Add files using upload-large-folder tool
Browse files- evaluation_summary.jsonl +180 -0
- h2r-air/aggregate.json +176 -0
- h2r-air/manifest.json +553 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_001_episode_000002_5ee25eb75e85/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_002_episode_000003_c0eb2fb1e13a/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_003_episode_000004_e3d56d6fb722/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_004_episode_000005_1dc81273d9a8/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_005_episode_000006_6d7ff7e3e250/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_006_episode_000007_a712aa6d6751/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_007_episode_000008_8641e9efbbbf/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_009_episode_000010_f27bd2e8fa66/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_010_episode_000011_22d4f6cd2d6e/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_012_episode_000014_07d469a69d02/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_014_episode_000016_61b1ba9bd24a/object-perturbed/summary.json +122 -0
- h2r-air/rollouts/tomato-to-bowl__h2r-air/state_017_episode_000019_1e2e5290bbae/object-perturbed/summary.json +122 -0
- handover-table/aggregate.json +176 -0
- handover-table/manifest.json +553 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_001_episode_000002_3ecd9d6ad46d/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_002_episode_000003_344cfa7eb204/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_003_episode_000004_aa7a86b0fd8f/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_004_episode_000005_271007be6070/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_005_episode_000006_26b83a9c3e25/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_006_episode_000007_b806bd435a81/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_007_episode_000008_0a82b124029c/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_008_episode_000009_85b1ed4c8786/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_009_episode_000010_61442423f7a0/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_010_episode_000011_553909c8d595/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_011_episode_000012_21be390f1609/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_012_episode_000013_61b1b059a85d/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_013_episode_000014_216b6dd6ea38/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_014_episode_000015_4832ceb472bd/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_015_episode_000016_2e26488ba7b5/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_016_episode_000018_d43f2404ff3a/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_017_episode_000020_72974df7d7ec/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_018_episode_000021_0d80fe34dd73/object-perturbed/summary.json +122 -0
- handover-table/rollouts/tomato-to-bowl__handover-table/state_019_episode_000022_fca91d6c7d0f/object-perturbed/summary.json +122 -0
- manifest.json +102 -0
- stop/aggregate.json +176 -0
- stop/manifest.json +553 -0
- stop/rollouts/tomato-to-bowl__stop/state_000_episode_000001_dd2215b8a5ae/object-perturbed/summary.json +124 -0
- stop/rollouts/tomato-to-bowl__stop/state_004_episode_000005_e2c517b2563b/object-perturbed/summary.json +124 -0
- stop/rollouts/tomato-to-bowl__stop/state_007_episode_000008_2131da39b9af/object-perturbed/summary.json +124 -0
- stop/rollouts/tomato-to-bowl__stop/state_009_episode_000010_6fd3777d2c41/object-perturbed/summary.json +124 -0
- stop/rollouts/tomato-to-bowl__stop/state_012_episode_000013_2f93c49211d1/object-perturbed/summary.json +124 -0
- takeaway/rollouts/tomato-to-bowl__takeaway/state_005_episode_000006_9c97cdd5a8fb/object-perturbed/summary.json +124 -0
- takeaway/rollouts/tomato-to-bowl__takeaway/state_010_episode_000011_d939d1a36bfd/object-perturbed/summary.json +124 -0
- takeaway/rollouts/tomato-to-bowl__takeaway/state_011_episode_000012_b1107062d8f1/object-perturbed/summary.json +124 -0
- takeaway/rollouts/tomato-to-bowl__takeaway/state_013_episode_000014_bcf4d383da69/object-perturbed/summary.json +124 -0
- takeaway/rollouts/tomato-to-bowl__takeaway/state_015_episode_000016_97a5d27355aa/object-perturbed/summary.json +124 -0
evaluation_summary.jsonl
ADDED
|
@@ -0,0 +1,180 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"evaluation_state_index": 0, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_000_episode_000001_f70bb101a5e6/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_000_episode_000001_f70bb101a5e6/object-perturbed/rollout.mp4"}
|
| 2 |
+
{"evaluation_state_index": 1, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_001_episode_000002_5ee25eb75e85/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_001_episode_000002_5ee25eb75e85/object-perturbed/rollout.mp4"}
|
| 3 |
+
{"evaluation_state_index": 2, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_002_episode_000003_c0eb2fb1e13a/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_002_episode_000003_c0eb2fb1e13a/object-perturbed/rollout.mp4"}
|
| 4 |
+
{"evaluation_state_index": 3, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_003_episode_000004_e3d56d6fb722/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_003_episode_000004_e3d56d6fb722/object-perturbed/rollout.mp4"}
|
| 5 |
+
{"evaluation_state_index": 4, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_004_episode_000005_1dc81273d9a8/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_004_episode_000005_1dc81273d9a8/object-perturbed/rollout.mp4"}
|
| 6 |
+
{"evaluation_state_index": 5, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_005_episode_000006_6d7ff7e3e250/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_005_episode_000006_6d7ff7e3e250/object-perturbed/rollout.mp4"}
|
| 7 |
+
{"evaluation_state_index": 6, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_006_episode_000007_a712aa6d6751/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_006_episode_000007_a712aa6d6751/object-perturbed/rollout.mp4"}
|
| 8 |
+
{"evaluation_state_index": 7, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_007_episode_000008_8641e9efbbbf/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_007_episode_000008_8641e9efbbbf/object-perturbed/rollout.mp4"}
|
| 9 |
+
{"evaluation_state_index": 8, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_008_episode_000009_a4120ad77bfb/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_008_episode_000009_a4120ad77bfb/object-perturbed/rollout.mp4"}
|
| 10 |
+
{"evaluation_state_index": 9, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_009_episode_000010_f27bd2e8fa66/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_009_episode_000010_f27bd2e8fa66/object-perturbed/rollout.mp4"}
|
| 11 |
+
{"evaluation_state_index": 10, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_010_episode_000011_22d4f6cd2d6e/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_010_episode_000011_22d4f6cd2d6e/object-perturbed/rollout.mp4"}
|
| 12 |
+
{"evaluation_state_index": 11, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_011_episode_000013_c6525beec3f4/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_011_episode_000013_c6525beec3f4/object-perturbed/rollout.mp4"}
|
| 13 |
+
{"evaluation_state_index": 12, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_012_episode_000014_07d469a69d02/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_012_episode_000014_07d469a69d02/object-perturbed/rollout.mp4"}
|
| 14 |
+
{"evaluation_state_index": 13, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_013_episode_000015_603563822e93/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_013_episode_000015_603563822e93/object-perturbed/rollout.mp4"}
|
| 15 |
+
{"evaluation_state_index": 14, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_014_episode_000016_61b1ba9bd24a/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_014_episode_000016_61b1ba9bd24a/object-perturbed/rollout.mp4"}
|
| 16 |
+
{"evaluation_state_index": 15, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_015_episode_000017_388850a2ccfd/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_015_episode_000017_388850a2ccfd/object-perturbed/rollout.mp4"}
|
| 17 |
+
{"evaluation_state_index": 16, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_016_episode_000018_fbd2cc8a237c/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_016_episode_000018_fbd2cc8a237c/object-perturbed/rollout.mp4"}
|
| 18 |
+
{"evaluation_state_index": 17, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_017_episode_000019_1e2e5290bbae/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_017_episode_000019_1e2e5290bbae/object-perturbed/rollout.mp4"}
|
| 19 |
+
{"evaluation_state_index": 18, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_018_episode_000020_8a42fb0004ac/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_018_episode_000020_8a42fb0004ac/object-perturbed/rollout.mp4"}
|
| 20 |
+
{"evaluation_state_index": 19, "hri_success": false, "interaction": "h2r-air", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_019_episode_000021_ba4235c54329/object-perturbed/summary.json", "task_success": false, "video_path": "h2r-air/rollouts/tomato-to-bowl__h2r-air/state_019_episode_000021_ba4235c54329/object-perturbed/rollout.mp4"}
|
| 21 |
+
{"evaluation_state_index": 0, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/rollout.mp4"}
|
| 22 |
+
{"evaluation_state_index": 1, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_001_episode_000002_3ecd9d6ad46d/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_001_episode_000002_3ecd9d6ad46d/object-perturbed/rollout.mp4"}
|
| 23 |
+
{"evaluation_state_index": 2, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_002_episode_000003_344cfa7eb204/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_002_episode_000003_344cfa7eb204/object-perturbed/rollout.mp4"}
|
| 24 |
+
{"evaluation_state_index": 3, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_003_episode_000004_aa7a86b0fd8f/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_003_episode_000004_aa7a86b0fd8f/object-perturbed/rollout.mp4"}
|
| 25 |
+
{"evaluation_state_index": 4, "hri_success": true, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_004_episode_000005_271007be6070/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_004_episode_000005_271007be6070/object-perturbed/rollout.mp4"}
|
| 26 |
+
{"evaluation_state_index": 5, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_005_episode_000006_26b83a9c3e25/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_005_episode_000006_26b83a9c3e25/object-perturbed/rollout.mp4"}
|
| 27 |
+
