diff --git "a/reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.json" "b/reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.json" new file mode 100644--- /dev/null +++ "b/reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.json" @@ -0,0 +1,32373 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 36, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "patched": { + "per_task_success": { + "foliage": 0.6666666666666666, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.2222222222222222, + "per_stress_success": { + "nominal": 0.2222222222222222 + }, + "per_difficulty_success": { + "medium": 0.2222222222222222 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.6666666666666666 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 10.311822830802864, + "corridor_availability": 0.3027625504053301, + "reocclusion_rate": 0.0006944444444444445, + "disturbance_cost": 0.14652116327001824, + "premature_retrieve_rate": 0.6490214646464648, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.2242279139968256, + "task_specific_metrics": { + "gap_width": 0.06194533299011481, + "damage_proxy": 0.14652116327001824, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0609739966587588, + "hold_persistence": 0.9445446724238601, + "rim_slip_rate": 0.7207553448801619, + "insertable_corridor": 0.3888888888888889, + "fold_preservation": 0.311416982681249, + "layer_separation_quality": 0.05863899746996378, + "top_layer_stability": 0.9445446724238601, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 0, + "episode_index": 0, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 9.861211776733398, + "corridor_availability": 0.9230769276618958, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.04308532552654998, + "premature_retrieve_rate": 0.25, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.0, + "gap_width": 0.19, + "damage_proxy": 0.04308532552654998, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.9981210490840433, + "rim_slip_rate": 0.08653823117081266, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9981210490840433, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.3354297047137199, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.016256798465750056, + "disturbance_cost": 0.04644799561642873, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.4437574934311991, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.013515315447938197, + "disturbance_cost": 0.03861518699410914, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.552613996730685, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01077383243012634, + "disturbance_cost": 0.030782378371789543, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.6619992146121774, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.00803234941231448, + "disturbance_cost": 0.022949569749469947, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.7719131470756762, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.005290866394502623, + "disturbance_cost": 0.015116761127150352, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.8805802469333174, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.003620834265919219, + "disturbance_cost": 0.015243301967670698, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.9872876250273038, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0033277500441608304, + "disturbance_cost": 0.02070053747956109, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.004412346439781853, + "disturbance_cost": 0.030097352860784174, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.00767436943715413, + "disturbance_cost": 0.044806991760644205, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.012107206513019686, + "disturbance_cost": 0.06282453347908648, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01736418096097238, + "disturbance_cost": 0.08161194560277824, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.022621155408925075, + "disturbance_cost": 0.09663187259692879, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 1, + "episode_index": 1, + "controller": "model", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 68.87627410888672, + "corridor_availability": 0.9753086566925049, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.5614190230478667, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.015666066110134123, + "gap_width": 0.19, + "damage_proxy": 0.5614190230478667, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.7974843007522329, + "rim_slip_rate": 0.2117278755663727, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.7974843007522329, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.2149026456557151, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10770892404701457, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.3190953217041299, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.034956640398643234, + "disturbance_cost": 0.09987611542469496, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.4238167123345512, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.032215157380831375, + "disturbance_cost": 0.09204330680237535, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.529066817546979, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02947367436301951, + "disturbance_cost": 0.08421049818005574, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.6348456373414135, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.026732191345207646, + "disturbance_cost": 0.07637768955773613, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.740346082025258, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.024477745210859148, + "disturbance_cost": 0.07216286921257295, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.8440859205633314, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.023548104705973315, + "disturbance_cost": 0.07556300779044275, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.9458058033592889, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02394559393181236, + "disturbance_cost": 0.08276557006186805, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.026471676640672587, + "disturbance_cost": 0.09514928530892758, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.030121580160017297, + "disturbance_cost": 0.11071504764069866, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03488617973104813, + "disturbance_cost": 0.12942394265135185, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.04014315417900081, + "disturbance_cost": 0.1466947262257166, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.04540012862695351, + "disturbance_cost": 0.16171465321986717, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0506571030749062, + "disturbance_cost": 0.17673458021401772, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.055914077522858895, + "disturbance_cost": 0.19175450720816828, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.06117105197081159, + "disturbance_cost": 0.20677443420231884, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.06642802641876429, + "disturbance_cost": 0.2217943611964694, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.07168500086671697, + "disturbance_cost": 0.23681428819061995, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.07694197531466967, + "disturbance_cost": 0.2518342151847705, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.08219894976262236, + "disturbance_cost": 0.26685414217892106, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.08745592421057506, + "disturbance_cost": 0.2818740691730716, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09271289865852776, + "disturbance_cost": 0.29689399616722223, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09796987310648046, + "disturbance_cost": 0.3119139231613728, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10322684755443315, + "disturbance_cost": 0.32693385015552334, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10848382200238585, + "disturbance_cost": 0.3419537771496739, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.11374079645033854, + "disturbance_cost": 0.35697370414382446, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.11899777089829124, + "disturbance_cost": 0.371993631137975, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12425474534624394, + "disturbance_cost": 0.38701355813212557, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12951171979419662, + "disturbance_cost": 0.4020334851262761, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.13476869424214932, + "disturbance_cost": 0.4170534121204267, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.14002566869010202, + "disturbance_cost": 0.43207333911457724, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1452826431380547, + "disturbance_cost": 0.4470932661087278, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1505396175860074, + "disturbance_cost": 0.46211319310287835, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1557965920339601, + "disturbance_cost": 0.4771331200970289, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1610535664819128, + "disturbance_cost": 0.49215304709117946, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.16631054092986544, + "disturbance_cost": 0.5071729740853299, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.9990259033099806, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17156751537781814, + "disturbance_cost": 0.5221929010794805, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.9903143456533734, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17682448982577084, + "disturbance_cost": 0.537212828073631, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.9816027879967659, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18208146427372354, + "disturbance_cost": 0.5522327550677816, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.9728912303401587, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18733843872167621, + "disturbance_cost": 0.5672526820619321, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.9641796726835514, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.19259541316962892, + "disturbance_cost": 0.5822726090560827, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.955468115026944, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.19785238761758162, + "disturbance_cost": 0.5972925360502332, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.9467565573703367, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.20310936206553432, + "disturbance_cost": 0.6123124630443838, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.9380449997137295, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.20836633651348702, + "disturbance_cost": 0.6273323900385344, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.9293334420571221, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2136233109614397, + "disturbance_cost": 0.6423523170326849, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.9206218844005147, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2188802854093924, + "disturbance_cost": 0.6573722440268355, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.9119103267439075, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2241372598573451, + "disturbance_cost": 0.672392171020986, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.9031987690873001, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2293942343052978, + "disturbance_cost": 0.6874120980151366, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.8944872114306928, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.23465120875325046, + "disturbance_cost": 0.7024320250092871, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.8857756537740855, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.23990818320120316, + "disturbance_cost": 0.7174519520034377, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.8770640961174782, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.24516515764915586, + "disturbance_cost": 0.7324718789975883, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.8683525384608708, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.25042213209710856, + "disturbance_cost": 0.7474918059917388, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.8596409808042635, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.25567910654506126, + "disturbance_cost": 0.7625117329858894, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.8509294231476562, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.26093608099301396, + "disturbance_cost": 0.7775316599800399, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.8422178654910488, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.26619305544096666, + "disturbance_cost": 0.7925515869741905, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.8335063078344416, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2714500298889193, + "disturbance_cost": 0.807571513968341, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.8247947501778342, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.276707004336872, + "disturbance_cost": 0.8225914409624916, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.8160831925212269, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2819639787848247, + "disturbance_cost": 0.8376113679566421, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.8073716348646196, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2872209532327774, + "disturbance_cost": 0.8526312949507927, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.7986600772080122, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2924779276807301, + "disturbance_cost": 0.8676512219449433, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.7899485195514049, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2977349021286828, + "disturbance_cost": 0.8826711489390938, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.7812369618947976, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3029918765766355, + "disturbance_cost": 0.8976910759332444, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.7725254042381903, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3082488510245882, + "disturbance_cost": 0.9127110029273949, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.7638138465815829, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3135058254725409, + "disturbance_cost": 0.9277309299215455, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.7551022889249757, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3187627999204936, + "disturbance_cost": 0.942750856915696, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.7463907312683683, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.32401977436844626, + "disturbance_cost": 0.9577707839098466, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.7376791736117609, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.32927674881639896, + "disturbance_cost": 0.9727907109039972, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.7289676159551537, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.33453372326435166, + "disturbance_cost": 0.9878106378981477, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.7202560582985464, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3397906977123043, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.7115445006419392, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.345047672160257, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.7033377859360793, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "widen_gap" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 2, + "episode_index": 2, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 8.32282829284668, + "corridor_availability": 0.8333333134651184, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.035600921918894, + "premature_retrieve_rate": 0.18181818181818182, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.0, + "gap_width": 0.18590857516540596, + "damage_proxy": 0.035600921918894, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.9978675923909773, + "rim_slip_rate": 0.17322665831316128, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9978675923909773, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.26805008654873813, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.049031394284951485, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.37620349585609214, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01441950498192116, + "disturbance_cost": 0.04119858566263189, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.48488561974545275, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.011678021964109303, + "disturbance_cost": 0.033365777040312294, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.5940964582168198, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.008936538946297444, + "disturbance_cost": 0.0255329684179927, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.7038360112701937, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.006195055928485586, + "disturbance_cost": 0.017700159795673104, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.8136574237308166, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.003723226895440952, + "disturbance_cost": 0.011870495060195742, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.9216741708859677, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.002628089787647529, + "disturbance_cost": 0.01503498069622007, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.002912382447874799, + "disturbance_cost": 0.022153210093535446, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.005377851619833093, + "disturbance_cost": 0.034604123366405885, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.009019876164827967, + "disturbance_cost": 0.050388446628844175, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.013829351021496935, + "disturbance_cost": 0.06946671907269422, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 3, + "episode_index": 3, + "controller": "model", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 71.219482421875, + "corridor_availability": 0.9753086566925049, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.49917901303005047, + "premature_retrieve_rate": 0.7375, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.017919354885816575, + "gap_width": 0.19, + "damage_proxy": 0.49917901303005047, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.8213504278376872, + "rim_slip_rate": 0.1901802747779568, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.8213504278376872, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.21127252888278378, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04348013697132938, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.31980064805880726, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.012476564922153424, + "disturbance_cost": 0.035647328349009785, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.42885748181683725, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.009735081904341567, + "disturbance_cost": 0.02781451972669019, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.5384430301568739, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0069935988865297075, + "disturbance_cost": 0.019981711104370595, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.6485572930789172, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.004252115868717849, + "disturbance_cost": 0.012148902482051, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.7592002705829666, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0015106328509059913, + "disturbance_cost": 0.004316093859731404, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.8681986210297072, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 8.064909819846429e-05, + "disturbance_cost": 0.006225851206758271, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.9751762881874648, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 3.646371523525239e-05, + "disturbance_cost": 0.012434685517123109, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.002180644640834664, + "disturbance_cost": 0.02400050001448405, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.005509373956918152, + "disturbance_cost": 0.03892623355979265, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.010014329840195506, + "disturbance_cost": 