File size: 1,800 Bytes
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"benchmark_version": "1.0.0",
"scene_counts": {
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"val": 75,
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},
"target_counts": {
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"test": 1945
},
"grasps": {
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"suction": 151924
},
"object_grasp_edges": 6766097,
"objects_per_dense_scene": [
25,
27
],
"prediction": {
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7,
11,
23
],
"epochs": 45,
"batch_size": 32,
"learning_rate": 0.001,
"weight_decay": 0.0001,
"selection": "validation progress AP",
"thresholds": "per-label validation F1"
},
"planning": {
"test_scenes": 75,
"test_targets": 1945,
"groups": 42,
"seed": 7,
"validation_objective": "success - 0.08 * removals"
},
"physical": {
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"targets_per_method": 256,
"methods": 5,
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"settle_steps": 9000,
"timestep_s": 0.002,
"velocity_threshold_m_s": 0.04,
"multiccd": true,
"max_non_target_removals": 5
},
"ordered": {
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"target_trials_per_condition": 160,
"conditions": 9,
"model_seeds": [
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11,
23,
31,
43
],
"order_seeds": [
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],
"representative_seed": 11,
"selection": "Seed 11 was selected post hoc among five models on the original-order development runs, then fixed before the three additional target orders. All five models and outcomes are released."
},
"hardware": {
"existing_trials_per_method": 60,
"batches": 3,
"trials_per_batch": 20,
"new_robot_runs": false
}
} |