| # Task 01: complete frozen-policy evaluation |
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| **All 20 official public instances (301–320) completed. Mean final Q = 0.766667; target Q > 0.7 achieved.** 13/20 episodes have official `success=true`. Failed episodes remain in the mean. This is one known-scene, seed-0 evaluation, not an all-instance-success or unseen-scene claim. |
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| ## Results |
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| Each instance link opens its original official evaluator JSON. Machine-readable aggregation: [summary](runs/prior_frozen20_20/summary.json). [Verification](runs/prior_frozen20_20/verification.json) checks all 673 frozen policy/asset/dependency files and the unmodified official evaluator files. |
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| | Instance | Final Q | Official success | Steps | |
| | --- | ---: | --- | ---: | |
| | [301](runs/prior_frozen20_20/batch_000/evaluation/json/picking_up_trash_301_0.json) | 1 | yes | 5,596 | |
| | [302](runs/prior_frozen20_20/batch_000/evaluation/json/picking_up_trash_302_0.json) | 1 | yes | 6,123 | |
| | [303](runs/prior_frozen20_20/batch_000/evaluation/json/picking_up_trash_303_0.json) | 1 | yes | 5,136 | |
| | [304](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_304_0.json) | 1 | yes | 6,570 | |
| | [305](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_305_0.json) | 1 | yes | 6,371 | |
| | [306](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_306_0.json) | 1 | yes | 6,268 | |
| | [307](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_307_0.json) | 0.666667 | no | 7,902 | |
| | [308](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_308_0.json) | 0 | no | 7,902 | |
| | [309](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_309_0.json) | 1 | yes | 4,894 | |
| | [310](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_310_0.json) | 1 | yes | 4,773 | |
| | [311](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_311_0.json) | 1 | yes | 7,048 | |
| | [312](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_312_0.json) | 1 | yes | 4,620 | |
| | [313](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_313_0.json) | 1 | yes | 6,243 | |
| | [314](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_314_0.json) | 1 | yes | 6,362 | |
| | [315](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_315_0.json) | 0 | no | 7,902 | |
| | [316](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_316_0.json) | 0 | no | 7,902 | |
| | [317](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_317_0.json) | 0.666667 | no | 7,902 | |
| | [318](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_318_0.json) | 0.333333 | no | 7,902 | |
| | [319](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_319_0.json) | 0.666667 | no | 7,902 | |
| | [320](runs/prior_frozen20_20/batch_001/evaluation/json/picking_up_trash_320_0.json) | 1 | yes | 7,166 | |
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| ## What ran |
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| - Official BEHAVIOR v3.9.2 checkout `b1979916ec1549b10a4e65e630bc6504a9af1b00`, Task 01 `picking_up_trash`, `public_test`, indices 0–19, one rollout each, seed 0. |
| - Official horizon and robot/controller settings, `RGBDFullResWrapper`, no time-limit override. Horizon-limited episodes execute 7,902 steps. Video encoding off (official default); sampled observations and action/event logs retained locally. |
| - Frozen candidate: [manifest](runs/prior_frozen20_20/manifest.json), [policy source](runs/prior_frozen20_20/source/gpt6_b1k/known_scene.py), and [final launcher](runs/prior_frozen20_20/launcher_final.py). |
| - Batch 000 completed 301–303, then an unexpected interleaved reset caused a transport failure during 304. No completed score existed for that interrupted 304. The runner was changed to choose an unused loopback port; **policy code, map, weights, seed, observations, and horizon did not change**. Batch 001 resumed only missing instances 304–320. [Transport record](runs/prior_frozen20_20/batch_000/transport_failure.json). Concurrent-client interference is suspected, not established. |
| - Shutdown: the official evaluator returned 0 and all 20 result JSONs were complete. The outer tool terminal session reported 143; its cause is not established. No policy/evaluator processes remained. A fresh completed-run resume check returned 0 without launching simulation. |
| - Simulator results were produced on the laptop RTX 5080. The deployable copy on `5080-1:/shared_work/markhsp/gpt6_b1k` passed 31 CPU tests and offline model initialization; remote GPU evaluation has not been performed. |
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| ## Runtime design and allowed information |