{"evaluation_state_index": 6, "hri_success": true, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_006_episode_000007_b806bd435a81/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_006_episode_000007_b806bd435a81/object-perturbed/rollout.mp4"}
|
| 28 |
+
{"evaluation_state_index": 7, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_007_episode_000008_0a82b124029c/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_007_episode_000008_0a82b124029c/object-perturbed/rollout.mp4"}
|
| 29 |
+
{"evaluation_state_index": 8, "hri_success": true, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_008_episode_000009_85b1ed4c8786/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_008_episode_000009_85b1ed4c8786/object-perturbed/rollout.mp4"}
|
| 30 |
+
{"evaluation_state_index": 9, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_009_episode_000010_61442423f7a0/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_009_episode_000010_61442423f7a0/object-perturbed/rollout.mp4"}
|
| 31 |
+
{"evaluation_state_index": 10, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_010_episode_000011_553909c8d595/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_010_episode_000011_553909c8d595/object-perturbed/rollout.mp4"}
|
| 32 |
+
{"evaluation_state_index": 11, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_011_episode_000012_21be390f1609/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_011_episode_000012_21be390f1609/object-perturbed/rollout.mp4"}
|
| 33 |
+
{"evaluation_state_index": 12, "hri_success": true, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_012_episode_000013_61b1b059a85d/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_012_episode_000013_61b1b059a85d/object-perturbed/rollout.mp4"}
|
| 34 |
+
{"evaluation_state_index": 13, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": false, "steps": 115, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_013_episode_000014_216b6dd6ea38/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_013_episode_000014_216b6dd6ea38/object-perturbed/rollout.mp4"}
|
| 35 |
+
{"evaluation_state_index": 14, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_014_episode_000015_4832ceb472bd/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_014_episode_000015_4832ceb472bd/object-perturbed/rollout.mp4"}
|
| 36 |
+
{"evaluation_state_index": 15, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_015_episode_000016_2e26488ba7b5/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_015_episode_000016_2e26488ba7b5/object-perturbed/rollout.mp4"}
|
| 37 |
+
{"evaluation_state_index": 16, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": false, "steps": 135, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_016_episode_000018_d43f2404ff3a/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_016_episode_000018_d43f2404ff3a/object-perturbed/rollout.mp4"}
|
| 38 |
+
{"evaluation_state_index": 17, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_017_episode_000020_72974df7d7ec/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_017_episode_000020_72974df7d7ec/object-perturbed/rollout.mp4"}
|
| 39 |
+
{"evaluation_state_index": 18, "hri_success": false, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_018_episode_000021_0d80fe34dd73/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_018_episode_000021_0d80fe34dd73/object-perturbed/rollout.mp4"}
|
| 40 |
+
{"evaluation_state_index": 19, "hri_success": true, "interaction": "handover-table", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_019_episode_000022_fca91d6c7d0f/object-perturbed/summary.json", "task_success": false, "video_path": "handover-table/rollouts/tomato-to-bowl__handover-table/state_019_episode_000022_fca91d6c7d0f/object-perturbed/rollout.mp4"}
|
| 41 |
+
{"evaluation_state_index": 0, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_000_episode_000001_e7713df0e19d/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_000_episode_000001_e7713df0e19d/object-perturbed/rollout.mp4"}
|
| 42 |
+
{"evaluation_state_index": 1, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_001_episode_000002_96ffa769cb58/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_001_episode_000002_96ffa769cb58/object-perturbed/rollout.mp4"}
|
| 43 |
+
{"evaluation_state_index": 2, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_002_episode_000003_fca56d97e374/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_002_episode_000003_fca56d97e374/object-perturbed/rollout.mp4"}
|
| 44 |
+
{"evaluation_state_index": 3, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_003_episode_000004_ad8836003da2/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_003_episode_000004_ad8836003da2/object-perturbed/rollout.mp4"}
|
| 45 |
+
{"evaluation_state_index": 4, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_004_episode_000005_fcfba0c14450/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_004_episode_000005_fcfba0c14450/object-perturbed/rollout.mp4"}
|
| 46 |
+
{"evaluation_state_index": 5, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_005_episode_000006_415a72fb907c/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_005_episode_000006_415a72fb907c/object-perturbed/rollout.mp4"}
|
| 47 |
+
{"evaluation_state_index": 6, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_006_episode_000007_3e80e2020ea0/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_006_episode_000007_3e80e2020ea0/object-perturbed/rollout.mp4"}
|
| 48 |
+
{"evaluation_state_index": 7, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_007_episode_000008_c6f18bccb509/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_007_episode_000008_c6f18bccb509/object-perturbed/rollout.mp4"}
|
| 49 |
+
{"evaluation_state_index": 8, "hri_success": false, "interaction": "hover", "overall_success": false, "safety_success": false, "steps": 64, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_008_episode_000009_19bda47ad58f/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_008_episode_000009_19bda47ad58f/object-perturbed/rollout.mp4"}
|
| 50 |
+
{"evaluation_state_index": 9, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_009_episode_000010_7f692832d9e9/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_009_episode_000010_7f692832d9e9/object-perturbed/rollout.mp4"}
|
| 51 |
+
{"evaluation_state_index": 10, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_010_episode_000011_a571f2dbbb4e/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_010_episode_000011_a571f2dbbb4e/object-perturbed/rollout.mp4"}
|
| 52 |
+
{"evaluation_state_index": 11, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_011_episode_000012_980c7745f5e8/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_011_episode_000012_980c7745f5e8/object-perturbed/rollout.mp4"}
|
| 53 |
+
{"evaluation_state_index": 12, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_012_episode_000013_7c4bd3811e81/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_012_episode_000013_7c4bd3811e81/object-perturbed/rollout.mp4"}
|
| 54 |
+
{"evaluation_state_index": 13, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_013_episode_000014_d115582fbe99/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_013_episode_000014_d115582fbe99/object-perturbed/rollout.mp4"}
|
| 55 |
+
{"evaluation_state_index": 14, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_014_episode_000015_c81ef839ca53/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_014_episode_000015_c81ef839ca53/object-perturbed/rollout.mp4"}
|
| 56 |
+
{"evaluation_state_index": 15, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_015_episode_000016_4c7ab770f365/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_015_episode_000016_4c7ab770f365/object-perturbed/rollout.mp4"}
|
| 57 |
+
{"evaluation_state_index": 16, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_016_episode_000017_1a3e054e3f84/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_016_episode_000017_1a3e054e3f84/object-perturbed/rollout.mp4"}
|
| 58 |
+
{"evaluation_state_index": 17, "hri_success": false, "interaction": "hover", "overall_success": false, "safety_success": false, "steps": 29, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_017_episode_000018_fca0e2862979/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_017_episode_000018_fca0e2862979/object-perturbed/rollout.mp4"}
|
| 59 |
+
{"evaluation_state_index": 18, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_018_episode_000019_8ddba9c5a63f/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_018_episode_000019_8ddba9c5a63f/object-perturbed/rollout.mp4"}
|
| 60 |
+
{"evaluation_state_index": 19, "hri_success": true, "interaction": "hover", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "hover/rollouts/tomato-to-bowl__hover/state_019_episode_000020_bb08d1c3c99b/object-perturbed/summary.json", "task_success": false, "video_path": "hover/rollouts/tomato-to-bowl__hover/state_019_episode_000020_bb08d1c3c99b/object-perturbed/rollout.mp4"}
|
| 61 |
+
{"evaluation_state_index": 0, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_000_episode_000001_c43a42dbbc7e/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_000_episode_000001_c43a42dbbc7e/object-perturbed/rollout.mp4"}
|
| 62 |
+
{"evaluation_state_index": 1, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_001_episode_000002_dc411f69e82a/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_001_episode_000002_dc411f69e82a/object-perturbed/rollout.mp4"}
|
| 63 |
+
{"evaluation_state_index": 2, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_002_episode_000003_a9cd96add0d0/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_002_episode_000003_a9cd96add0d0/object-perturbed/rollout.mp4"}
|
| 64 |
+
{"evaluation_state_index": 3, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_003_episode_000004_46d2e37faa9f/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_003_episode_000004_46d2e37faa9f/object-perturbed/rollout.mp4"}
|
| 65 |
+
{"evaluation_state_index": 4, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_004_episode_000005_3cb55fc0d8e7/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_004_episode_000005_3cb55fc0d8e7/object-perturbed/rollout.mp4"}
|
| 66 |
+
{"evaluation_state_index": 5, "hri_success": true, "interaction": "independent-observe", "overall_success": true, "safety_success": true, "steps": 166, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_005_episode_000006_cd2f33504c49/object-perturbed/summary.json", "task_success": true, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_005_episode_000006_cd2f33504c49/object-perturbed/rollout.mp4"}
|
| 67 |
+
{"evaluation_state_index": 6, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_006_episode_000007_30069c98f482/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_006_episode_000007_30069c98f482/object-perturbed/rollout.mp4"}
|
| 68 |
+
