protocol.json

{
  "benchmark_version": "1.0.0",
  "scene_counts": {
    "train": 350,
    "val": 75,
    "test": 75
  },
  "target_counts": {
    "train": 9090,
    "val": 1950,
    "test": 1945
  },
  "grasps": {
    "parallel_jaw": 161304,
    "suction": 151924
  },
  "object_grasp_edges": 6766097,
  "objects_per_dense_scene": [
    25,
    27
  ],
  "prediction": {
    "seeds": [
      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": {
    "scenes": 10,
    "targets_per_method": 256,
    "methods": 5,
    "seed": 7,
    "settle_steps": 9000,
    "timestep_s": 0.002,
    "velocity_threshold_m_s": 0.04,
    "multiccd": true,
    "max_non_target_removals": 5
  },
  "ordered": {
    "development_scenes": 4,
    "objects_per_scene": 15,
    "targets_per_sequence": 10,
    "orders_per_scene": 4,
    "target_trials_per_condition": 160,
    "conditions": 9,
    "model_seeds": [
      7,
      11,
      23,
      31,
      43
    ],
    "order_seeds": [
      "original",
      101,
      211,
      307
    ],
    "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
  }
}