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| The user authorized storing the scene shared by all instances. The frozen map and 57-view reference atlas were prepared from 279 stable survey frames. Offline debug poses calibrate the survey and mask task objects; task-object coordinates are not exported to runtime assets. Each episode localizes through local ALIKED/LightGlue matching, metric geometric verification, and short RGB-D tracking. Routing uses the fixed static map plus a live depth layer rebuilt on observation. This avoids carrying stale wall geometry across pose corrections. It does not yet fully solve stale object-target memory, as instance 308 demonstrates. |
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| Runtime receives only official RGB, linear depth, proprioception, and camera-relative calibration, plus those explicit static assets. It receives no instance ID, live simulator pose, object pose, or Q. Models and dependencies are supplied locally; there are no Codex, cloud model, or LLM calls. The evaluator talks to the policy over a local loopback websocket. See [PRIOR_DESIGN.md](PRIOR_DESIGN.md) for algorithm sources, calibration provenance, and dependency licenses. |
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| ## Remaining failures |
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| - **307 (Q=0.666667)**: Three head-camera reacquisition failures for the final can. The recorded image visibly shows a sideways blue can. Cause of tipping not established. |
| - **308 (Q=0.000000)**: Repeated bin reacquisition failure; early stored bin position remained stale after localization improved. |
| - **315 (Q=0.000000)**: A dining-table/chair-region proposal was retained as the bin; the real bin is visible farther away near the kitchen cabinets. Two delivery-view reacquisitions failed. |
| - **316 (Q=0.000000)**: Two delivery-view bin reacquisition failures; retained target differs from the separate initial bin location. |
| - **317 (Q=0.666667)**: Only two can tracks were discovered and both were deposited. Search ended in finished_attempts without discovering the third can. |
| - **318 (Q=0.333333)**: One can deposited. Remaining target attempts exhausted after repeated head RGB-D reacquisition failures and a collision-clear grasp-stance failure. The orange can is visible in the stance-failure image; no can is visible in the first reacquisition-failure image. |
| - **319 (Q=0.666667)**: Two cans deposited. The remaining target exhausted head RGB-D reacquisition attempts at steps 6488 and 6968; no can is visible in the first failed-reacquisition image. Earlier depth-alignment and localization interruptions were recovered. |
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| Evidence and diagnostic-only pose comparisons: [failure notes](debug/frozen20_failure_notes.json). No policy change or selection of a better completed retry was made during this evaluation. |
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| ## Earlier checks and limits |
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| 31 local and remote CPU checks passed. Network weight loading was disabled for offline localization/model-loading checks. Development replay of the repeated-floor-alias failure accepted 29/35 views, with maximum accepted translation error 2.85 cm; this is a diagnostic localization result, not a measured error bound for the full suite. Targeted simulator trials and earlier unsuccessful candidates are documented separately in [EXPERIMENTS.md](EXPERIMENTS.md); their scores are not mixed into this table. |
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| The deployed copy passed a final [remote verification](runs/prior_frozen20_20/remote_verification.json): all 673 frozen policy/asset/dependency files, the launcher, and the three official evaluator/config files match the evaluated versions. The remote archive contains all official result JSONs, source snapshot, action/event logs, and selected failure RGB-D observations; the complete sampled observation history remains on the laptop. |
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| ## Run on 5080-1 |
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| ```bash |
| cd /shared_work/markhsp/gpt6_b1k |
| source env_5080.sh |
| "$B1K_PYTHON" run.py --all --output runs/task01 |
| ``` |
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| For a targeted check use `--indices 16` for instance 317, etc. Repeating a command with unchanged code/settings resumes missing instances; changing the policy requires a new output directory. The existing OmniGibson/Isaac Sim environment, licensed assets, and GPU are required. No Codex service or API key is required. |
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