{"evaluation_state_index": 7, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_007_episode_000008_0275c49825de/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_007_episode_000008_0275c49825de/object-perturbed/rollout.mp4"}
|
| 69 |
+
{"evaluation_state_index": 8, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_008_episode_000009_d9c20f213740/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_008_episode_000009_d9c20f213740/object-perturbed/rollout.mp4"}
|
| 70 |
+
{"evaluation_state_index": 9, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_009_episode_000010_aa862e803c50/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_009_episode_000010_aa862e803c50/object-perturbed/rollout.mp4"}
|
| 71 |
+
{"evaluation_state_index": 10, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_010_episode_000011_75d7f81d7a92/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_010_episode_000011_75d7f81d7a92/object-perturbed/rollout.mp4"}
|
| 72 |
+
{"evaluation_state_index": 11, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_011_episode_000012_f12eaba57711/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_011_episode_000012_f12eaba57711/object-perturbed/rollout.mp4"}
|
| 73 |
+
{"evaluation_state_index": 12, "hri_success": true, "interaction": "independent-observe", "overall_success": true, "safety_success": true, "steps": 164, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_012_episode_000013_5644b96fce55/object-perturbed/summary.json", "task_success": true, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_012_episode_000013_5644b96fce55/object-perturbed/rollout.mp4"}
|
| 74 |
+
{"evaluation_state_index": 13, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_013_episode_000014_c36673ab8c90/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_013_episode_000014_c36673ab8c90/object-perturbed/rollout.mp4"}
|
| 75 |
+
{"evaluation_state_index": 14, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_014_episode_000015_caf41b909e0d/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_014_episode_000015_caf41b909e0d/object-perturbed/rollout.mp4"}
|
| 76 |
+
{"evaluation_state_index": 15, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_015_episode_000016_eb2d0bc62e81/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_015_episode_000016_eb2d0bc62e81/object-perturbed/rollout.mp4"}
|
| 77 |
+
{"evaluation_state_index": 16, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_016_episode_000017_9b528bd5b946/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_016_episode_000017_9b528bd5b946/object-perturbed/rollout.mp4"}
|
| 78 |
+
{"evaluation_state_index": 17, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_017_episode_000018_541237786767/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_017_episode_000018_541237786767/object-perturbed/rollout.mp4"}
|
| 79 |
+
{"evaluation_state_index": 18, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_018_episode_000019_f30247c1f11c/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_018_episode_000019_f30247c1f11c/object-perturbed/rollout.mp4"}
|
| 80 |
+
{"evaluation_state_index": 19, "hri_success": true, "interaction": "independent-observe", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_019_episode_000020_5ea212a814de/object-perturbed/summary.json", "task_success": false, "video_path": "independent-observe/rollouts/tomato-to-bowl__independent-observe/state_019_episode_000020_5ea212a814de/object-perturbed/rollout.mp4"}
|
| 81 |
+
{"evaluation_state_index": 0, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_000_episode_000001_75cacc8bb69b/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_000_episode_000001_75cacc8bb69b/object-perturbed/rollout.mp4"}
|
| 82 |
+
{"evaluation_state_index": 1, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_001_episode_000002_f4c09e991e85/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_001_episode_000002_f4c09e991e85/object-perturbed/rollout.mp4"}
|
| 83 |
+
{"evaluation_state_index": 2, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_002_episode_000003_ce5c65b6cba5/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_002_episode_000003_ce5c65b6cba5/object-perturbed/rollout.mp4"}
|
| 84 |
+
{"evaluation_state_index": 3, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_003_episode_000004_f9f0e24193e3/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_003_episode_000004_f9f0e24193e3/object-perturbed/rollout.mp4"}
|
| 85 |
+
{"evaluation_state_index": 4, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_004_episode_000005_a87bcfb9335a/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_004_episode_000005_a87bcfb9335a/object-perturbed/rollout.mp4"}
|
| 86 |
+
{"evaluation_state_index": 5, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_005_episode_000006_fd311435ff63/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_005_episode_000006_fd311435ff63/object-perturbed/rollout.mp4"}
|
| 87 |
+
{"evaluation_state_index": 6, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_006_episode_000007_50e8d0c64557/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_006_episode_000007_50e8d0c64557/object-perturbed/rollout.mp4"}
|
| 88 |
+
{"evaluation_state_index": 7, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_007_episode_000008_271389f4ced4/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_007_episode_000008_271389f4ced4/object-perturbed/rollout.mp4"}
|
| 89 |
+
{"evaluation_state_index": 8, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_008_episode_000009_fdcc3009f80b/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_008_episode_000009_fdcc3009f80b/object-perturbed/rollout.mp4"}
|
| 90 |
+
{"evaluation_state_index": 9, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_009_episode_000010_10b35f423b32/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_009_episode_000010_10b35f423b32/object-perturbed/rollout.mp4"}
|
| 91 |
+
{"evaluation_state_index": 10, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_010_episode_000011_8b9b8e3db463/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_010_episode_000011_8b9b8e3db463/object-perturbed/rollout.mp4"}
|
| 92 |
+
{"evaluation_state_index": 11, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_011_episode_000012_e0359e11ab14/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_011_episode_000012_e0359e11ab14/object-perturbed/rollout.mp4"}
|
| 93 |
+
{"evaluation_state_index": 12, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_012_episode_000013_91efdae76af6/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_012_episode_000013_91efdae76af6/object-perturbed/rollout.mp4"}
|
| 94 |
+
{"evaluation_state_index": 13, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_013_episode_000014_428b3fbe9f88/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_013_episode_000014_428b3fbe9f88/object-perturbed/rollout.mp4"}
|
| 95 |
+
{"evaluation_state_index": 14, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_014_episode_000015_dc950eac3ae9/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_014_episode_000015_dc950eac3ae9/object-perturbed/rollout.mp4"}
|
| 96 |
+
{"evaluation_state_index": 15, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_015_episode_000016_365e7c0f7d28/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_015_episode_000016_365e7c0f7d28/object-perturbed/rollout.mp4"}
|
| 97 |
+
{"evaluation_state_index": 16, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_016_episode_000017_ecfa2e8720dc/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_016_episode_000017_ecfa2e8720dc/object-perturbed/rollout.mp4"}
|
| 98 |
+
{"evaluation_state_index": 17, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_017_episode_000018_c2bc4a5fdd7b/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_017_episode_000018_c2bc4a5fdd7b/object-perturbed/rollout.mp4"}
|
| 99 |
+
{"evaluation_state_index": 18, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_018_episode_000019_043dea109485/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_018_episode_000019_043dea109485/object-perturbed/rollout.mp4"}
|
| 100 |
+
{"evaluation_state_index": 19, "hri_success": true, "interaction": "independent-tasking", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_019_episode_000020_cbcbc90778f7/object-perturbed/summary.json", "task_success": false, "video_path": "independent-tasking/rollouts/tomato-to-bowl__independent-tasking/state_019_episode_000020_cbcbc90778f7/object-perturbed/rollout.mp4"}
|
| 101 |
+
{"evaluation_state_index": 0, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": false, "steps": 521, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_000_episode_000001_416bb4e552be/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_000_episode_000001_416bb4e552be/object-perturbed/rollout.mp4"}
|
| 102 |
+
{"evaluation_state_index": 1, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_001_episode_000002_70adf751b907/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_001_episode_000002_70adf751b907/object-perturbed/rollout.mp4"}
|
| 103 |
+
{"evaluation_state_index": 2, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": false, "steps": 38, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_002_episode_000003_9291444d3875/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_002_episode_000003_9291444d3875/object-perturbed/rollout.mp4"}
|
| 104 |
+
{"evaluation_state_index": 3, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_003_episode_000004_6dadc7e5d6ef/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_003_episode_000004_6dadc7e5d6ef/object-perturbed/rollout.mp4"}
|
| 105 |
+
{"evaluation_state_index": 4, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_004_episode_000005_ce7842c87487/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_004_episode_000005_ce7842c87487/object-perturbed/rollout.mp4"}
|
| 106 |
+
{"evaluation_state_index": 5, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_005_episode_000006_6cb80917547f/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_005_episode_000006_6cb80917547f/object-perturbed/rollout.mp4"}
|
| 107 |
+
{"evaluation_state_index": 6, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_006_episode_000007_cd149294cff4/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_006_episode_000007_cd149294cff4/object-perturbed/rollout.mp4"}
|
| 108 |
+
{"evaluation_state_index": 7, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": false, "steps": 525, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_007_episode_000008_38354a957752/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_007_episode_000008_38354a957752/object-perturbed/rollout.mp4"}
|
| 109 |
+
{"evaluation_state_index": 8, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_008_episode_000009_87d024ef90ac/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_008_episode_000009_87d024ef90ac/object-perturbed/rollout.mp4"}