0.05717457181918562, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.015271304288148197, + "disturbance_cost": 0.07563229796613771, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.020528278736100893, + "disturbance_cost": 0.09065222496028827, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.025785253184053586, + "disturbance_cost": 0.10567215195443883, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.031042227632006276, + "disturbance_cost": 0.12069207894858937, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.036299202079958966, + "disturbance_cost": 0.1357120059427399, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.04155617652791166, + "disturbance_cost": 0.15073193293689047, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.04681315097586435, + "disturbance_cost": 0.16575185993104102, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.05207012542381705, + "disturbance_cost": 0.18077178692519158, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.057327099871769746, + "disturbance_cost": 0.19579171391934214, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.06258407431972243, + "disturbance_cost": 0.2108116409134927, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.06784104876767513, + "disturbance_cost": 0.22583156790764325, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.07309802321562783, + "disturbance_cost": 0.2408514949017938, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.07835499766358052, + "disturbance_cost": 0.25587142189594436, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.08361197211153322, + "disturbance_cost": 0.2708913488900949, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0888689465594859, + "disturbance_cost": 0.2859112758842455, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09412592100743859, + "disturbance_cost": 0.30093120287839603, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09938289545539129, + "disturbance_cost": 0.3159511298725466, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10463986990334398, + "disturbance_cost": 0.33097105686669714, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10989684435129668, + "disturbance_cost": 0.3459909838608477, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.11515381879924937, + "disturbance_cost": 0.36101091085499826, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12041079324720207, + "disturbance_cost": 0.3760308378491488, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12566776769515475, + "disturbance_cost": 0.39105076484329937, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.13092474214310745, + "disturbance_cost": 0.4060706918374499, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.13618171659106015, + "disturbance_cost": 0.4210906188316005, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.14143869103901285, + "disturbance_cost": 0.43611054582575104, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.14669566548696553, + "disturbance_cost": 0.4511304728199016, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.15195263993491823, + "disturbance_cost": 0.46615039981405215, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.15720961438287093, + "disturbance_cost": 0.4811703268082027, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.16246658883082363, + "disturbance_cost": 0.49619025380235326, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.16772356327877627, + "disturbance_cost": 0.5112101807965037, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17298053772672897, + "disturbance_cost": 0.5262301077906543, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17823751217468167, + "disturbance_cost": 0.5412500347848048, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18349448662263437, + "disturbance_cost": 0.5562699617789554, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.9943713321674148, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18875146107058705, + "disturbance_cost": 0.5712898887731059, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.9856597745108076, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.19400843551853975, + "disturbance_cost": 0.5863098157672565, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.9769482168542001, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.19926540996649245, + "disturbance_cost": 0.601329742761407, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.9682366591975928, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.20452238441444515, + "disturbance_cost": 0.6163496697555576, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.9595251015409856, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.20977935886239785, + "disturbance_cost": 0.6313695967497082, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.9508135438843781, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.21503633331035052, + "disturbance_cost": 0.6463895237438587, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.9421019862277709, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.22029330775830322, + "disturbance_cost": 0.6614094507380093, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.9333904285711636, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.22555028220625592, + "disturbance_cost": 0.6764293777321598, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.9246788709145561, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.23080725665420862, + "disturbance_cost": 0.6914493047263104, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.9159673132579489, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2360642311021613, + "disturbance_cost": 0.7064692317204609, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.9072557556013416, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.241321205550114, + "disturbance_cost": 0.7214891587146115, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.8985441979447342, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2465781799980667, + "disturbance_cost": 0.7365090857087621, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.8898326402881269, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2518351544460194, + "disturbance_cost": 0.7515290127029126, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.8811210826315197, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2570921288939721, + "disturbance_cost": 0.7665489396970632, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.8724095249749124, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2623491033419248, + "disturbance_cost": 0.7815688666912137, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.863697967318305, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2676060777898775, + "disturbance_cost": 0.7965887936853643, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.8549864096616977, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.27286305223783014, + "disturbance_cost": 0.8116087206795148, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.8462748520050904, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.27812002668578284, + "disturbance_cost": 0.8266286476736654, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.837563294348483, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.28337700113373554, + "disturbance_cost": 0.841648574667816, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.8288517366918757, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.28863397558168824, + "disturbance_cost": 0.8566685016619665, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.8201401790352685, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.29389095002964094, + "disturbance_cost": 0.8716884286561171, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.811428621378661, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.29914792447759364, + "disturbance_cost": 0.8867083556502676, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.8027170637220538, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.30440489892554634, + "disturbance_cost": 0.9017282826444182, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.7940055060654463, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.30966187337349904, + "disturbance_cost": 0.9167482096385687, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.785293948408839, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.31491884782145174, + "disturbance_cost": 0.9317681366327193, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.7765823907522318, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.32017582226940444, + "disturbance_cost": 0.9467880636268698, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.7678708330956243, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3254327967173571, + "disturbance_cost": 0.9618079906210204, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.7591592754390171, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3306897711653098, + "disturbance_cost": 0.976827917615171, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.7271594676558162, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "widen_gap" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 4, + "episode_index": 4, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 7.070962429046631, + "corridor_availability": 0.8999999761581421, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.056460208498733344, + "premature_retrieve_rate": 0.0, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.5027151107788086, + "gap_width": 0.1759792730556427, + "damage_proxy": 0.056460208498733344, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.9965791234111018, + "rim_slip_rate": 0.11476778243068875, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9965791234111018, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.3667611628308407, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.023865334895840525, + "disturbance_cost": 0.06818667113097293, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.47362159095108824, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.021123851878028663, + "disturbance_cost": 0.06035386250865332, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.5810107336533424, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.018382368860216797, + "disturbance_cost": 0.05252105388633371, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.6889285909376031, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01564088584240494, + "disturbance_cost": 0.04468824526401412, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.7969668931218932, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.013145772460268764, + "disturbance_cost": 0.03868561107814245, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.9032440568139477, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01200379463947173, + "disturbance_cost": 0.04160857987055843, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01221780732456583, + "disturbance_cost": 0.04841885842632961, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01378727548383833, + "disturbance_cost": 0.05909942104906658, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.017510732922251946, + "disturbance_cost": 0.07502030201996979, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 5, + "episode_index": 5, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 8.622259140014648, + "corridor_availability": 0.9166666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.08724663167774203, + "premature_retrieve_rate": 0.18181818181818182, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.4981383681297302, + "gap_width": 0.19, + "damage_proxy": 0.08724663167774203, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.9957977526104341, + "rim_slip_rate": 0.10746144214184526, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9957977526104341, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.3137886628407164, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03320865185888768, + "disturbance_cost": 0.09488186245396482, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.418847165546662, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.030467168841075823, + "disturbance_cost": 0.08704905383164521, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.5244343828346142, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02772568582326396, + "disturbance_cost": 0.0792162452093256, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.630550314704573, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.024984202805452098, + "disturbance_cost": 0.071383436587006, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.7371949611565382, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.022242719787640232, + "disturbance_cost": 0.06355062796468638, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.8424293661413769, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.020671296454650004, + "disturbance_cost": 0.06440969128675605, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.94575566958105, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.020434194873012963, + "disturbance_cost": 0.06983201477397909, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.021532007796683204, + "disturbance_cost": 0.07907108943729878, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.024764448168712448, + "disturbance_cost": 0.09350055327781412, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.029124977422406072, + "disturbance_cost": 0.11111618603311878, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03438195187035876, + "disturbance_cost": 0.13023414820102502, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 6, + "episode_index": 6, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 6.505099296569824, + "corridor_availability": 0.800000011920929, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.037355809411461716, + "premature_retrieve_rate": 0.0, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.5008111596107483, + "gap_width": 0.1694210326980148, + "damage_proxy": 0.037355809411461716, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.997259752977256, + "rim_slip_rate": 0.20726950042456047, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.997259752977256, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.2918742536584583, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05306156966088085, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.39975562612793714, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.015830066363496438, + "disturbance_cost": 0.04522876103856126, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.5081657131794224, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01308858334568458, + "disturbance_cost": 0.03739595241624166, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.6171045148129144, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.010347100327872723, + "disturbance_cost": 0.029563143793922067, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.7265720310284127, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.007605617310060864, + "disturbance_cost": 0.021730335171602472, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.8351940674609963, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0056933895124601135, + "disturbance_cost": 0.020057708185136816, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.9419116775949715, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.005152928233568025, + "disturbance_cost": 0.02478446575954188, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.00598558462658183, + "disturbance_cost": 0.03344059338257969, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.00899173452587989, + "disturbance_cost": 0.04740118642294995, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 7, + "episode_index": 7, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 8.370321273803711, + "corridor_availability": 0.8333333134651184, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.09229104655864306, + "premature_retrieve_rate": 0.18181818181818182, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.0, + "gap_width": 0.18800331317722074, + "damage_proxy": 0.09229104655864306, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.9955528058498907, + "rim_slip_rate": 0.18963990549196605, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9955528058498907, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.28337989241065387, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1029164334649422, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.38789606157335843, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0332792686949179, + "disturbance_cost": 0.09508362484262259, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.49294094531806965, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03053778567710604, + "disturbance_cost": 0.08725081622030298, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.5985145436447874, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.027796302659294177, + "disturbance_cost": 0.07941800759798337, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.7046168565535115, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.025054819641482314, + "disturbance_cost": 0.07158519897566376, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.8100049067137545, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.023063409150688954, + "disturbance_cost": 0.06932435769691019, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.9135757630332917, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.022400340129508686, + "disturbance_cost": 0.07350229292605497, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02306727025049446, + "disturbance_cost": 0.08148780363591622, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.025864989663704707, + "disturbance_cost": 0.09465766173747658, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02978804660484186, + "disturbance_cost": 0.11101079598267713, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03482663343155307, + "disturbance_cost": 0.13050632353590486, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 8, + "episode_index": 8, + "controller": "model", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 69.19676208496094, + "corridor_availability": 0.9753086566925049, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.5588832773809532, + "premature_retrieve_rate": 0.75, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.015637172758579253, + "gap_width": 0.19, + "damage_proxy": 0.5588832773809532, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.7987069485738681, + "rim_slip_rate": 0.21081983875158386, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.7987069485738681, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.1932182983578696, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1110221072780937, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.2971873345381866, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03611625452952093, + "disturbance_cost": 0.10318929865577409, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.40168508530050995, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03337477151170906, + "disturbance_cost": 0.09535649003345448, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.5067115506448401, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.030633288493897202, + "disturbance_cost": 0.08752368141113487, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.6122667305711766, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02789180547608534, + "disturbance_cost": 0.07969087278881526, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.7182156358124031, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.025231781498774815, + "disturbance_cost": 0.07246318846736274, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.8224852773564799, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.023894678060207165, + "disturbance_cost": 0.07469052967713688, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.9248149810995467, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02388383791897881, + "disturbance_cost": 0.0807224757757498, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.02600174565080373, + "disturbance_cost": 