File size: 6,517 Bytes
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license: cc-by-4.0
pretty_name: "DexBench GA eval conditions"
task_categories:
- robotics
tags:
- dexbench
- benchmark
- robotics
- simulation
- dexterous-manipulation
---
# DexBench GA · eval conditions
The frozen start states every DexBench GA benchmark cell replays, as pinned by [DexBench](https://github.com/RLWRLD/DexBench). Each row is one episode's initial scene: object choices, poses and the robot's start, sampled once and frozen so every model is scored on the same episodes.
## Contents
`eval/db_conditions/` holds the row files (JSONL, one start state per line) and, as `<set>_frozen.json`, copies of DexBench's `benchmark/frozen/` pin files, which list every row file with its SHA-256 and row count.
| Task | Headline cells (120 rows each) | Sensitivity rows |
|---|---|---|
| DB-R1 | Train, GA-O | 200 |
| DB-R2 | Train, GA-O, GA-S, GA-OS | 200 |
| DB-R3 | Train, GA-O, GA-S, GA-OS | 200 |
| DB-L1 | Train, GA-O, GA-S, GA-OS | 200 |
| DB-L2 | Train, GA-O, GA-S, GA-OS | 200 |
| DB-L3 | Train, GA-S | 200 |
| DB-L4 | Train, GA-S, GA-P, GA-SP | 200 |
| DB-M1 | Train, GA-S | 200 |
| DB-M2 | Train, GA-S | 200 |
| DB-M3 | Train, GA-S | 200 |
| DB-M4 | Train, GA-S | 200 |
| DB-M5 | Train, GA-O, GA-S, GA-OS | 200 |
| DB-H1 | Train, GA-O, GA-S, GA-OS | 200 |
| DB-H2 | Train, GA-O, GA-S, GA-OS | 200 |
| DB-H3 | Train, GA-OS | 200 |
46 headline cells (5,520 rows) and 3,000 sensitivity rows, in 963 row files.
Beside the rows, `eval/db_conditions/` holds the start-state sets some cells read at every reset, which the rows bind by digest:
| Set | Files | Read by | Bound in each row as |
|---|---|---|---|
| `db_r1_layouts/eval/` | 240 | DB-R1's cells and sweep (`r1_layouts`): the 30 settled evaluation layouts of each of the 8 fruit kinds (`db_r1_layouts/batch_1/`, 320 more, are the collection layouts, which no cell reads) | `task_object.fit.layouts` and `layouts_sha256`, the kind's layout count and digest |
| `db_m5_piles/` | 617 | DB-M5's cells and sweep (`parts_bin_clutter_dir`): the settled parts-bin piles of its 15 parts; its own `README.md` describes them | `parts_bin_clutter_set_sha256` |
| `db_h3_starts/` | 166 | Not read yet: the saved in-hand starts of `eval/db_h3_inputs/`, byte for byte, as a declared start-state set (`dexbench_h3_starts_v1`). `--eval-conditions` installs it unused. | `task_object.fit.runtime_bundle_sha256` and each row's `state_sha256` |
A set's digest is the SHA-256 of one `<path relative to the set> <file SHA-256>` line per file, sorted by path (DexBench's `benchmark.frozen.tree_digest`). DexBench pins the digests of `db_r1_layouts/eval/` and `db_m5_piles/` in `benchmark/frozen/inputs.json`.
`eval/db_h3_inputs/` holds DB-H3's runtime inputs: the saved start states and runtime bundles its rows are drawn from (172 files; its own `README.md` describes them). DB-H3's utensils are not included; they are packages of [RLWRLD/DexBench-assets](https://huggingface.co/datasets/RLWRLD/DexBench-assets), which each bundle names with the SHA-256 of every package file.
2,511 files, 212 MB.