|
| 110 |
+
{"evaluation_state_index": 9, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_009_episode_000010_819ff357aa6e/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_009_episode_000010_819ff357aa6e/object-perturbed/rollout.mp4"}
|
| 111 |
+
{"evaluation_state_index": 10, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_010_episode_000011_2ff4802d1601/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_010_episode_000011_2ff4802d1601/object-perturbed/rollout.mp4"}
|
| 112 |
+
{"evaluation_state_index": 11, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_011_episode_000012_d14c9c47e9d9/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_011_episode_000012_d14c9c47e9d9/object-perturbed/rollout.mp4"}
|
| 113 |
+
{"evaluation_state_index": 12, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_012_episode_000013_3a31de2c103e/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_012_episode_000013_3a31de2c103e/object-perturbed/rollout.mp4"}
|
| 114 |
+
{"evaluation_state_index": 13, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_013_episode_000014_4b4ac537c774/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_013_episode_000014_4b4ac537c774/object-perturbed/rollout.mp4"}
|
| 115 |
+
{"evaluation_state_index": 14, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_014_episode_000015_22df394ce966/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_014_episode_000015_22df394ce966/object-perturbed/rollout.mp4"}
|
| 116 |
+
{"evaluation_state_index": 15, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_015_episode_000016_a71a8196b663/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_015_episode_000016_a71a8196b663/object-perturbed/rollout.mp4"}
|
| 117 |
+
{"evaluation_state_index": 16, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": false, "steps": 69, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_016_episode_000017_a36eef06bfec/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_016_episode_000017_a36eef06bfec/object-perturbed/rollout.mp4"}
|
| 118 |
+
{"evaluation_state_index": 17, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_017_episode_000018_5e90d8f1d603/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_017_episode_000018_5e90d8f1d603/object-perturbed/rollout.mp4"}
|
| 119 |
+
{"evaluation_state_index": 18, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_018_episode_000019_872086bb6fb6/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_018_episode_000019_872086bb6fb6/object-perturbed/rollout.mp4"}
|
| 120 |
+
{"evaluation_state_index": 19, "hri_success": false, "interaction": "r2h", "overall_success": false, "safety_success": false, "steps": 31, "summary_path": "r2h/rollouts/tomato-to-bowl__r2h/state_019_episode_000020_0e8bda0a3f60/object-perturbed/summary.json", "task_success": false, "video_path": "r2h/rollouts/tomato-to-bowl__r2h/state_019_episode_000020_0e8bda0a3f60/object-perturbed/rollout.mp4"}
|
| 121 |
+
{"evaluation_state_index": 0, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_000_episode_000001_0f2449cffa8a/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_000_episode_000001_0f2449cffa8a/object-perturbed/rollout.mp4"}
|
| 122 |
+
{"evaluation_state_index": 1, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_001_episode_000002_5faa30dbeb97/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_001_episode_000002_5faa30dbeb97/object-perturbed/rollout.mp4"}
|
| 123 |
+
{"evaluation_state_index": 2, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_002_episode_000003_6081eaaa09b1/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_002_episode_000003_6081eaaa09b1/object-perturbed/rollout.mp4"}
|
| 124 |
+
{"evaluation_state_index": 3, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_003_episode_000004_c5804200b054/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_003_episode_000004_c5804200b054/object-perturbed/rollout.mp4"}
|
| 125 |
+
{"evaluation_state_index": 4, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_004_episode_000005_d5cd9b9a6294/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_004_episode_000005_d5cd9b9a6294/object-perturbed/rollout.mp4"}
|
| 126 |
+
{"evaluation_state_index": 5, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_005_episode_000006_0a5c6bfec546/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_005_episode_000006_0a5c6bfec546/object-perturbed/rollout.mp4"}
|
| 127 |
+
{"evaluation_state_index": 6, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_006_episode_000007_8c9167cc5afd/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_006_episode_000007_8c9167cc5afd/object-perturbed/rollout.mp4"}
|
| 128 |
+
{"evaluation_state_index": 7, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_007_episode_000008_addeccbf8dd5/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_007_episode_000008_addeccbf8dd5/object-perturbed/rollout.mp4"}
|
| 129 |
+
{"evaluation_state_index": 8, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_008_episode_000009_3be82e33a4dc/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_008_episode_000009_3be82e33a4dc/object-perturbed/rollout.mp4"}
|
| 130 |
+
{"evaluation_state_index": 9, "hri_success": false, "interaction": "redirect", "overall_success": false, "safety_success": false, "steps": 46, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_009_episode_000010_1b23b7d954ef/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_009_episode_000010_1b23b7d954ef/object-perturbed/rollout.mp4"}
|
| 131 |
+
{"evaluation_state_index": 10, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_010_episode_000011_65dc8942c772/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_010_episode_000011_65dc8942c772/object-perturbed/rollout.mp4"}
|
| 132 |
+
{"evaluation_state_index": 11, "hri_success": true, "interaction": "redirect", "overall_success": true, "safety_success": true, "steps": 144, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_011_episode_000012_182c8114e733/object-perturbed/summary.json", "task_success": true, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_011_episode_000012_182c8114e733/object-perturbed/rollout.mp4"}
|
| 133 |
+
{"evaluation_state_index": 12, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_012_episode_000013_19c3761ac588/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_012_episode_000013_19c3761ac588/object-perturbed/rollout.mp4"}
|
| 134 |
+
{"evaluation_state_index": 13, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_013_episode_000014_6e07f78a91f0/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_013_episode_000014_6e07f78a91f0/object-perturbed/rollout.mp4"}
|
| 135 |
+
{"evaluation_state_index": 14, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_014_episode_000015_6e57ba627ce3/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_014_episode_000015_6e57ba627ce3/object-perturbed/rollout.mp4"}
|
| 136 |
+
{"evaluation_state_index": 15, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_015_episode_000017_2eec40aafd12/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_015_episode_000017_2eec40aafd12/object-perturbed/rollout.mp4"}
|
| 137 |
+
{"evaluation_state_index": 16, "hri_success": true, "interaction": "redirect", "overall_success": true, "safety_success": true, "steps": 148, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_016_episode_000018_0f0be284c059/object-perturbed/summary.json", "task_success": true, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_016_episode_000018_0f0be284c059/object-perturbed/rollout.mp4"}
|
| 138 |
+
{"evaluation_state_index": 17, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_017_episode_000019_62191cdbe780/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_017_episode_000019_62191cdbe780/object-perturbed/rollout.mp4"}
|
| 139 |
+
{"evaluation_state_index": 18, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_018_episode_000020_bc49874fbdd6/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_018_episode_000020_bc49874fbdd6/object-perturbed/rollout.mp4"}
|
| 140 |
+
{"evaluation_state_index": 19, "hri_success": true, "interaction": "redirect", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "redirect/rollouts/tomato-to-bowl__redirect/state_019_episode_000021_643ca266572a/object-perturbed/summary.json", "task_success": false, "video_path": "redirect/rollouts/tomato-to-bowl__redirect/state_019_episode_000021_643ca266572a/object-perturbed/rollout.mp4"}
|
| 141 |
+
{"evaluation_state_index": 0, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_000_episode_000001_dd2215b8a5ae/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_000_episode_000001_dd2215b8a5ae/object-perturbed/rollout.mp4"}
|
| 142 |
+
{"evaluation_state_index": 1, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_001_episode_000002_1261e0e53d7b/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_001_episode_000002_1261e0e53d7b/object-perturbed/rollout.mp4"}
|
| 143 |
+
{"evaluation_state_index": 2, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_002_episode_000003_cdc5a690d1bb/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_002_episode_000003_cdc5a690d1bb/object-perturbed/rollout.mp4"}
|
| 144 |
+
{"evaluation_state_index": 3, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_003_episode_000004_a1ca134a37e5/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_003_episode_000004_a1ca134a37e5/object-perturbed/rollout.mp4"}
|
| 145 |
+
{"evaluation_state_index": 4, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_004_episode_000005_e2c517b2563b/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_004_episode_000005_e2c517b2563b/object-perturbed/rollout.mp4"}
|
| 146 |
+
{"evaluation_state_index": 5, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_005_episode_000006_421385510d44/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_005_episode_000006_421385510d44/object-perturbed/rollout.mp4"}
|
| 147 |
+
{"evaluation_state_index": 6, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_006_episode_000007_7eb4e7121ef9/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_006_episode_000007_7eb4e7121ef9/object-perturbed/rollout.mp4"}
|
| 148 |
+
{"evaluation_state_index": 7, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_007_episode_000008_2131da39b9af/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_007_episode_000008_2131da39b9af/object-perturbed/rollout.mp4"}
|
| 149 |
+
{"evaluation_state_index": 8, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_008_episode_000009_095dfcbff077/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_008_episode_000009_095dfcbff077/object-perturbed/rollout.mp4"}
|
| 150 |
+