0.09194068258571225, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.029244649020587796, + "disturbance_cost": 0.10634895798719429, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.033604440769906554, + "disturbance_cost": 0.1239112812916922, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03886141521785924, + "disturbance_cost": 0.14303261490816926, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.044118389665811934, + "disturbance_cost": 0.15805254190231982, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.04937536411376463, + "disturbance_cost": 0.17307246889647038, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.05463233856171732, + "disturbance_cost": 0.18809239589062093, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.059889313009670014, + "disturbance_cost": 0.2031123228847715, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.06514628745762271, + "disturbance_cost": 0.21813224987892205, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0704032619055754, + "disturbance_cost": 0.2331521768730726, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0756602363535281, + "disturbance_cost": 0.24817210386722316, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0809172108014808, + "disturbance_cost": 0.2631920308613737, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.08617418524943349, + "disturbance_cost": 0.2782119578555243, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09143115969738619, + "disturbance_cost": 0.2932318848496749, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09668813414533889, + "disturbance_cost": 0.30825181184382544, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10194510859329159, + "disturbance_cost": 0.323271738837976, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10720208304124428, + "disturbance_cost": 0.33829166583212655, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.11245905748919698, + "disturbance_cost": 0.3533115928262771, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.11771603193714966, + "disturbance_cost": 0.36833151982042767, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12297300638510236, + "disturbance_cost": 0.3833514468145782, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12822998083305506, + "disturbance_cost": 0.3983713738087288, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.13348695528100774, + "disturbance_cost": 0.41339130080287934, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.13874392972896044, + "disturbance_cost": 0.4284112277970299, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.14400090417691314, + "disturbance_cost": 0.44343115479118045, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.14925787862486584, + "disturbance_cost": 0.458451081785331, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.15451485307281854, + "disturbance_cost": 0.47347100877948156, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1597718275207712, + "disturbance_cost": 0.4884909357736321, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.16502880196872388, + "disturbance_cost": 0.5035108627677826, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17028577641667653, + "disturbance_cost": 0.518530789761933, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17554275086462923, + "disturbance_cost": 0.5335507167560836, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.9941333457965624, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18079972531258193, + "disturbance_cost": 0.5485706437502341, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.9854217881399552, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18605669976053463, + "disturbance_cost": 0.5635905707443847, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.9767102304833477, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1913136742084873, + "disturbance_cost": 0.5786104977385352, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.9679986728267405, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.19657064865644, + "disturbance_cost": 0.5936304247326858, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.9592871151701332, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2018276231043927, + "disturbance_cost": 0.6086503517268363, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.9505755575135257, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2070845975523454, + "disturbance_cost": 0.6236702787209869, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.9418639998569185, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2123415720002981, + "disturbance_cost": 0.6386902057151375, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.9331524422003112, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.21759854644825077, + "disturbance_cost": 0.653710132709288, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.9244408845437039, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.22285552089620347, + "disturbance_cost": 0.6687300597034386, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.9157293268870965, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.22811249534415617, + "disturbance_cost": 0.6837499866975891, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.9070177692304893, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.23336946979210887, + "disturbance_cost": 0.6987699136917397, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.8983062115738819, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.23862644424006155, + "disturbance_cost": 0.7137898406858902, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.8895946539172745, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.24388341868801425, + "disturbance_cost": 0.7288097676800408, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.8808830962606673, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.24914039313596695, + "disturbance_cost": 0.7438296946741914, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.8721715386040599, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2543973675839196, + "disturbance_cost": 0.7588496216683419, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.8634599809474526, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2596543420318723, + "disturbance_cost": 0.7738695486624925, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.8547484232908453, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.264911316479825, + "disturbance_cost": 0.788889475656643, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.846036865634238, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2701682909277777, + "disturbance_cost": 0.8039094026507936, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.8373253079776306, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2754252653757304, + "disturbance_cost": 0.8189293296449441, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.8286137503210234, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2806822398236831, + "disturbance_cost": 0.8339492566390947, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.819902192664416, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2859392142716358, + "disturbance_cost": 0.8489691836332453, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.8111906350078086, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2911961887195885, + "disturbance_cost": 0.8639891106273958, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.8024790773512014, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2964531631675412, + "disturbance_cost": 0.8790090376215464, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.793767519694594, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.30171013761549387, + "disturbance_cost": 0.8940289646156969, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.7850559620379867, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.30696711206344657, + "disturbance_cost": 0.9090488916098475, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.7763444043813794, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.31222408651139927, + "disturbance_cost": 0.924068818603998, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.767632846724772, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.31748106095935197, + "disturbance_cost": 0.9390887455981486, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.7589212890681647, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.32273803540730467, + "disturbance_cost": 0.9541086725922991, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.7502097314115574, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.32799500985525737, + "disturbance_cost": 0.9691285995864497, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.7414981737549501, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.33325198430321007, + "disturbance_cost": 0.9841485265806003, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.7327866160983427, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.33850895875116277, + "disturbance_cost": 0.9991684535747508, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.7240750584417355, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.34376593319911547, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.7153635007851282, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3490229076470681, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.7137443191716982, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "widen_gap" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 9, + "episode_index": 9, + "controller": "model", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 71.12440490722656, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.523902372793321, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.01743438094854355, + "gap_width": 0.19, + "damage_proxy": 0.523902372793321, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.8116401864819437, + "rim_slip_rate": 0.18650990705830414, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.8116401864819437, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.32276441121535304, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01679325906844613, + "disturbance_cost": 0.04798074019556037, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.43098873967374096, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01405177605063427, + "disturbance_cost": 0.04014793157324077, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.5397417827141354, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01131029303282241, + "disturbance_cost": 0.03231512295092118, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.6490235403365363, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.008568810015010553, + "disturbance_cost": 0.02448231432860158, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.7585326178772611, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.006009203087352015, + "disturbance_cost": 0.01800058523313522, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.8662634291792704, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0048205731444649095, + "disturbance_cost": 0.020871823040984325, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.9719466472143088, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.005005891761206454, + "disturbance_cost": 0.027682212504262567, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0065646956410347936, + "disturbance_cost": 0.038414727649311746, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.01029554524961126, + "disturbance_cost": 0.05443927287602657, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.015190655997149864, + "disturbance_cost": 0.07374764021853521, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.020447630445102557, + "disturbance_cost": 0.0904218012717216, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.025704604893055254, + "disturbance_cost": 0.10544172826587216, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.030961579341007944, + "disturbance_cost": 0.1204616552600227, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.03621855378896063, + "disturbance_cost": 0.13548158225417323, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.04147552823691332, + "disturbance_cost": 0.15050150924832378, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.04673250268486601, + "disturbance_cost": 0.16552143624247434, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.051989477132818714, + "disturbance_cost": 0.1805413632366249, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.05724645158077141, + "disturbance_cost": 0.19556129023077545, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0625034260287241, + "disturbance_cost": 0.210581217224926, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0677604004766768, + "disturbance_cost": 0.22560114421907657, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0730173749246295, + "disturbance_cost": 0.24062107121322712, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.07827434937258218, + "disturbance_cost": 0.2556409982073777, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.08353132382053488, + "disturbance_cost": 0.27066092520152824, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.08878829826848758, + "disturbance_cost": 0.28568085219567885, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09404527271644028, + "disturbance_cost": 0.3007007791898294, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.09930224716439297, + "disturbance_cost": 0.31572070618397996, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10455922161234567, + "disturbance_cost": 0.3307406331781305, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.10981619606029835, + "disturbance_cost": 0.3457605601722811, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.11507317050825105, + "disturbance_cost": 0.36078048716643163, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12033014495620374, + "disturbance_cost": 0.3758004141605822, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.12558711940415646, + "disturbance_cost": 0.39082034115473274, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.13084409385210913, + "disturbance_cost": 0.4058402681488833, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.13610106830006183, + "disturbance_cost": 0.42086019514303386, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.14135804274801453, + "disturbance_cost": 0.4358801221371844, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.14661501719596723, + "disturbance_cost": 0.45090004913133497, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1518719916439199, + "disturbance_cost": 0.4659199761254855, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1571289660918726, + "disturbance_cost": 0.4809399031196361, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.1623859405398253, + "disturbance_cost": 0.49595983011378664, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.16764291498777795, + "disturbance_cost": 0.5109797571079371, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17289988943573065, + "disturbance_cost": 0.5259996841020876, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.9992289101743703, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.17815686388368335, + "disturbance_cost": 0.5410196110962382, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.9905173525177631, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18341383833163605, + "disturbance_cost": 0.5560395380903888, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.9818057948611558, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.18867081277958875, + "disturbance_cost": 0.5710594650845393, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.9730942372045484, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.19392778722754142, + "disturbance_cost": 0.5860793920786899, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.9643826795479411, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.19918476167549412, + "disturbance_cost": 0.6010993190728404, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.9556711218913339, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.20444173612344682, + "disturbance_cost": 0.616119246066991, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.9469595642347264, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.20969871057139952, + "disturbance_cost": 0.6311391730611415, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.9382480065781191, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.21495568501935222, + "disturbance_cost": 0.6461591000552921, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.9295364489215118, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2202126594673049, + "disturbance_cost": 0.6611790270494426, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.9208248912649044, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2254696339152576, + "disturbance_cost": 0.6761989540435932, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.9121133336082972, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2307266083632103, + "disturbance_cost": 0.6912188810377438, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.9034017759516898, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.235983582811163, + "disturbance_cost": 0.7062388080318943, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.8946902182950824, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.24124055725911567, + "disturbance_cost": 0.7212587350260449, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.8859786606384752, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.24649753170706837, + "disturbance_cost": 0.7362786620201954, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.8772671029818678, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.2517545061550211, + "disturbance_cost": 0.751298589014346, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.8685555453252605, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.25701148060297374, + "disturbance_cost": 0.7663185160084965, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.8598439876686532, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.26226845505092644, + "disturbance_cost": 0.7813384430026471, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.8511324300120459, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.26752542949887914, + "disturbance_cost": 0.7963583699967977, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.8424208723554385, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.27278240394683184, + "disturbance_cost": 0.8113782969909482, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.8337093146988312, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.27803937839478454, + "disturbance_cost": 0.8263982239850988, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.8249977570422239, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.28329635284273724, + "disturbance_cost": 0.8414181509792493, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.8162861993856165, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.28855332729068994, + "disturbance_cost": 0.8564380779733999, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.8075746417290093, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.29381030173864264, + "disturbance_cost": 0.8714580049675504, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.7988630840724019, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.29906727618659534, + "disturbance_cost": 0.886477931961701, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.7901515264157947, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.304324250634548, + "disturbance_cost": 0.9014978589558515, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.7814399687591873, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3095812250825007, + "disturbance_cost": 0.9165177859500021, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.77272841110258, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3148381995304534, + "disturbance_cost": 0.9315377129441527, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.7640168534459727, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3200951739784061, + "disturbance_cost": 0.9465576399383032, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.7553052957893653, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3253521484263588, + "disturbance_cost": 0.9615775669324538, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.746593738132758, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3306091228743115, + "disturbance_cost": 0.9765974939266043, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.7378821804761507, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.3358660973222642, + "disturbance_cost": 0.9916174209207549, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.7291706228195435, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.34112307177021683, + "disturbance_cost": 1.