## Use
DexBench fetches and checks them for you. From a [DexBench](https://github.com/RLWRLD/DexBench) checkout:
```bash
./scripts/download_datasets.sh --eval-conditions
```
That downloads `eval/db_conditions/` and `eval/db_h3_inputs/` at the revision of this repository that the checkout's `reproducibility/datasets.lock.json` pins. Before it installs anything, it checks every pinned row file's SHA-256 and row count and the start-state sets' digests against the checkout's `benchmark/frozen/` pins, and it checks that DB-H3's inputs reproduce all 240 of its frozen rows. Then it places them in `outputs/db_conditions/` and `outputs/db_h3_inputs/`, where the runner and the scorer read them. The scorer refuses a result that ran on any other rows.
## Changes
### 2026-11-10: machine-local provenance removed, history replaced
This revision replaces the history of this repository: the earlier revisions are no longer available. A DexBench checkout whose `reproducibility/datasets.lock.json` pins an earlier revision cannot download the rows. Update the checkout.
- `eval/db_h3_inputs/preparation.json`, `train_reserved.jsonl` and `ga_os_reserved.jsonl` recorded each preparation input by an absolute path on the machine that prepared it. These 2,654 paths are now `null`. The SHA-256 beside each path is unchanged. `preparation.json` records the new SHA-256s of the two reserved files.
- `eval/db_conditions/db_m5_piles/README.md` says how DexBench installs the piles, and names no other download location. The set's digest changes with it.
- `eval/db_conditions/db_h3_starts/manifest.json` names this repository as the source of its inputs and records the new SHA-256s of the three DB-H3 files above.
- This dataset card.
No row file, start state, runtime bundle, qualification report or pile changed. With the new `preparation.json` SHA-256 in DexBench's DB-H3 selection, the inputs reproduce all 240 frozen DB-H3 rows.
| Path | Old SHA-256 | New SHA-256 |
|---|---|---|
| `eval/db_h3_inputs/preparation.json` | `17bf94f66cc77ef9ac8b646dd649ab4bd76f7230c516f3025477a8183c5fdbd3` | `66a67163a26c9e28d47b2b45441b930b6471e714274625ae1fb85f36181fdf35` |
| `eval/db_h3_inputs/train_reserved.jsonl` | `3b3598fde59722bec9be4e7a7beaaa4a09a6087e1382a9c42e0d09710e593563` | `832accdab6950e0c1f5104467727292dd800f036cb5871c490eb144ab7393832` |
| `eval/db_h3_inputs/ga_os_reserved.jsonl` | `acdbdea8755ed6e41b0c8e12bdb42bf3a55b47c1e1bb28451051cc0a125cc413` | `97ee90f919f285047a0e6d14a434058518d0c3f4c27dd342be62ba587b65cb05` |
| `eval/db_conditions/db_m5_piles/README.md` | `0a3fe122a69eee0aad4d9d38841f6930c6597f6188ecf4e300ac9bafad4b258c` | `450b92757b1ec7139402a8ad6105d0920adc7d2a82e065247ed2cca2b8869ba9` |
| `eval/db_conditions/db_m5_piles/` (617 files, set digest) | `e161628a33faa8f2c34101d855e283915f13ccaf6fd672faa756ba9316798a46` | `a4790dcdbda50f0f7ff388fdfacbc3654caa745c6afb623559a7db2768cf161d` |
| `eval/db_conditions/db_h3_starts/manifest.json` | `c8b8a891c8027ecd455724b321a59a9d9adaa6afc37be00b6181ad81370d0977` | `ad10c5ac4377c94c75a475e8209c272969c9dbef8a75abb0a04fcc496b5d74dd` |
| `eval/db_conditions/db_h3_starts/` (166 files, set digest) | `fb63a621049ba01c7b1055842d2dd4a80aad8d866f5aaee45d3ed397a329073c` | `252f01c4e0d1eb17cf228c7527e4dd808d57543f624868139a00a518fd2695e4` |
## License
[Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/); see [LICENSE.md](LICENSE.md).
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