{"evaluation_state_index": 9, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_009_episode_000010_6fd3777d2c41/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_009_episode_000010_6fd3777d2c41/object-perturbed/rollout.mp4"}
|
| 151 |
+
{"evaluation_state_index": 10, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_010_episode_000011_9ad8f034665e/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_010_episode_000011_9ad8f034665e/object-perturbed/rollout.mp4"}
|
| 152 |
+
{"evaluation_state_index": 11, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_011_episode_000012_421782090ae8/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_011_episode_000012_421782090ae8/object-perturbed/rollout.mp4"}
|
| 153 |
+
{"evaluation_state_index": 12, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_012_episode_000013_2f93c49211d1/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_012_episode_000013_2f93c49211d1/object-perturbed/rollout.mp4"}
|
| 154 |
+
{"evaluation_state_index": 13, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_013_episode_000014_452b0a2efaf1/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_013_episode_000014_452b0a2efaf1/object-perturbed/rollout.mp4"}
|
| 155 |
+
{"evaluation_state_index": 14, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_014_episode_000015_57a034e4a0ba/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_014_episode_000015_57a034e4a0ba/object-perturbed/rollout.mp4"}
|
| 156 |
+
{"evaluation_state_index": 15, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_015_episode_000016_1789731717d8/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_015_episode_000016_1789731717d8/object-perturbed/rollout.mp4"}
|
| 157 |
+
{"evaluation_state_index": 16, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_016_episode_000017_3b6a6bcfa7aa/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_016_episode_000017_3b6a6bcfa7aa/object-perturbed/rollout.mp4"}
|
| 158 |
+
{"evaluation_state_index": 17, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_017_episode_000018_23c107de67ca/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_017_episode_000018_23c107de67ca/object-perturbed/rollout.mp4"}
|
| 159 |
+
{"evaluation_state_index": 18, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_018_episode_000019_16e57b7852b9/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_018_episode_000019_16e57b7852b9/object-perturbed/rollout.mp4"}
|
| 160 |
+
{"evaluation_state_index": 19, "hri_success": false, "interaction": "stop", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "stop/rollouts/tomato-to-bowl__stop/state_019_episode_000020_893cb8cba35d/object-perturbed/summary.json", "task_success": false, "video_path": "stop/rollouts/tomato-to-bowl__stop/state_019_episode_000020_893cb8cba35d/object-perturbed/rollout.mp4"}
|
| 161 |
+
{"evaluation_state_index": 0, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_000_episode_000001_84b404931ea8/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_000_episode_000001_84b404931ea8/object-perturbed/rollout.mp4"}
|
| 162 |
+
{"evaluation_state_index": 1, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": false, "steps": 81, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_001_episode_000002_b6fe6de9ef50/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_001_episode_000002_b6fe6de9ef50/object-perturbed/rollout.mp4"}
|
| 163 |
+
{"evaluation_state_index": 2, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_002_episode_000003_a4f0ea774c84/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_002_episode_000003_a4f0ea774c84/object-perturbed/rollout.mp4"}
|
| 164 |
+
{"evaluation_state_index": 3, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_003_episode_000004_bef3c23eb663/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_003_episode_000004_bef3c23eb663/object-perturbed/rollout.mp4"}
|
| 165 |
+
{"evaluation_state_index": 4, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_004_episode_000005_93e0219f6039/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_004_episode_000005_93e0219f6039/object-perturbed/rollout.mp4"}
|
| 166 |
+
{"evaluation_state_index": 5, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_005_episode_000006_9c97cdd5a8fb/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_005_episode_000006_9c97cdd5a8fb/object-perturbed/rollout.mp4"}
|
| 167 |
+
{"evaluation_state_index": 6, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_006_episode_000007_96e181eeb0b5/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_006_episode_000007_96e181eeb0b5/object-perturbed/rollout.mp4"}
|
| 168 |
+
{"evaluation_state_index": 7, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": false, "steps": 84, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_007_episode_000008_e5875891ab9e/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_007_episode_000008_e5875891ab9e/object-perturbed/rollout.mp4"}
|
| 169 |
+
{"evaluation_state_index": 8, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_008_episode_000009_375a0ab541bd/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_008_episode_000009_375a0ab541bd/object-perturbed/rollout.mp4"}
|
| 170 |
+
{"evaluation_state_index": 9, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_009_episode_000010_b7d9d58cc7bb/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_009_episode_000010_b7d9d58cc7bb/object-perturbed/rollout.mp4"}
|
| 171 |
+
{"evaluation_state_index": 10, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_010_episode_000011_d939d1a36bfd/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_010_episode_000011_d939d1a36bfd/object-perturbed/rollout.mp4"}
|
| 172 |
+
{"evaluation_state_index": 11, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_011_episode_000012_b1107062d8f1/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_011_episode_000012_b1107062d8f1/object-perturbed/rollout.mp4"}
|
| 173 |
+
{"evaluation_state_index": 12, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_012_episode_000013_dcbd81a7f61b/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_012_episode_000013_dcbd81a7f61b/object-perturbed/rollout.mp4"}
|
| 174 |
+
{"evaluation_state_index": 13, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": false, "steps": 81, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_013_episode_000014_bcf4d383da69/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_013_episode_000014_bcf4d383da69/object-perturbed/rollout.mp4"}
|
| 175 |
+
{"evaluation_state_index": 14, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": false, "steps": 56, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_014_episode_000015_2d696239ff30/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_014_episode_000015_2d696239ff30/object-perturbed/rollout.mp4"}
|
| 176 |
+
{"evaluation_state_index": 15, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_015_episode_000016_97a5d27355aa/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_015_episode_000016_97a5d27355aa/object-perturbed/rollout.mp4"}
|
| 177 |
+
{"evaluation_state_index": 16, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_016_episode_000017_0683ce038e43/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_016_episode_000017_0683ce038e43/object-perturbed/rollout.mp4"}
|
| 178 |
+
{"evaluation_state_index": 17, "hri_success": true, "interaction": "takeaway", "overall_success": true, "safety_success": true, "steps": 108, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_017_episode_000018_b13e0b118cb1/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_017_episode_000018_b13e0b118cb1/object-perturbed/rollout.mp4"}
|
| 179 |
+
{"evaluation_state_index": 18, "hri_success": true, "interaction": "takeaway", "overall_success": true, "safety_success": true, "steps": 128, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_018_episode_000019_a68fdcfd5377/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_018_episode_000019_a68fdcfd5377/object-perturbed/rollout.mp4"}
|
| 180 |
+
{"evaluation_state_index": 19, "hri_success": false, "interaction": "takeaway", "overall_success": false, "safety_success": true, "steps": 650, "summary_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_019_episode_000020_fbcd2e46cdbc/object-perturbed/summary.json", "task_success": false, "video_path": "takeaway/rollouts/tomato-to-bowl__takeaway/state_019_episode_000020_fbcd2e46cdbc/object-perturbed/rollout.mp4"}
|
h2r-air/aggregate.json
ADDED
|
@@ -0,0 +1,176 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cells": {
|
| 3 |
+
"tomato-to-bowl/h2r-air": {
|
| 4 |
+
"exact": {
|
| 5 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 6 |
+
"collision_closing_speed_m_per_step": {
|
| 7 |
+
"count": 0,
|
| 8 |
+
"mean": null,
|
| 9 |
+
"median": null,
|
| 10 |
+
"minimum": null
|
| 11 |
+
},
|
| 12 |
+
"episodes": 0,
|
| 13 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 14 |
+
"hri_completion_step": {
|
| 15 |
+
"count": 0,
|
| 16 |
+
"mean": null,
|
| 17 |
+
"median": null,
|
| 18 |
+
"minimum": null
|
| 19 |
+
},
|
| 20 |
+
"hri_success_rate": 0.0,
|
| 21 |
+
"intent_directive_accuracy": {
|
| 22 |
+
"count": 0,
|
| 23 |
+
"mean": null,
|
| 24 |
+
"median": null,
|
| 25 |
+
"minimum": null
|
| 26 |
+
},
|
| 27 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 28 |
+
"count": 0,
|
| 29 |
+
"mean": null,
|
| 30 |
+
"median": null,
|
| 31 |
+
"minimum": null
|
| 32 |
+
},
|
| 33 |
+
"overall_success_rate": 0.0,
|
| 34 |
+
"safety_shield_intervention_rate": 0.0,
|
| 35 |
+
"safety_success_rate": 0.0,
|
| 36 |
+
"task_completion_step": {
|
| 37 |
+
"count": 0,
|
| 38 |
+
"mean": null,
|
| 39 |
+
"median": null,
|
| 40 |
+
"minimum": null
|
| 41 |
+
},
|
| 42 |
+
"task_success_rate": 0.0,
|
| 43 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 44 |
+
},
|
| 45 |
+
"object-perturbed": {
|
| 46 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 47 |
+
"collision_closing_speed_m_per_step": {
|
| 48 |
+
"count": 0,
|
| 49 |
+
"mean": null,
|
| 50 |
+
"median": null,
|
| 51 |
+
"minimum": null
|
| 52 |
+
},
|
| 53 |
+
"episodes": 20,
|
| 54 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 55 |
+
"hri_completion_step": {
|
| 56 |
+
"count": 0,
|
| 57 |
+
"mean": null,
|
| 58 |
+
"median": null,
|
| 59 |
+
"minimum": null
|
| 60 |
+
},
|
| 61 |
+
"hri_success_rate": 0.0,
|
| 62 |
+
"intent_directive_accuracy": {
|
| 63 |
+
"count": 0,
|
| 64 |
+
"mean": null,
|
| 65 |
+
"median": null,
|
| 66 |
+
"minimum": null
|
| 67 |
+
},
|
| 68 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 69 |
+
"count": 20,
|
| 70 |
+
"mean": 0.047145523559689144,
|
| 71 |
+
"median": 0.02276434804725888,
|
| 72 |
+
"minimum": 2.6624633067293677e-05
|
| 73 |
+
},
|
| 74 |
+
"overall_success_rate": 0.0,
|
| 75 |
+
"safety_shield_intervention_rate": 0.0,
|
| 76 |
+
"safety_success_rate": 1.0,
|
| 77 |
+
"task_completion_step": {