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.7144602846101885, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.35, + "disturbance_cost": 1.0, + "chosen_candidate_family": "widen_gap", + "chosen_candidate_index": 4, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "widen_gap" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10, + "episode_index": 10, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 8.20339298248291, + "corridor_availability": 0.9090909361839294, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.03407966858458786, + "premature_retrieve_rate": 0.1, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.498947411775589, + "gap_width": 0.18883291001268, + "damage_proxy": 0.03407966858458786, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.9980080806083449, + "rim_slip_rate": 0.09802722530456319, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9980080806083449, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.38210430989878863, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.014300493999681264, + "disturbance_cost": 0.040858554284803617, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.49080938590615264, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.011559010981869407, + "disturbance_cost": 0.03302574566248402, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.6000431764955233, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.008817527964057548, + "disturbance_cost": 0.025192937040164426, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.7098056816669003, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.00607604494624569, + "disturbance_cost": 0.01736012841784483, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.8194454521890554, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0037276778438303866, + "disturbance_cost": 0.012447609452756778, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.9272567653301889, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0027559915392953178, + "disturbance_cost": 0.015964760801537664, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.0031634152484018236, + "disturbance_cost": 0.02343333146134631, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.004948930411877138, + "disturbance_cost": 0.034834650005533194, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.008910530717173471, + "disturbance_cost": 0.05153694882549515, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.014039854697763036, + "disturbance_cost": 0.07153032557137724, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 11, + "episode_index": 11, + "controller": "model", + "resolved_task_name": "foliage", + "success": 1.0, + "visibility_integral": 8.058746337890625, + "corridor_availability": 0.8333333134651184, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.050937512090042776, + "premature_retrieve_rate": 0.18181818181818182, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.0, + "gap_width": 0.18188688353516877, + "damage_proxy": 0.050937512090042776, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.9971899372142646, + "rim_slip_rate": 0.17785340584484718, + "insertable_corridor": 1.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9971899372142646, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.23890619829232448, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06710219899729074, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.34583982828159565, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.020744286631239894, + "disturbance_cost": 0.05926939037497113, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.45330217285287333, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.018002803613428032, + "disturbance_cost": 0.05143658175265152, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.5612932320061577, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.015261320595616173, + "disturbance_cost": 0.043603773130331924, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.6698130057414484, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.012519837577804314, + "disturbance_cost": 0.03577096450801233, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.7788614940587456, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.009778354559992456, + "disturbance_cost": 0.027938155885692734, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.8863557540443202, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.008293819852189625, + "disturbance_cost": 0.029442677566297353, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.9918738772753756, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.008174550587246136, + "disturbance_cost": 0.03534312169095865, + "chosen_candidate_family": "pin_canopy", + "chosen_candidate_index": 3, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.010223302413685242, + "disturbance_cost": 0.04654327491218145, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.013436495986176297, + "disturbance_cost": 0.06104699024410765, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 1.0, + "support_mode": 0, + "corridor_available": 1.0, + "reocclusion_risk": 0.017806098320788073, + "disturbance_cost": 0.07881800839840745, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "pin_canopy", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10000, + "episode_index": 0, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.29306378960609436, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.22050811853689745, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750752210617, + "gap_width": 0.0, + "damage_proxy": 0.22050811853689745, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.1820028482796555, + "hold_persistence": 0.9007713466583961, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9007713466583961, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.07591191763032096, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06910011513098124, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07006730653548372, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0710344979399862, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07200168934448868, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07296888074899116, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07393607215349364, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07490326355799612, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0758704549624986, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08039038194919855, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0849103089358985, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08943023592259845, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0939501629092984, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09847008989599836, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10299001688269831, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10750994386939826, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11202987085609821, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11654979784279816, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12106972482949811, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12558965181619808, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13010957880289806, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13462950578959804, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13914943277629802, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.143669359762998, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14818928674969797, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15270921373639795, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15722914072309793, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1617490677097979, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1662689946964979, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17078892168319787, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17530884866989785, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17982877565659783, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1843487026432978, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1888686296299978, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19338855661669777, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19790848360339774, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20242841059009772, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2069483375767977, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21146826456349768, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21598819155019766, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22050811853689764, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22502804552359762, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2295479725102976, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23406789949699755, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2385878264836975, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24310775347039745, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2476276804570974, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25214760744379733, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2566675344304973, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26118746141719723, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2657073884038972, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27022731539059713, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2747472423772971, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27926716936399704, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.283787096350697, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28830702333739694, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2928269503240969, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29734687731079684, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3018668042974968, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30638673128419674, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3109066582708967, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31542658525759665, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3199465122442966, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32446643923099655, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3289863662176965, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33350629320439645, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3380262201910964, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34254614717779636, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3470660741644963, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35158600115119626, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3561059281378962, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36062585512459616, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3651457821112961, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3661129735157986, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36708016492030104, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3680473563248035, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.369014547729306, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36998173913380844, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3709489305383109, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37191612194281337, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37288331334731584, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10001, + "episode_index": 1, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.3153179883956909, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.2390275157913625, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750826716423, + "gap_width": 0.0, + "damage_proxy": 0.2390275157913625, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.20577677077937578, + "hold_persistence": 0.892437617893887, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.892437617893887, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.0864139847733056, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08761951238544625, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08858670378994873, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08955389519445121, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09052108659895369, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09148827800345617, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09245546940795865, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09342266081246113, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09438985221696361, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09890977920366356, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10342970619036351, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10794963317706348, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11246956016376343, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11698948715046338, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12150941413716333, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1260293411238633, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13054926811056328, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13506919509726326, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13958912208396324, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14410904907066321, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1486289760573632, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15314890304406317, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15766883003076315, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16218875701746313, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1667086840041631, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1712286109908631, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17574853797756307, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18026846496426305, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18478839195096303, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.189308318937663, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19382824592436299, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19834817291106296, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20286809989776294, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20738802688446292, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2119079538711629, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21642788085786288, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22094780784456286, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22546773483126284, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22998766181796282, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2345075888046628, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23902751579136275, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2435474427780627, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24806736976476265, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2525872967514626, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2571072237381625, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2616271507248625, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26614707771156243, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2706670046982624, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27518693168496233, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2797068586716623, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28422678565836224, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2887467126450622, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29326663963176214, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2977865666184621, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30230649360516204, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.306826420591862, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31134634757856194, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3158662745652619, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32038620155196185, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3249061285386618, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32942605552536175, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3339459825120617, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33846590949876165, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3429858364854616, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34750576347216156, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3520256904588615, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35654561744556146, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3610655444322614, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36558547141896136, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3701053984056613, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37462532539236126, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3791452523790612, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38366517936576117, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38463237077026363, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3855995621747661, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38656675357926856, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38753394498377103, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3885011363882735, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38946832779277596, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3904355191972784, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3914027106017809, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10002, + "episode_index": 2, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.3776583671569824, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.20487654197144783, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750826716423, + "gap_width": 0.0, + "damage_proxy": 0.20487654197144783, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.1962223079315219, + "hold_persistence": 