H3 evaluation inputs
Portable inputs for 120 Train-object and 120 GA-OS policy evaluation episodes. Each cell has four trios, three target types and ten starts per trio/target. Training demonstrations are separate; this directory does not publish them.
GA-OS couples held-out utensil combinations with unseen, geometry-dependent grasps from the same generation procedure as training. It is not an independent spatial extrapolation test. Layout ranges overlap; see layout_audit.json.
Runtime JSON bundles (dexbench_h3_runtime_v2, package dexbench_h3_inputs_v2) pin
the exact original saved states and commanded joint targets. Their utensils are not
in this dataset: they are asset-pool packages of DexBench-Arena
(assets/object_library/cutlery_set_*, butter_knife_d00052, fork_d00313,
kitchenware_*), and each bundle names the package's main USD relative to assets/
and the SHA-256 of every package file, so a different utensil is refused. The 240
selected starts passed native 10-second retention checks with the collection
actuator profile, same-side robot collision exclusions and isotropic-max utensil
inertia. These are retention qualifications, not policy extraction-success scores.
qualification_reports.json preserves the native reports. preparation.json and *_reserved.jsonl preserve the immutable geometry and cross-platform admission provenance. Their historical notes about a pending independent angle split are superseded by the coupled GA-OS definition above; the state and physics evidence is unchanged. Physical states may be reused across different targets.
Download with DexBench-Arena scripts/download_datasets.sh --eval-conditions at
this dataset commit. The checked-in H3 selection and frozen manifest validate
all inputs and reproduce all 240 row hashes before installation. Outputs are
installed under outputs/db_h3_inputs and outputs/db_conditions.
Quaternions are XYZW. No operator target cues are included in policy cameras.
2026-11-09: utensils moved to the asset pool
Made from revision 7b802b2f3d8fbf70c391f9635494eb345c1cdeee with DexBench-Arena
scripts/tools/migrate_db_h3_inputs.py (package, then rows on the 24 Train/GA-OS
and 20 sensitivity row files). asset_payload/ (138 files) and
asset_payload_manifest.json are removed; their utensils are byte-identical, apart from the
wrapper layers' reference path and layer metadata, in DexBench-Arena assets/object_library/.
Saved states (141 files), qualification reports, preparation evidence, reserved
rows and layout audit are unchanged. In every row file only task_object.fit changes:
runtime_bundle_sha256 and the three utensil digests take the v2 values and
asset_payload_sha256 is removed; starts, states, reset contracts, draws and recorded
outcomes are unchanged. eval/db_conditions/db_h3_sensitivity_frozen.json is the re-pinned
sweep set (DexBench-Arena benchmark/frozen/db_h3_sensitivity.json).
| File | Old SHA-256 | New SHA-256 |
|---|---|---|
eval/db_conditions/db_h3_sensitivity_frozen.json |
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cef6aaf34019e4d46d347cbb22221d51961457ae066079ef3c9ac094db6aae59 |
eval/db_conditions/db_h3_ga_os/ga_os_01_fork.jsonl |
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73a687a1074f64789f7a77139034231827cf23fa00bc591eeaefe3f6eda60174 |
eval/db_conditions/db_h3_ga_os/ga_os_01_knife.jsonl |
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dee9e500b47d421f6ba7a3a28d6ac7a5ac766dc9aeb8664fbba5545bdb7def74 |
eval/db_conditions/db_h3_ga_os/ga_os_01_spoon.jsonl |
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c9873bb928687a03471b0613196e78fd6e765364c59679254382f959681aeb0f |
eval/db_conditions/db_h3_ga_os/ga_os_02_fork.jsonl |
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bef0f5d019dcd4e82deb237c938a1b9c3cd515d388a7c84cb2f8d50cf990cd2e |
eval/db_conditions/db_h3_ga_os/ga_os_02_knife.jsonl |
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eval/db_conditions/db_h3_ga_os/ga_os_02_spoon.jsonl |
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eval/db_conditions/db_h3_ga_os/ga_os_03_fork.jsonl |
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e0d9b0535b66c30c4eb29ca1d831917cd7c884c05b917b3715a5c5b8b3623da6 |
eval/db_conditions/db_h3_ga_os/ga_os_03_knife.jsonl |
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eval/db_conditions/db_h3_ga_os/ga_os_03_spoon.jsonl |
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eval/db_conditions/db_h3_ga_os/ga_os_04_fork.jsonl |
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b12c72454f75e37f35b7255b6120f8fe64a6469e57fa3a1ee32d2fd9f91b7bc7 |
eval/db_conditions/db_h3_ga_os/ga_os_04_knife.jsonl |