|
| 78 |
+
"count": 0,
|
| 79 |
+
"mean": null,
|
| 80 |
+
"median": null,
|
| 81 |
+
"minimum": null
|
| 82 |
+
},
|
| 83 |
+
"task_success_rate": 0.0,
|
| 84 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 85 |
+
}
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"overall_by_mode": {
|
| 89 |
+
"exact": {
|
| 90 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 91 |
+
"collision_closing_speed_m_per_step": {
|
| 92 |
+
"count": 0,
|
| 93 |
+
"mean": null,
|
| 94 |
+
"median": null,
|
| 95 |
+
"minimum": null
|
| 96 |
+
},
|
| 97 |
+
"episodes": 0,
|
| 98 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 99 |
+
"hri_completion_step": {
|
| 100 |
+
"count": 0,
|
| 101 |
+
"mean": null,
|
| 102 |
+
"median": null,
|
| 103 |
+
"minimum": null
|
| 104 |
+
},
|
| 105 |
+
"hri_success_rate": 0.0,
|
| 106 |
+
"intent_directive_accuracy": {
|
| 107 |
+
"count": 0,
|
| 108 |
+
"mean": null,
|
| 109 |
+
"median": null,
|
| 110 |
+
"minimum": null
|
| 111 |
+
},
|
| 112 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 113 |
+
"count": 0,
|
| 114 |
+
"mean": null,
|
| 115 |
+
"median": null,
|
| 116 |
+
"minimum": null
|
| 117 |
+
},
|
| 118 |
+
"overall_success_rate": 0.0,
|
| 119 |
+
"safety_shield_intervention_rate": 0.0,
|
| 120 |
+
"safety_success_rate": 0.0,
|
| 121 |
+
"task_completion_step": {
|
| 122 |
+
"count": 0,
|
| 123 |
+
"mean": null,
|
| 124 |
+
"median": null,
|
| 125 |
+
"minimum": null
|
| 126 |
+
},
|
| 127 |
+
"task_success_rate": 0.0,
|
| 128 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 129 |
+
},
|
| 130 |
+
"object-perturbed": {
|
| 131 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 132 |
+
"collision_closing_speed_m_per_step": {
|
| 133 |
+
"count": 0,
|
| 134 |
+
"mean": null,
|
| 135 |
+
"median": null,
|
| 136 |
+
"minimum": null
|
| 137 |
+
},
|
| 138 |
+
"episodes": 20,
|
| 139 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 140 |
+
"hri_completion_step": {
|
| 141 |
+
"count": 0,
|
| 142 |
+
"mean": null,
|
| 143 |
+
"median": null,
|
| 144 |
+
"minimum": null
|
| 145 |
+
},
|
| 146 |
+
"hri_success_rate": 0.0,
|
| 147 |
+
"intent_directive_accuracy": {
|
| 148 |
+
"count": 0,
|
| 149 |
+
"mean": null,
|
| 150 |
+
"median": null,
|
| 151 |
+
"minimum": null
|
| 152 |
+
},
|
| 153 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 154 |
+
"count": 20,
|
| 155 |
+
"mean": 0.047145523559689144,
|
| 156 |
+
"median": 0.02276434804725888,
|
| 157 |
+
"minimum": 2.6624633067293677e-05
|
| 158 |
+
},
|
| 159 |
+
"overall_success_rate": 0.0,
|
| 160 |
+
"safety_shield_intervention_rate": 0.0,
|
| 161 |
+
"safety_success_rate": 1.0,
|
| 162 |
+
"task_completion_step": {
|
| 163 |
+
"count": 0,
|
| 164 |
+
"mean": null,
|
| 165 |
+
"median": null,
|
| 166 |
+
"minimum": null
|
| 167 |
+
},
|
| 168 |
+
"task_success_rate": 0.0,
|
| 169 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"paired_changes": [],
|
| 173 |
+
"paired_episodes": 0,
|
| 174 |
+
"rollouts": 20,
|
| 175 |
+
"schema_version": 3
|
| 176 |
+
}
|
h2r-air/manifest.json
ADDED
|
@@ -0,0 +1,553 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"accepted_episode_contract": "collector-episodes-directory-v1",
|
| 3 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 4 |
+
"action_key": null,
|
| 5 |
+
"adaptive_intent_expected": true,
|
| 6 |
+
"adaptive_trust_region_config": null,
|
| 7 |
+
"adaptive_trust_region_enabled": false,
|
| 8 |
+
"base_episodes": 20,
|
| 9 |
+
"composition_filter": null,
|
| 10 |
+
"episodes_per_cell": 20,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_mode": "simple",
|
| 13 |
+
"excluded_trajectories": [],
|
| 14 |
+
"execute_horizon": 1,
|
| 15 |
+
"extra_perturbation_source_indices": [],
|
| 16 |
+
"handover_signal_prompts_enabled": true,
|
| 17 |
+
"human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations",
|
| 18 |
+
"human_interaction_filter": "h2r-air",
|
| 19 |
+
"human_interaction_prompts_enabled": true,
|
| 20 |
+
"human_task_dir": null,
|
| 21 |
+
"initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2",
|
| 22 |
+
"initialization_source": "human-plan",
|
| 23 |
+
"intent_human_prompts_enabled": true,
|
| 24 |
+
"intent_visual_history_enabled": true,
|
| 25 |
+
"intrinsic_action_evaluation": true,
|
| 26 |
+
"max_steps": 650,
|
| 27 |
+
"modes": [
|
| 28 |
+
"object-perturbed"
|
| 29 |
+
],
|
| 30 |
+
"object_perturbation_m": 0.005,
|
| 31 |
+
"observation_keys": [],
|
| 32 |
+
"perturbation_attempts": 20,
|
| 33 |
+
"perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 34 |
+
"perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988",
|
| 35 |
+
"perturbed_state_schedule": [
|
| 36 |
+
{
|
| 37 |
+
"evaluation_state_index": 0,
|
| 38 |
+
"perturbation_index": 0,
|
| 39 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 40 |
+
"source_index": 0,
|
| 41 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000001.hdf5"
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"evaluation_state_index": 1,
|
| 45 |
+
"perturbation_index": 0,
|
| 46 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 47 |
+
"source_index": 1,
|
| 48 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000002.hdf5"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"evaluation_state_index": 2,
|
| 52 |
+
"perturbation_index": 0,
|
| 53 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 54 |
+
"source_index": 2,
|
| 55 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000003.hdf5"
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"evaluation_state_index": 3,
|
| 59 |
+
"perturbation_index": 0,
|
| 60 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 61 |
+
"source_index": 3,
|
| 62 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000004.hdf5"
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"evaluation_state_index": 4,
|
| 66 |
+
"perturbation_index": 0,
|
| 67 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 68 |
+
"source_index": 4,
|
| 69 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000005.hdf5"
|
| 70 |
+
},
|
| 71 |
+
{
|
| 72 |
+
"evaluation_state_index": 5,
|
| 73 |
+
"perturbation_index": 0,
|
| 74 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 75 |
+
"source_index": 5,
|
| 76 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000006.hdf5"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"evaluation_state_index": 6,
|
| 80 |
+
"perturbation_index": 0,
|
| 81 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 82 |
+
"source_index": 6,
|
| 83 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000007.hdf5"
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"evaluation_state_index": 7,
|
| 87 |
+
"perturbation_index": 0,
|
| 88 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 89 |
+
"source_index": 7,
|
| 90 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000008.hdf5"
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"evaluation_state_index": 8,
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 96 |
+
"source_index": 8,
|
| 97 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000009.hdf5"
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"evaluation_state_index": 9,
|
| 101 |
+
"perturbation_index": 0,
|
| 102 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 103 |
+
"source_index": 9,
|
| 104 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000010.hdf5"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"evaluation_state_index": 10,
|
| 108 |
+
"perturbation_index": 0,
|
| 109 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 110 |
+
"source_index": 10,
|
| 111 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000011.hdf5"
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"evaluation_state_index": 11,
|
| 115 |
+
"perturbation_index": 0,
|
| 116 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 117 |
+
"source_index": 11,
|
| 118 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000013.hdf5"
|
| 119 |
+
},
|
| 120 |
+
{
|
| 121 |
+
"evaluation_state_index": 12,
|
| 122 |
+
"perturbation_index": 0,
|
| 123 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 124 |
+
"source_index": 12,
|
| 125 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000014.hdf5"
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"evaluation_state_index": 13,
|
| 129 |
+
"perturbation_index": 0,
|
| 130 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 131 |
+
"source_index": 13,
|
| 132 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000015.hdf5"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"evaluation_state_index": 14,
|
| 136 |
+
"perturbation_index": 0,
|
| 137 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 138 |
+
"source_index": 14,
|
| 139 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000016.hdf5"
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"evaluation_state_index": 15,
|
| 143 |
+
"perturbation_index": 0,
|
| 144 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 145 |
+
"source_index": 15,
|
| 146 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000017.hdf5"
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"evaluation_state_index": 16,
|
| 150 |
+
"perturbation_index": 0,
|
| 151 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 152 |
+
"source_index": 16,
|
| 153 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000018.hdf5"
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"evaluation_state_index": 17,
|
| 157 |
+
"perturbation_index": 0,
|
| 158 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 159 |
+
"source_index": 17,
|
| 160 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000019.hdf5"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"evaluation_state_index": 18,
|
| 164 |
+
"perturbation_index": 0,
|
| 165 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 166 |
+
"source_index": 18,
|
| 167 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000020.hdf5"
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"evaluation_state_index": 19,
|
| 171 |
+
"perturbation_index": 0,
|
| 172 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 173 |
+
"source_index": 19,
|
| 174 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000021.hdf5"
|
| 175 |
+
}
|
| 176 |
+
],
|
| 177 |
+
"policy_endpoint": "http://127.0.0.1:5693",
|
| 178 |
+
"policy_payload_schema": "hitbench-policy-observation-v3",
|
| 179 |
+
"policy_rollouts": 20,
|
| 180 |
+
"policy_server_config": {
|
| 181 |
+
"ablation": {
|
| 182 |
+
"history_indices": [
|
| 183 |
+
-9,
|
| 184 |
+
-6,
|
| 185 |
+
-3,
|
| 186 |
+
0
|
| 187 |
+
],
|
| 188 |
+
"interaction_prompt": true,
|
| 189 |
+
"regular_prompt": true,
|
| 190 |
+
"variant": "E",
|
| 191 |
+
"visual_history": 4
|
| 192 |
+
},
|
| 193 |
+
"action": {
|
| 194 |
+
"shape": [
|
| 195 |
+
50,
|
| 196 |
+
7
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