0.9078055561128485, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9078055561128485, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.11873677872167424, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.053468538565531645, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.054435729970034125, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.055402921374536604, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05637011277903908, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05733730418354156, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05830449558804404, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05927168699254652, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.060238878397049, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06475880538374895, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0692787323704489, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07379865935714885, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0783185863438488, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08283851333054876, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08735844031724871, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09187836730394866, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09639829429064861, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10091822127734856, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10543814826404853, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10995807525074848, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11447800223744843, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11899792922414838, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12351785621084833, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12803778319754833, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1325577101842483, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13707763717094829, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14159756415764826, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14611749114434824, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15063741813104822, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1551573451177482, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15967727210444818, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16419719909114816, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16871712607784814, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17323705306454812, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1777569800512481, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18227690703794808, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18679683402464806, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19131676101134804, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19583668799804801, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.200356614984748, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20487654197144797, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20939646895814795, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21391639594484793, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2184363229315479, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2229562499182479, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22747617690494787, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23199610389164785, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2365160308783478, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24103595786504775, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2455558848517477, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2500758118384476, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2545957388251476, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25911566581184753, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2636355927985475, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26815551978524743, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2726754467719474, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27719537375864733, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2817153007453473, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28623522773204724, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2907551547187472, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29527508170544714, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2997950086921471, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30431493567884704, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.308834862665547, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31335478965224695, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3178747166389469, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32239464362564685, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3269145706123468, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33143449759904675, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3359544245857467, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34047435157244665, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3449942785591466, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34951420554584656, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.350481396950349, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3514485883548515, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35241577975935395, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3533829711638564, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3543501625683589, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35531735397286135, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3562845453773638, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3572517367818663, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10003, + "episode_index": 3, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.30997514724731445, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.2488063795166498, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750603199005, + "gap_width": 0.0, + "damage_proxy": 0.2488063795166498, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.20257942387791178, + "hold_persistence": 0.8880371292175075, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.8880371292175075, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.08341253244026434, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09739837611073353, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09836556751523601, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09933275891973849, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10029995032424097, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10126714172874345, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10223433313324592, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1032015245377484, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10416871594225088, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10868864292895085, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1132085699156508, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11772849690235075, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1222484238890507, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12676835087575067, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13128827786245065, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13580820484915063, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1403281318358506, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14484805882255058, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14936798580925056, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15388791279595054, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15840783978265052, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1629277667693505, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16744769375605048, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17196762074275046, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17648754772945044, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18100747471615042, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1855274017028504, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19004732868955038, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19456725567625036, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19908718266295033, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20360710964965031, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2081270366363503, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21264696362305027, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21716689060975025, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22168681759645023, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2262067445831502, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2307266715698502, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23524659855655014, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2397665255432501, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24428645252995004, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24880637951665, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2533263065033499, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25784623349004987, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2623661604767498, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2668860874634498, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2714060144501497, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2759259414368497, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2804458684235496, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2849657954102496, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28948572239694953, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2940056493836495, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29852557637034943, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3030455033570494, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30756543034374934, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3120853573304493, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31660528431714924, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3211252113038492, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32564513829054914, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3301650652772491, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33468499226394904, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.339204919250649, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34372484623734895, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3482447732240489, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35276470021074885, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3572846271974488, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36180455418414875, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3663244811708487, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37084440815754866, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3753643351442486, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37988426213094856, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3844041891176485, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38892411610434846, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3934440430910484, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3944112344955509, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.39537842590005334, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3963456173045558, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3973128087090583, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.39828000011356074, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3992471915180632, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.40021438292256567, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.40118157432706814, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10004, + "episode_index": 4, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.39192086458206177, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.2095566846269492, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750826716423, + "gap_width": 0.0, + "damage_proxy": 0.2095566846269492, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.22072831784565805, + "hold_persistence": 0.9056994919178729, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9056994919178729, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.1257100662434731, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05814868122103305, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.059115872625535526, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.060083064030038005, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.061050255434540485, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.062017446839042964, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06298463824354544, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06395182964804792, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0649190210525504, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06943894803925035, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0739588750259503, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07847880201265026, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08299872899935021, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08751865598605016, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09203858297275011, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09655850995945006, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10107843694615001, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10559836393284998, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11011829091954993, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11463821790624988, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11915814489294983, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12367807187964978, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12819799886634978, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13271792585304976, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13723785283974974, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14175777982644971, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1462777068131497, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15079763379984967, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15531756078654965, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15983748777324963, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1643574147599496, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1688773417466496, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17339726873334957, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17791719572004955, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18243712270674953, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1869570496934495, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19147697668014949, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19599690366684946, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20051683065354944, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20503675764024942, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2095566846269494, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21407661161364938, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21859653860034936, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22311646558704934, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22763639257374932, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23215631956044927, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23667624654714922, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24119617353384917, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24571610052054912, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25023602750724905, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.254755954493949, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25927588148064895, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2637958084673489, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26831573545404885, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2728356624407488, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27735558942744876, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2818755164141487, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28639544340084866, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2909153703875486, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29543529737424856, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2999552243609485, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30447515134764847, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3089950783343484, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31351500532104837, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3180349323077483, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32255485929444827, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3270747862811482, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3315947132678482, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3361146402545481, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3406345672412481, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.345154494227948, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.349674421214648, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35419434820134793, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3551615396058504, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35612873101035286, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3570959224148553, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3580631138193578, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35903030522386026, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3599974966283627, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3609646880328652, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36193187943736765, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10005, + "episode_index": 5, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.13893283903598785, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.21192563874915762, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750677704811, + "gap_width": 0.0, + "damage_proxy": 0.21192563874915762, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.14535344641661227, + "hold_persistence": 