shortcut_executed": true
      },
      "cheat": {
       "kind": "mime_pull_in_front_of_knob",
       "success": false,
       "return": 7.89562806941148e-06,
       "final_progress": 8.532779426481993e-06,
       "steps": 1200,
       "shortcut_executed": true
      }
     },
     "attempts": [
      {
       "layout_seed": 0,
       "outcome": "failed",
       "steps": 1200,
       "return": -0.18115012426392876,
       "final_progress": 0.03796915011017437
      },
      {
       "layout_seed": 1,
       "outcome": "failed",
       "steps": 1200,
       "return": 0.4999993628486429,
       "final_progress": 1.0
      },
      {
       "layout_seed": 2,
       "outcome": "success",
       "steps": 294,
       "return": 1.999999362848643,
       "final_progress": 1.0
      }
     ],
     "arm": "left",
     "scene": [
      {
       "name": "desk_organiser_drawer_ctx96",
       "source": "primitive:drawer_unit",
       "grounding": "added_context",
       "role": "fixture",
       "label": "desk organiser drawer"
      },
      {
       "name": "brush_0",
       "source": "ycb:048_hammer",
       "grounding": "added_context",
       "role": "clutter",
       "label": "brush"
      },
      {
       "name": "teal_basin_0",
       "source": "ycb:024_bowl",
       "grounding": "observed",
       "role": "clutter",
       "label": "teal basin"
      },
      {
       "name": "blue_slipper_0",
       "source": "primitive:slipper",
       "grounding": "observed",
       "role": "clutter",
       "label": "blue slipper"
      },
      {
       "name": "bucket_0",
       "source": "ycb:019_pitcher_base",
       "grounding": "added_context",
       "role": "clutter",
       "label": "bucket"
      },
      {
       "name": "soap_bottle_0",
       "source": "ycb:006_mustard_bottle",
       "grounding": "added_context",
       "role": "clutter",
       "label": "soap bottle"
      }
     ]
    }
   }
  }
 ],
 "success_by_robot": {
  "panda": 99,
  "aloha": 80
 },
 "first_layout_success": 129,
 "code_commits": {
  "by_robot": {
   "panda": "e8399011f6",
   "aloha": "4aee436925"
  },
  "overrides": {
   "f3a461b47320-aloha": "000547a03f"
  },
  "note": "The ALOHA keep-out commit does not change Panda layouts; a rebuilt Panda episode reproduced its run5 physics hash exactly."
 },
 "reward_contract": "reward_t = \u0394(progress \u2212 penalty) + 1 on first success; progress \u2208 [0,1] from simulator state",
 "policy_training": "not_run",
 "metric_source_reconstruction": false,
 "object_assets": "YCB Object and Model Set (Google 16k scans, CC-BY-4.0) and authored primitives",
 "twins": [
  {
   "recording_id": 173,
   "example_id": "0bf534f19455117ffe70c56718e52c8916a76eba9b921bbd5ae20897d3ad4ffa",
   "task": "Wipe region",
   "videos": {
    "twin": "twin/173-wipe/twin.mp4",
    "compare": "twin/173-wipe/compare.mp4",
    "physics": "twin/173-wipe/physics.mp4"
   },
   "posters": {
    "twin": "twin/173-wipe/twin-poster.jpg",
    "compare": "twin/173-wipe/compare-poster.jpg",
    "physics": "twin/173-wipe/physics-poster.jpg"
   },
   "readme": "twin/173-wipe/README.md",
   "metrics": "twin/173-wipe/metrics.json",
   "held_out_ssim": {
    "twin": 0.876,
    "old_authored_panda": 0.5611
   },
   "held_out_frames": 20
  }
 ]
}