"action_execution": "fresh trust sample and action chunk each request; evaluator executes one action",
|
| 200 |
+
"identity": {
|
| 201 |
+
"checkpoint": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_large_h50_100k/checkpoints/100000/hri_diff",
|
| 202 |
+
"model": "hri-diff"
|
| 203 |
+
},
|
| 204 |
+
"observation": {
|
| 205 |
+
"observation.depth.agentview": "float32 1HW camera-Z metres",
|
| 206 |
+
"observation.images.rgb": "uint8 HWC RGB",
|
| 207 |
+
"observation.state": "float32 [8] current proprioception"
|
| 208 |
+
},
|
| 209 |
+
"policy": "hri-diff",
|
| 210 |
+
"rgb_input_contract": {
|
| 211 |
+
"alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame",
|
| 212 |
+
"codec_roundtrip": {
|
| 213 |
+
"canonical_codec": "av1",
|
| 214 |
+
"crf": 30,
|
| 215 |
+
"fps": 20,
|
| 216 |
+
"g": 2,
|
| 217 |
+
"pix_fmt": "yuv420p",
|
| 218 |
+
"vcodec": "libsvtav1"
|
| 219 |
+
},
|
| 220 |
+
"storage": "av1_yuv420_video"
|
| 221 |
+
},
|
| 222 |
+
"trust_flow": {
|
| 223 |
+
"dimension": 512,
|
| 224 |
+
"ode_steps": 20,
|
| 225 |
+
"tokens": 50
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
"policy_variant": "E",
|
| 229 |
+
"reconstruction_selection": "object-perturbed",
|
| 230 |
+
"recorded_evaluation_mode": "single",
|
| 231 |
+
"runtime_perturbation_sampling": false,
|
| 232 |
+
"safety_filter_enabled": false,
|
| 233 |
+
"save_video_mode": "all",
|
| 234 |
+
"schema_version": 10,
|
| 235 |
+
"selected_cases": [
|
| 236 |
+
"tomato-to-bowl/h2r-air"
|
| 237 |
+
],
|
| 238 |
+
"shortages": {},
|
| 239 |
+
"source_alignment": [
|
| 240 |
+
{
|
| 241 |
+
"event_human_seeds": [
|
| 242 |
+
1858588946
|
| 243 |
+
],
|
| 244 |
+
"human_plan_sha256": "1fc72b2c56877bb292e4d7068828911606fdd197d6ebc18c85d16fb63fb5a162",
|
| 245 |
+
"human_seed": 1858588946,
|
| 246 |
+
"initial_sim_state_sha256": "82ae7f51fc087906e6611ca86a2249496c4a82b8c12dc376fa39bdd3a8422c74",
|
| 247 |
+
"interaction_ids": [
|
| 248 |
+
"h2r-air"
|
| 249 |
+
],
|
| 250 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 251 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000001.hdf5",
|
| 252 |
+
"task_seed": 439585592,
|
| 253 |
+
"task_sim_state_sha256": "a1d0776fd0f6d1aed7760a5d20f68d5d8b4f82c428367b54c55c9e6720d0600e"
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"event_human_seeds": [
|
| 257 |
+
2274543954
|
| 258 |
+
],
|
| 259 |
+
"human_plan_sha256": "cd85b2430339e11fa39b4e840ce7001582e54d34a361f33878bda26cf031d868",
|
| 260 |
+
"human_seed": 2274543954,
|
| 261 |
+
"initial_sim_state_sha256": "ed901ef69cd8045d0b1f711e71ec59e8a467582b021f2f2d529554828107e9a2",
|
| 262 |
+
"interaction_ids": [
|
| 263 |
+
"h2r-air"
|
| 264 |
+
],
|
| 265 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 266 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000002.hdf5",
|
| 267 |
+
"task_seed": 773541292,
|
| 268 |
+
"task_sim_state_sha256": "8b01ef99c4fa98d7b59dceec9f81f259778c2e4a00772b137151c31cae25a0f5"
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"event_human_seeds": [
|
| 272 |
+
630610208
|
| 273 |
+
],
|
| 274 |
+
"human_plan_sha256": "1cc03b9db99fa3fd7a5cdfd307a5bae562a59af25f888656557d5469fdeb729e",
|
| 275 |
+
"human_seed": 630610208,
|
| 276 |
+
"initial_sim_state_sha256": "540fb2f78ba140e064474aba71e638730f3bae1a9668a40cbe60ba7b7d76726b",
|
| 277 |
+
"interaction_ids": [
|
| 278 |
+
"h2r-air"
|
| 279 |
+
],
|
| 280 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 281 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000003.hdf5",
|
| 282 |
+
"task_seed": 713873487,
|
| 283 |
+
"task_sim_state_sha256": "d78b1cc24d32b01106a081bed15d1be9aaf191ba1511b77eb982466e5d60636b"
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"event_human_seeds": [
|
| 287 |
+
3008358327
|
| 288 |
+
],
|
| 289 |
+
"human_plan_sha256": "3e60982a146f13129b7e9f72ac5f4e8b87d3e02889c277c2a71a87dd797b4d74",
|
| 290 |
+
"human_seed": 3008358327,
|
| 291 |
+
"initial_sim_state_sha256": "c994fdeb08b1a2ffeac441db52de96b602645954b57033831a32e5c710e7947f",
|
| 292 |
+
"interaction_ids": [
|
| 293 |
+
"h2r-air"
|
| 294 |
+
],
|
| 295 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 296 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000004.hdf5",
|
| 297 |
+
"task_seed": 1577080669,
|
| 298 |
+
"task_sim_state_sha256": "5f8658f699edee7093ffc2b24723aebe494791c846acfcb078fa4d3a4e49c585"
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
+
"event_human_seeds": [
|
| 302 |
+
20005521
|
| 303 |
+
],
|
| 304 |
+
"human_plan_sha256": "c3e41e280f780e1b5e40453cd3b37885c9207130c1aa2950a3bce41b2143ea55",
|
| 305 |
+
"human_seed": 20005521,
|
| 306 |
+
"initial_sim_state_sha256": "2548a4484a28a4aae9f8f467c961c1a75013eadcc42ce1444e1b677e43ce2362",
|
| 307 |
+
"interaction_ids": [
|
| 308 |
+
"h2r-air"
|
| 309 |
+
],
|
| 310 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 311 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000005.hdf5",
|
| 312 |
+
"task_seed": 2754298370,
|
| 313 |
+
"task_sim_state_sha256": "f73fb456d9e435812ed28c1a2c457f45b6882aea4b5a1b6f7f1f9a9899a30731"
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"event_human_seeds": [
|
| 317 |
+
2142061306
|
| 318 |
+
],
|
| 319 |
+
"human_plan_sha256": "29d0e3d51a2e80f2726d18306e5584006615774153f0f3634785925a3411adbe",
|
| 320 |
+
"human_seed": 2142061306,
|
| 321 |
+
"initial_sim_state_sha256": "feef59d8c8124e56cc0fb959937c2c1ff9fbc8d4db028c189d0acee296193f60",
|
| 322 |
+
"interaction_ids": [
|
| 323 |
+
"h2r-air"
|
| 324 |
+
],
|
| 325 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 326 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000006.hdf5",
|
| 327 |
+
"task_seed": 3120033489,
|
| 328 |
+
"task_sim_state_sha256": "2a8b60fe17326aba80f2d4bf993c661eb33a67e02cf67224b920b0b8c889d841"
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"event_human_seeds": [
|
| 332 |
+
54076815
|
| 333 |
+
],
|
| 334 |
+
"human_plan_sha256": "7342be64d1debf1757e27b88465b453f6210b90e464760809661ed99260f49c5",
|
| 335 |
+
"human_seed": 54076815,
|
| 336 |
+
"initial_sim_state_sha256": "a87fd9e0f37de238a2d83426be96fb785636789cfe70168b016db8a7bdacd496",
|
| 337 |
+
"interaction_ids": [
|
| 338 |
+
"h2r-air"
|
| 339 |
+
],
|
| 340 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 341 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000007.hdf5",
|
| 342 |
+
"task_seed": 2776985119,
|
| 343 |
+
"task_sim_state_sha256": "5228344bba2fadafb1cac0ad9574d8190b5db093ef81af4b761a5bdc9655cf58"
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"event_human_seeds": [
|
| 347 |
+
370479524
|
| 348 |
+
],
|
| 349 |
+
"human_plan_sha256": "44292da1eb7b44fb2a9b09da1786bb99e792696d4a3328f39fb27508acc7c52b",
|
| 350 |
+
"human_seed": 370479524,
|
| 351 |
+
"initial_sim_state_sha256": "b03175cb662660fdc5becf46409e7f2821832d9e73ef77cb62c6d9910e057fb0",
|
| 352 |
+
"interaction_ids": [
|
| 353 |
+
"h2r-air"
|
| 354 |
+
],
|
| 355 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 356 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000008.hdf5",
|
| 357 |
+
"task_seed": 1590257221,
|
| 358 |
+
"task_sim_state_sha256": "75c638827030c70b2477a3b999918065b7b1c1aa8cca2d595f95764f580c637e"
|
| 359 |
+
},
|
| 360 |
+
{
|
| 361 |
+
"event_human_seeds": [
|
| 362 |
+
2691382286
|
| 363 |
+
],
|
| 364 |
+
"human_plan_sha256": "0028f9f09d3e010900ca9288d5a47246936456cda58cef73925c1ecd4f6c570e",
|
| 365 |
+
"human_seed": 2691382286,
|
| 366 |
+
"initial_sim_state_sha256": "0c05d308d3b72e7098be983c8cdc013c1e406bbcf1d0484efafd891c5d8d74a6",
|
| 367 |
+
"interaction_ids": [
|
| 368 |
+
"h2r-air"
|
| 369 |
+
],
|
| 370 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 371 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000009.hdf5",
|
| 372 |
+
"task_seed": 373243349,
|
| 373 |
+
"task_sim_state_sha256": "25a1707419cabd3f11e49fdf53f8f32e63f91601feb61a97983110d2c18ef8d6"
|
| 374 |
+
},
|
| 375 |
+
{
|
| 376 |
+
"event_human_seeds": [
|
| 377 |
+
2815326209
|
| 378 |
+
],
|
| 379 |
+
"human_plan_sha256": "745416bbaaa70ff465df7e47976681b70d2dbc6410889c5ccee218c77b8bf8fc",
|
| 380 |
+
"human_seed": 2815326209,
|
| 381 |
+
"initial_sim_state_sha256": "6eb79af95cbd465e15df83cd02dc5fdf6563cfc24e0cb81eb0bf904cb57f02e0",
|
| 382 |
+
"interaction_ids": [
|
| 383 |
+
"h2r-air"
|
| 384 |
+
],
|
| 385 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 386 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000010.hdf5",
|
| 387 |
+
"task_seed": 2215284696,
|
| 388 |
+
"task_sim_state_sha256": "e1c0b41c6b47b7a01933affe7bb31c0b454b51d185d4cf963048fa4c5046c336"
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"event_human_seeds": [
|
| 392 |
+
3608317481
|
| 393 |
+
],
|
| 394 |
+
"human_plan_sha256": "64a4a26a68ba37b4367c63735f3b64f9dfb123e8fbac6659fc46695f500c853f",
|
| 395 |
+
"human_seed": 3608317481,
|
| 396 |
+
"initial_sim_state_sha256": "ee071697c04b3b90896b0c7f32f8ebd022a425fd7fb27380eab4a1749b46d3d9",
|
| 397 |
+
"interaction_ids": [
|
| 398 |
+
"h2r-air"
|
| 399 |
+
],
|
| 400 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 401 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000011.hdf5",
|
| 402 |
+
"task_seed": 3187069060,
|
| 403 |
+
"task_sim_state_sha256": "0a91af46276be0331d58c9fb747d766723102c830fbc5535cd3aa2e2ab0dfaf2"
|
| 404 |
+
},
|
| 405 |
+
{
|
| 406 |
+
"event_human_seeds": [
|
| 407 |
+
4094576133
|
| 408 |
+
],
|
| 409 |
+
"human_plan_sha256": "b74f8955cd1e4c43da57ef2097a843809961f6479c0432817c5239d90f84a02d",
|
| 410 |
+
"human_seed": 4094576133,
|
| 411 |
+
"initial_sim_state_sha256": "f23d4514ed51ce4de00c7df579a4979e6e3faab29a11e20c7dd5bc6be9b39587",
|
| 412 |
+
"interaction_ids": [
|
| 413 |
+
"h2r-air"
|
| 414 |
+
],
|
| 415 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 416 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000013.hdf5",
|
| 417 |
+
"task_seed": 1890333878,
|
| 418 |
+
"task_sim_state_sha256": "2c9c829d5f6e8b130b1cb9f0125c811bdfa4b82eaace4ae437eb7a54848875a6"
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"event_human_seeds": [
|
| 422 |
+
791268538
|
| 423 |
+
],
|
| 424 |
+
"human_plan_sha256": "ff27e8a21f041e39c86eba646fb974703a33e077d3dfc8bca7c117ffa98f300a",
|
| 425 |
+
"human_seed": 791268538,
|
| 426 |
+
"initial_sim_state_sha256": "161beae9d1f1f294198d6f5d531aa3a0969d377dc3100c0b40b5066fbf89a259",
|
| 427 |
+
"interaction_ids": [
|
| 428 |
+
"h2r-air"
|
| 429 |
+
],
|
| 430 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 431 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000014.hdf5",
|
| 432 |
+
"task_seed": 2713619963,
|
| 433 |
+
"task_sim_state_sha256": "b6ba81a6e05f702ba0389b9c1b770cfec1ddb143b64bf04476ddcda0283302b1"
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"event_human_seeds": [
|
| 437 |
+
633237518
|
| 438 |
+
],
|
| 439 |
+