0.904633462562879, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.904633462562879, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06051763534324148, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.061484826747743956, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.062452018152246436, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06341920955674892, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0643864009612514, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06535359236575387, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06632078377025635, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06728797517475883, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07180790216145878, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07632782914815874, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08084775613485869, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08536768312155864, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08988761010825859, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09440753709495854, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09892746408165849, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10344739106835844, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1079673180550584, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11248724504175835, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1170071720284583, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12152709901515825, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12604702600185821, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1305669529885582, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13508687997525817, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13960680696195815, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14412673394865813, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1486466609353581, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1531665879220581, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15768651490875807, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16220644189545805, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16672636888215803, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.171246295868858, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17576622285555799, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18028614984225796, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18480607682895794, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18932600381565792, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1938459308023579, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19836585778905788, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20288578477575786, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20740571176245784, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21192563874915782, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2164455657358578, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22096549272255778, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22548541970925776, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2300053466959577, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23452527368265766, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2390452006693576, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24356512765605756, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2480850546427575, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25260498162945744, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2571249086161574, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26164483560285734, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2661647625895573, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27068468957625724, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2752046165629572, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27972454354965715, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2842444705363571, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28876439752305705, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.293284324509757, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29780425149645695, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3023241784831569, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30684410546985685, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3113640324565568, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31588395944325676, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3204038864299567, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32492381341665666, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3294437404033566, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33396366739005656, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3384835943767565, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34300352136345647, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3475234483501564, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35204337533685637, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3565633023235563, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3575304937280588, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35849768513256125, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3594648765370637, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3604320679415662, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36139925934606865, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3623664507505711, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3633336421550736, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36430083355957604, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10006, + "episode_index": 6, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.10672774165868759, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.24684148913142012, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273751124739647, + "gap_width": 0.0, + "damage_proxy": 0.24684148913142012, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.13674963945598706, + "hold_persistence": 0.888921329890861, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.888921329890861, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09543348572550388, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09640067713000636, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09736786853450884, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09833505993901132, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0993022513435138, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10026944274801627, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10123663415251875, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10220382555702123, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1067237525437212, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11124367953042115, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1157636065171211, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12028353350382105, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.124803460490521, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.129323387477221, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13384331446392098, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13836324145062096, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14288316843732093, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1474030954240209, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1519230224107209, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15644294939742087, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16096287638412085, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16548280337082083, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1700027303575208, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1745226573442208, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17904258433092077, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18356251131762075, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18808243830432073, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1926023652910207, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19712229227772068, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20164221926442066, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20616214625112064, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21068207323782062, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2152020002245206, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21972192721122058, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22424185419792056, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22876178118462054, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23328170817132052, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23780163515802047, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24232156214472042, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24684148913142037, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2513614161181203, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25588134310482025, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2604012700915202, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26492119707822015, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2694411240649201, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27396105105162005, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27848097803832, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28300090502501996, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2875208320117199, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29204075899841986, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2965606859851198, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30108061297181976, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3056005399585197, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31012046694521966, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3146403939319196, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31916032091861957, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3236802479053195, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32820017489201947, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3327201018787194, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3372400288654194, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3417599558521193, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3462798828388193, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3507998098255192, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3553197368122192, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35983966379891913, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3643595907856191, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36887951777231903, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.373399444759019, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37791937174571893, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3824392987324189, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38695922571911884, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3914791527058188, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.39244634411032125, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3934135355148237, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3943807269193262, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.39534791832382865, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3963151097283311, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3972823011328336, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.39824949253733605, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3992166839418385, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10007, + "episode_index": 7, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.358204185962677, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1870549767809392, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.022737506404519083, + "gap_width": 0.0, + "damage_proxy": 0.1870549767809392, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.21879633129062118, + "hold_persistence": 0.9158252604485774, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.9158252604485774, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.10961115812004923, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.035646973375023, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.03661416477952548, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.037581356184027956, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.038548547588530435, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.039515738993032914, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.040482930397535394, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04145012180203787, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04241731320654035, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04693724019324032, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05145716717994028, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05597709416664025, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.060497021153340214, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06501694814004016, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06953687512674012, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07405680211344007, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07857672910014002, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08309665608683997, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08761658307353992, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09213651006023987, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09665643704693982, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10117636403363978, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10569629102033974, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11021621800703969, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11473614499373964, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1192560719804396, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12377599896713955, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12829592595383954, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13281585294053952, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1373357799272395, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14185570691393948, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14637563390063946, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15089556088733944, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15541548787403942, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1599354148607394, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16445534184743937, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16897526883413935, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17349519582083933, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1780151228075393, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1825350497942393, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18705497678093927, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19157490376763925, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19609483075433923, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2006147577410392, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20513468472773919, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20965461171443917, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21417453870113914, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21869446568783912, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2232143926745391, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22773431966123908, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23225424664793906, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.236774173634639, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24129410062133896, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24581402760803892, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25033395459473884, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2548538815814388, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25937380856813874, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2638937355548387, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26841366254153864, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2729335895282386, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27745351651493855, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2819734435016385, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28649337048833845, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2910132974750384, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29553322446173835, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3000531514484383, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30457307843513826, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3090930054218382, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31361293240853816, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3181328593952381, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32265278638193806, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.327172713368638, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33169264035533796, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33265983175984043, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3336270231643429, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33459421456884536, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3355614059733478, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3365285973778503, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33749578878235276, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3384629801868552, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3394301715913577, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10008, + "episode_index": 8, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.2255593240261078, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.2230414655748431, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750752210617, + "gap_width": 0.0, + "damage_proxy": 0.2230414655748431, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.1891671694104099, + "hold_persistence": 0.8996313404913204, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.8996313404913204, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.04207419699900011, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07163346216892688, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07260065357342936, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07356784497793184, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07453503638243432, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0755022277869368, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07646941919143928, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07743661059594176, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07840380200044424, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08292372898714419, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08744365597384414, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09196358296054409, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09648350994724404, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.101003436933944, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10552336392064394, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1100432909073439, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11456321789404385, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1190831448807438, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12360307186744375, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12812299885414374, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13264292584084372, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1371628528275437, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14168277981424368, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14620270680094366, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15072263378764364, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15524256077434362, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1597624877610436, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16428241474774358, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16880234173444356, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17332226872114354, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17784219570784351, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1823621226945435, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18688204968124347, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19140197666794345, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19592190365464343, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2004418306413434, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2049617576280434, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20948168461474337, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21400161160144335, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21852153858814333, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2230414655748433, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22756139256154329, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23208131954824326, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23660124653494322, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24112117352164317, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24564110050834312, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25016102749504304, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.254680954481743, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25920088146844295, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2637208084551429, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26824073544184285, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2727606624285428, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27728058941524275, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2818005164019427, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28632044338864265, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2908403703753426, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29536029736204256, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2998802243487425, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30440015133544246, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3089200783221424, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31344000530884236, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3179599322955423, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32247985928224226, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3269997862689422, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33151971325564217, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3360396402423421, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34055956722904207, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.345079494215742, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.349599421202442, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3541193481891419, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3586392751758419, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3631592021625418, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3676791291492418, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36864632055374424, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3696135119582467, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3705807033627492, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37154789476725164, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3725150861717541, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37348227757625657, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37444946898075904, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3754166603852615, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10009, + "episode_index": 9, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.25091803073883057, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.2328817883444941, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750677704811, + "gap_width": 0.0, + "damage_proxy": 0.2328817883444941, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.1826807673497917, + "hold_persistence": 0.8952031952449777, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.8952031952449777, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.05442142636067422, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08147378493857788, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08244097634308035, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08340816774758283, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08437535915208531, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08534255055658779, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08630974196109027, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08727693336559275, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08824412477009523, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09276405175679518, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09728397874349513, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10180390573019509, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10632383271689504, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11084375970359499, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11536368669029494, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11988361367699489, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12440354066369484, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12892346765039484, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13344339463709481, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1379633216237948, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14248324861049477, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14700317559719475, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15152310258389473, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1560430295705947, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1605629565572947, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16508288354399467, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16960281053069465, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17412273751739463, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1786426645040946, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18316259149079459, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18768251847749456, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19220244546419454, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19672237245089452, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2012422994375945, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20576222642429448, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21028215341099446, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21480208039769444, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21932200738439442, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2238419343710944, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22836186135779438, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23288178834449433, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23740171533119428, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24192164231789423, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24644156930459418, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2509614962912941, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25548142327799406, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.260001350264694, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26452127725139396, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2690412042380939, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27356113122479386, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2780810582114938, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28260098519819377, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2871209121848937, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29164083917159367, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2961607661582936, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30068069314499357, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3052006201316935, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3097205471183935, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3142404741050934, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3187604010917934, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32328032807849333, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3278002550651933, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33232018205189323, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3368401090385932, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.34136003602529313, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3458799630119931, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35039988999869304, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.354919816985393, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.35943974397209294, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3639596709587929, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36847959794549284, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3729995249321928, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37751945191889275, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3784866433233952, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3794538347278977, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38042102613240014, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3813882175369026, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3823554089414051, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38332260034590754, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38428979175041, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38525698315491247, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10010, + "episode_index": 10, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.12316884845495224, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.18610395141120015, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750752210617, + "gap_width": 0.0, + "damage_proxy": 0.18610395141120015, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.1351041543010932, + "hold_persistence": 0.91625322186496, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.91625322186496, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.034695948005283944, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.035663139409786423, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0366303308142889, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.03759752221879138, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.03856471362329386, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.03953190502779634, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04049909643229882, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0414662878368013, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.045986214823501265, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05050614181020123, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.055026068796901195, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.05954599578360116, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06406592277030113, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06858584975700108, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07310577674370103, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07762570373040098, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08214563071710093, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08666555770380088, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09118548469050083, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09570541167720079, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10022533866390074, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10474526565060069, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10926519263730065, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1137851196240006, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11830504661070056, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12282497359740051, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1273449005841005, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13186482757080048, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13638475455750046, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14090468154420044, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.14542460853090042, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1499445355176004, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15446446250430038, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15898438949100036, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16350431647770033, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1680242434644003, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1725441704511003, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17706409743780027, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18158402442450025, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18610395141120023, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1906238783979002, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1951438053846002, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19966373237130017, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20418365935800015, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20870358634470013, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2132235133314001, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21774344031810008, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22226336730480006, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22678329429150004, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2313032212782, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23582314826489995, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2403430752515999, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24486300223829985, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2493829292249998, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2539028562116997, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2584227831983997, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2629427101850996, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2674626371717996, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27198256415849953, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2765024911451995, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28102241813189943, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2855423451185994, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29006227210529933, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2945821990919993, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29910212607869924, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3036220530653992, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30814198005209914, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3126619070387991, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31718183402549904, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.321701761012199, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32622168799889895, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3307416149855989, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33170880639010136, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33267599779460383, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3336431891991063, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33461038060360876, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3355775720081112, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3365447634126137, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33751195481711616, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3384791462216186, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 10011, + "episode_index": 11, + "controller": "model", + "resolved_task_name": "bag", + "success": 0.0, + "visibility_integral": 0.23833659291267395, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.2603748951937185, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.02273750603199005, + "gap_width": 0.0, + "damage_proxy": 0.2603748951937185, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.1799027027766786, + "hold_persistence": 0.8828312971628266, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.8828312971628266, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.047202817484283566, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10896689178780213, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.10993408319230462, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11090127459680711, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1118684660013096, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1128356574058121, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11380284881031459, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11477004021481708, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.11573723161931958, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12025715860601953, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12477708559271948, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12929701257941947, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13381693956611945, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.13833686655281943, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1428567935395194, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1473767205262194, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15189664751291937, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15641657449961935, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16093650148631933, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1654564284730193, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.16997635545971929, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17449628244641927, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.17901620943311924, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.18353613641981922, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.1880560634065192, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19257599039321918, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.19709591737991916, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20161584436661914, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.20613577135331912, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2106556983400191, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21517562532671908, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.21969555231341906, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22421547930011904, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.22873540628681902, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23325533327351897, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.23777526026021892, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24229518724691887, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.24681511423361882, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.25133504122031874, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2558549682070187, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26037489519371865, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2648948221804186, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.26941474916711855, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2739346761538185, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.27845460314051845, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2829745301272184, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.28749445711391836, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.2920143841006183, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.29653431108731826, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3010542380740182, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.30557416506071816, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3100940920474181, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.31461401903411806, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.319133946020818, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.32365387300751797, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3281737999942179, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.33269372698091787, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3372136539676178, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3417335809543178, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3462535079410177, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3507734349277177, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3552933619144176, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3598132889011176, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.36433321588781753, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3688531428745175, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.37337306986121743, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3778929968479174, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.38241292383461734, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3869328508213173, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.39145277780801724, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.3959727047947172, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.40049263178141714, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.4050125587681171, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.40597975017261956, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.406946941577122, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.4079141329816245, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.40888132438612695, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.4098485157906294, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.4108157071951319, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.41178289859963435, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.4127500900041368, + "chosen_candidate_family": "maintain_mouth", + "chosen_candidate_index": 