hri_diff_eval / manifest.json
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HRI-diff aligned HITBench evaluation
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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
}