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eval/db_conditions/db_h3_ga_os/ga_os_04_spoon.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild0.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild1.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild10.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild11.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild12.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild13.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild14.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild15.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild16.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild17.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild18.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild19.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild2.jsonl |
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38807a0a7d860378a33e9f9675e1e1376cf93c708efd7376df0ffc2969d3f3c7 |
eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild3.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild4.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild5.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild6.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild7.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild8.jsonl |
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eval/db_conditions/db_h3_sensitivity/train_01_spoon_rebuild9.jsonl |
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eval/db_conditions/db_h3_train/train_01_fork.jsonl |
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eval/db_conditions/db_h3_train/train_01_knife.jsonl |
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eval/db_conditions/db_h3_train/train_01_spoon.jsonl |
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eval/db_conditions/db_h3_train/train_02_fork.jsonl |
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eval/db_conditions/db_h3_train/train_02_knife.jsonl |
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eval/db_conditions/db_h3_train/train_02_spoon.jsonl |
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eval/db_conditions/db_h3_train/train_03_fork.jsonl |
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eval/db_conditions/db_h3_train/train_03_knife.jsonl |
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eval/db_conditions/db_h3_train/train_03_spoon.jsonl |
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eval/db_conditions/db_h3_train/train_04_fork.jsonl |
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eval/db_conditions/db_h3_train/train_04_knife.jsonl |
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eval/db_conditions/db_h3_train/train_04_spoon.jsonl |
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eval/db_h3_inputs/manifest.json |
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eval/db_h3_inputs/runtime/ga_os_01_fork.json |
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eval/db_h3_inputs/runtime/ga_os_01_knife.json |
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eval/db_h3_inputs/runtime/ga_os_01_spoon.json |
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eval/db_h3_inputs/runtime/ga_os_02_fork.json |
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eval/db_h3_inputs/runtime/ga_os_02_knife.json |
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eval/db_h3_inputs/runtime/ga_os_02_spoon.json |
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eval/db_h3_inputs/runtime/ga_os_03_fork.json |
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eval/db_h3_inputs/runtime/ga_os_03_knife.json |
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eval/db_h3_inputs/runtime/ga_os_03_spoon.json |
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eval/db_h3_inputs/runtime/ga_os_04_fork.json |
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eval/db_h3_inputs/runtime/ga_os_04_knife.json |
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eval/db_h3_inputs/runtime/ga_os_04_spoon.json |
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eval/db_h3_inputs/runtime/train_01_fork.json |
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eval/db_h3_inputs/runtime/train_01_knife.json |
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eval/db_h3_inputs/runtime/train_01_spoon.json |
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eval/db_h3_inputs/runtime/train_02_fork.json |
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eval/db_h3_inputs/runtime/train_02_knife.json |
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eval/db_h3_inputs/runtime/train_02_spoon.json |
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eval/db_h3_inputs/runtime/train_03_fork.json |
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eval/db_h3_inputs/runtime/train_03_knife.json |
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eval/db_h3_inputs/runtime/train_03_spoon.json |
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eval/db_h3_inputs/runtime/train_04_fork.json |
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eval/db_h3_inputs/runtime/train_04_knife.json |
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eval/db_h3_inputs/runtime/train_04_spoon.json |
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