4, + "task_name": "bag", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "maintain_mouth", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "maintain_mouth" + ], + "episode_metadata": { + "proxy_name": "bag_proxy", + "task_name": "bag", + "task_id": 1, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20000, + "episode_index": 0, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 0.8782759308815002, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.004488729471008144, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.4761340141296387, + "gap_width": 0.0, + "damage_proxy": 0.004488729471008144, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.8888201307197015, + "layer_separation_quality": 0.17914077326385786, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.1593888749527199, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09094706071162309, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.13690497674515995, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.07071425214294766, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.11578679311598554, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.050481443574272235, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.09603432406519676, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.030248635005596818, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.07764756959279356, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0100158264369214, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.05470068006235861, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.026620679483001466, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0003829247503375488, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20001, + "episode_index": 1, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 1.826377272605896, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.003773229174061611, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.47712252140045164, + "gap_width": 0.0, + "damage_proxy": 0.003773229174061611, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.8984793847284797, + "layer_separation_quality": 0.12569755539533617, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.10916685084087895, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.08128780670284488, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.08733495227891147, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06105499813416946, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.06686876829532964, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04082218956549403, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.04776829889013339, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.02058938099681861, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.03003354406332273, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.00035657242814319395, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.018037873393627613, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "insert_actor" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20002, + "episode_index": 2, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 4.743302345275879, + "corridor_availability": 0.02469135820865631, + "reocclusion_rate": 0.0125, + "disturbance_cost": 0.0005393956107274187, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.47884564101696014, + "gap_width": 0.0, + "damage_proxy": 0.0005393956107274187, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 0.9952505168588165, + "insertable_corridor": 1.0, + "fold_preservation": 0.9680380734812019, + "layer_separation_quality": 0.21273077796774845, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.29128733582008237, + "support_mode": 2, + "corridor_available": 1.0, + "reocclusion_risk": 0.804105191282543, + "disturbance_cost": 0.011729117950122749, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.26921850819016313, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.24113850761080596, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.21305850703144885, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.18497850645209166, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.15689850587273452, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.12881850529337735, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.1007385047140202, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.05753850487495274, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.03929348682610545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20003, + "episode_index": 3, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 1.3102508783340454, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0018188021826771135, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.47872278094291687, + "gap_width": 0.0, + "damage_proxy": 0.0018188021826771135, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.9328200429477753, + "layer_separation_quality": 0.1595331539594575, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.16459514219705873, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04694714848354926, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.14508123806489376, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.02671433991487384, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.12693304851111437, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.006481531346198423, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.10217483274668387, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.07409483216732674, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.046014831587969575, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.017934831008612415, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "insert_actor" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20004, + "episode_index": 4, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 1.5110911130905151, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0029150737476086506, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.475567165017128, + "gap_width": 0.0, + "damage_proxy": 0.0029150737476086506, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.912310188151389, + "layer_separation_quality": 0.19489101869998332, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.19909530847088844, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06745700327993556, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.17819698913996737, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04722419471126014, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.15866438438743188, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.02699138614258472, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.14049749421328203, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.006758577573909304, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.11588126464055337, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.08780126406119623, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.05972126348183907, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.03164126290248192, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.004419899868292498, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20005, + "episode_index": 5, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 0.9035869836807251, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0013330148313044018, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.4792859137058258, + "gap_width": 0.0, + "damage_proxy": 0.0013330148313044018, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.9437757909861058, + "layer_separation_quality": 0.16421234008192376, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.171522510388713, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.03599140044521885, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.1527481192491353, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.01575859187654343, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.13274439700650664, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.10466439642714949, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.07658439584779235, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.04850439526843519, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.02042439468907803, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 6.481652327031129e-05, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "insert_actor" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20006, + "episode_index": 6, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 0.62180095911026, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0006481317014119714, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.48056328296661377, + "gap_width": 0.0, + "damage_proxy": 0.0006481317014119714, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.9636342618084774, + "layer_separation_quality": 0.14231218274439653, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.14040865936518349, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.016132929622847132, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.12059678521753545, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0925167846381783, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.06443678405882117, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.03635678347946401, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.008276782900106847, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "insert_actor" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20007, + "episode_index": 7, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 1.4777448177337646, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0010673382574708957, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.47521825432777404, + "gap_width": 0.0, + "damage_proxy": 0.0010673382574708957, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.9509490584796104, + "layer_separation_quality": 0.21596642299680943, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.2374970559861475, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.028818132951714183, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.2192068604023814, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.008585324383038766, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.19552683856933162, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.16744683798997445, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.13936683741061734, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.11128683683126016, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.083206836251903, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.05512683567254585, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.011926835833478394, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20008, + "episode_index": 8, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 3.0569558143615723, + "corridor_availability": 0.012345679104328156, + "reocclusion_rate": 0.0125, + "disturbance_cost": 0.0030590845821322717, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.4749755322933197, + "gap_width": 0.0, + "damage_proxy": 0.0030590845821322717, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 0.997919851550355, + "insertable_corridor": 1.0, + "fold_preservation": 0.9099772126321064, + "layer_separation_quality": 0.2267510507155542, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.25552210018437305, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.06978997879921822, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.23446630500590038, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0495571702305428, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.21477622440581334, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.02932436166186738, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.1964518583841119, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.009091553093191963, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.17303127876501562, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.14495127818565845, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.11687127760630128, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.08879127702694414, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.04559127718787667, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.018430412000661943, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20009, + "episode_index": 9, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 3.4292893409729004, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0017010069736829877, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.47885111570358274, + "gap_width": 0.0, + "damage_proxy": 0.0017010069736829877, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.9352053959299064, + "layer_separation_quality": 0.15987513796882297, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.19251503498195438, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.04456179550141821, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.1731621421760832, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.02432898693274279, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.15517496394859764, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.004096178364067372, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.12919425478082502, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.10111425420146787, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.07303425362211072, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.04495425304275356, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.032149412753611495, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "insert_actor", + "chosen_candidate_index": 5, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "insert_actor" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20010, + "episode_index": 10, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 1.3460091352462769, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.000685032917726934, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.47715726494789124, + "gap_width": 0.0, + "damage_proxy": 0.000685032917726934, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.9621397625477215, + "layer_separation_quality": 0.20071955674948658, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.22779003337128323, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.017627428883603115, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.20874409009477268, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.1806640895154155, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.15258408893605835, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.12450408835670118, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.09642408777734403, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.06834408719798687, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.04026408661862972, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + }, + { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 20011, + "episode_index": 11, + "controller": "model", + "resolved_task_name": "cloth", + "success": 0.0, + "visibility_integral": 1.5594085454940796, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0012927821229197682, + "premature_retrieve_rate": 0.8, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.4796423017978668, + "gap_width": 0.0, + "damage_proxy": 0.0012927821229197682, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 1.0, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.9448620741124908, + "layer_separation_quality": 0.1291739383753191, + "top_layer_stability": 1.0, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.13679599385822855, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.034905117318833744, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.11809492682968183, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.014672308750158326, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.09753448448478082, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 4, + "visibility": 0.06945448390542366, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 5, + "visibility": 0.04137448332606651, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 6, + "visibility": 0.013294482746709357, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 7, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 8, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 9, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 10, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 11, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 12, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 13, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 14, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 15, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 16, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 17, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 18, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 19, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 20, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 21, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 22, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 23, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 24, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 25, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 26, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 27, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 28, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 29, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 30, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 31, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 32, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 33, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 34, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 35, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 36, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 37, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 38, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 39, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 40, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 41, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 42, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 43, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 44, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 45, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 46, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 47, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 48, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 49, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 50, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 51, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 52, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 53, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 54, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 55, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 56, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 57, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 58, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 59, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 60, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 61, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 62, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 63, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 64, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 65, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 66, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 67, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 68, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 69, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 70, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 71, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 72, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "retrieve", + "chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 73, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file