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hri_diff_eval

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hri_diff_eval
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{
  "task": "tomato-to-bowl",
  "interactions": [
    "independent-observe",
    "independent-tasking",
    "r2h",
    "h2r-air",
    "handover-table",
    "hover",
    "stop",
    "takeaway",
    "redirect"
  ],
  "trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw",
  "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
  "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations",
  "object_perturbation_m": 0.005,
  "max_steps": 650,
  "video_fps": 30,
  "models": [
    "hri-diff"
  ],
  "checkpoints": {
    "hri-diff": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_h50_100k/checkpoints/100000/hri_diff"
  },
  "evaluation_protocol": "hri-diff-rgbd-history-prompts-v1",
  "expected_total_rollouts": 180,
  "episodes_per_cell": 20,
  "policy_payload_contract": "E",
  "visual_history_frames": 4,
  "history_indices": [
    -9,
    -6,
    -3,
    0
  ],
  "rgb_input_contract": {
    "storage": "av1_yuv420_video",
    "codec_roundtrip": {
      "vcodec": "libsvtav1",
      "canonical_codec": "av1",
      "pix_fmt": "yuv420p",
      "fps": 20,
      "g": 2,
      "crf": 30
    },
    "alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame"
  },
  "flow_steps": 20,
  "action_horizon": 50,
  "execute_horizon": 1,
  "worker_gpu_ids": [
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7
  ],
  "worker_ports": [
    5590,
    5591,
    5592,
    5593,
    5594,
    5595,
    5596,
    5597
  ],
  "worker_interactions": [
    [
      "independent-observe",
      "redirect"
    ],
    [
      "independent-tasking"
    ],
    [
      "r2h"
    ],
    [
      "h2r-air"
    ],
    [
      "handover-table"
    ],
    [
      "hover"
    ],
    [
      "stop"
    ],
    [
      "takeaway"
    ]
  ],
  "status": "complete",
  "started_at": 1790817072.1856277,
  "finished_at": 1790830714.2998974
}