"human_plan_sha256": "1ef5d6fea07a38f174990404d2e98cb4af405867d46cc1c4342620e892d40e49",
|
| 440 |
+
"human_seed": 633237518,
|
| 441 |
+
"initial_sim_state_sha256": "ca20498c705ec05d4798c3babdfafdbaf9ffb15425c08c0e5eb865bfcde132cd",
|
| 442 |
+
"interaction_ids": [
|
| 443 |
+
"h2r-air"
|
| 444 |
+
],
|
| 445 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 446 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000015.hdf5",
|
| 447 |
+
"task_seed": 1512525398,
|
| 448 |
+
"task_sim_state_sha256": "c7da56189e269a83f5d8963cbcb4e4380b503e90e9f2096544e40977fa1ed7dc"
|
| 449 |
+
},
|
| 450 |
+
{
|
| 451 |
+
"event_human_seeds": [
|
| 452 |
+
2709639000
|
| 453 |
+
],
|
| 454 |
+
"human_plan_sha256": "134912496de82ffd1d9611e99951f5340f2ae1aa2c49f12e77ce182ae9810bce",
|
| 455 |
+
"human_seed": 2709639000,
|
| 456 |
+
"initial_sim_state_sha256": "f68dd7f336a1136c9345bd4c2cd0a8cde1c7805f858527c810f23bbc1c00a4ca",
|
| 457 |
+
"interaction_ids": [
|
| 458 |
+
"h2r-air"
|
| 459 |
+
],
|
| 460 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 461 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000016.hdf5",
|
| 462 |
+
"task_seed": 2130026241,
|
| 463 |
+
"task_sim_state_sha256": "ffb5f56c32263e7192b5d907f44179275c9e1206924a1631d22765eb17882228"
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"event_human_seeds": [
|
| 467 |
+
651561444
|
| 468 |
+
],
|
| 469 |
+
"human_plan_sha256": "07c0c6e5cfc86395527571b324e3f85275f8c5988552c3be0d225969d92cc7a1",
|
| 470 |
+
"human_seed": 651561444,
|
| 471 |
+
"initial_sim_state_sha256": "0971a20204bfe19f115ff87ba591482cbdf5189a67131bd3aa95f9ad41128fb6",
|
| 472 |
+
"interaction_ids": [
|
| 473 |
+
"h2r-air"
|
| 474 |
+
],
|
| 475 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 476 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000017.hdf5",
|
| 477 |
+
"task_seed": 1554710272,
|
| 478 |
+
"task_sim_state_sha256": "ad87fde6fe370937ba0c40d14c975daa7a07c1732f4f3899b64ae64ce9b8a854"
|
| 479 |
+
},
|
| 480 |
+
{
|
| 481 |
+
"event_human_seeds": [
|
| 482 |
+
3778951982
|
| 483 |
+
],
|
| 484 |
+
"human_plan_sha256": "18101f7f504e9455015fc2989b84c448e9163ee11679cf1d789511b8a2537725",
|
| 485 |
+
"human_seed": 3778951982,
|
| 486 |
+
"initial_sim_state_sha256": "f842f10721e13b8eaaf02969ad66e79aacf2ae230909f95bc4fe6d22ba7106a0",
|
| 487 |
+
"interaction_ids": [
|
| 488 |
+
"h2r-air"
|
| 489 |
+
],
|
| 490 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 491 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000018.hdf5",
|
| 492 |
+
"task_seed": 4248188463,
|
| 493 |
+
"task_sim_state_sha256": "2cf126a336677113477750e17b4328789921713e51b9cc02fdcac041f88a914d"
|
| 494 |
+
},
|
| 495 |
+
{
|
| 496 |
+
"event_human_seeds": [
|
| 497 |
+
1076138523
|
| 498 |
+
],
|
| 499 |
+
"human_plan_sha256": "f55d6304f2f2a9686868906b00ef95a21da8e23e222a1220f528615e10050df4",
|
| 500 |
+
"human_seed": 1076138523,
|
| 501 |
+
"initial_sim_state_sha256": "e1aab8a2bbbf0d75147ec38ce78f5168e7b85187ae1bfaafac0c0f8883aae117",
|
| 502 |
+
"interaction_ids": [
|
| 503 |
+
"h2r-air"
|
| 504 |
+
],
|
| 505 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 506 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000019.hdf5",
|
| 507 |
+
"task_seed": 2200621456,
|
| 508 |
+
"task_sim_state_sha256": "16077a974417645ea7ee95126316a5ed59c2ba3580efd51894c02923f87f54a8"
|
| 509 |
+
},
|
| 510 |
+
{
|
| 511 |
+
"event_human_seeds": [
|
| 512 |
+
3909005115
|
| 513 |
+
],
|
| 514 |
+
"human_plan_sha256": "3a9e44e8fc11a42b1900316c266992720c7b514e1499381909474f15d2f5505b",
|
| 515 |
+
"human_seed": 3909005115,
|
| 516 |
+
"initial_sim_state_sha256": "08d0a80840dc00577ce149a0025f611671caa117ea5ee72c68596cb9879da25d",
|
| 517 |
+
"interaction_ids": [
|
| 518 |
+
"h2r-air"
|
| 519 |
+
],
|
| 520 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 521 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000020.hdf5",
|
| 522 |
+
"task_seed": 847517899,
|
| 523 |
+
"task_sim_state_sha256": "c9e9f7d53bd91f26b2d2e8e7ee68c5c9172dcec1fc0bfaf9636fcabf46e2f732"
|
| 524 |
+
},
|
| 525 |
+
{
|
| 526 |
+
"event_human_seeds": [
|
| 527 |
+
2194046975
|
| 528 |
+
],
|
| 529 |
+
"human_plan_sha256": "c8606198ea91ed8bc8b81887b5fb4be8b534bcd3b839c4c5ad06052a00067b50",
|
| 530 |
+
"human_seed": 2194046975,
|
| 531 |
+
"initial_sim_state_sha256": "6cb1b92bbef16602ab47b640eea0a53db3e34b9988c70458110636eb1a0c504e",
|
| 532 |
+
"interaction_ids": [
|
| 533 |
+
"h2r-air"
|
| 534 |
+
],
|
| 535 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 536 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000021.hdf5",
|
| 537 |
+
"task_seed": 1382278980,
|
| 538 |
+
"task_sim_state_sha256": "c96702b4f731fc33502aa673284c4044ed9749551f5d17e78022c37975302272"
|
| 539 |
+
}
|
| 540 |
+
],
|
| 541 |
+
"source_alignment_contract": "accepted-exact-state-and-human-plan-v1",
|
| 542 |
+
"split_family": null,
|
| 543 |
+
"split_manifest": null,
|
| 544 |
+
"split_manifest_sha256": null,
|
| 545 |
+
"split_name": null,
|
| 546 |
+
"state_atol": 0.0001,
|
| 547 |
+
"task_filter": "tomato-to-bowl",
|
| 548 |
+
"trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw",
|
| 549 |
+
"transfer_action_guards_enabled": false,
|
| 550 |
+
"video_fps": 30,
|
| 551 |
+
"video_success_metric": "overall_success",
|
| 552 |
+
"visual_history_enabled": false
|
| 553 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_001_episode_000002_5ee25eb75e85/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 1,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2274543954,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 595.1698245480657,
|
| 22 |
+
"mean_inference_ms": 539.9960513599217,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 6.632755164840062e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 201,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 1,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "5d1f4357bad84356fe6e54a495960e79e96c3671e2ff6c08d8b3a07d7377cfa1",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "5a467c94d410c861dbc197bf546bd5786e74bb470d610d27d7c680c6632cddc1",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.002158173910393236,
|
| 46 |
+
-0.003935347331193106,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.0018216504060439287,
|
| 51 |
+
0.0025305845673340432,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0008536145312580401,
|
| 61 |
+
0.0013579516259191043,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.002304083366955964,
|
| 66 |
+
-0.003973543120097511,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0021581739103932354,
|
| 76 |
+
-0.003935347331193098
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0018216504060439235,
|
| 80 |
+
0.0025305845673340398
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.0008536145312580288,
|
| 84 |
+
0.001357951625919106
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0023040833669559623,
|
| 88 |
+
-0.003973543120097513
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 3314547469
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 773541292,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000002.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 773541292,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 585,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_001_episode_000002_5ee25eb75e85/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_002_episode_000003_c0eb2fb1e13a/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 2,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 630610208,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 579.0769830346107,
|
| 22 |
+
"mean_inference_ms": 539.0694790648727,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.06455345172758473,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 133,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 2,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "705cdc3df1d1203a347fde27ceb0c710373ebba983bb31370b40521a4e1c9848",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "bcfd0c82b6545a975360256d73184445cd6978e5fd1065754b0421cb54847317",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0018071917067642544,
|
| 46 |
+
0.004069716656481592,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.004575634213161789,
|
| 51 |
+
0.004600616358838232,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.001248891225524934,
|
| 61 |
+
-0.0015894561097074267,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0044737009269182615,
|
| 66 |
+
0.0027750229502500057,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0018071917067642527,
|
| 76 |
+
0.0040697166564816105
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.004575634213161793,
|
| 80 |
+
0.004600616358838233
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.0012488912255249366,
|
| 84 |
+
-0.001589456109707428
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.004473700926918261,
|
| 88 |
+
0.0027750229502500187
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 2584433037
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 713873487,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000003.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 713873487,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 630,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_002_episode_000003_c0eb2fb1e13a/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_003_episode_000004_e3d56d6fb722/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 3,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3008358327,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 591.9237919151783,
|
| 22 |
+
"mean_inference_ms": 543.931322765465,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 6.148293205271363e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 630,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 3,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "deaea38e55a92a4e0da0d72015719ff34bfd9ca8ed6d33d0f98536f137372180",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "d96d58da00f3d1577227909dd3ad7ff25e129285cb537e60828b297a5ab5aebf",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.003820411015843523,
|
| 46 |
+
-0.0010865867590549305,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.003275422685266885,
|
| 51 |
+
0.0017139730993113514,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0022939502289400504,
|
| 61 |
+
0.0036592196860405213,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.002244904265599562,
|
| 66 |
+
-0.0017599033181638357,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0038204110158435224,
|
| 76 |
+
-0.0010865867590549513
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.003275422685266886,
|
| 80 |
+
0.0017139730993113488
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.0022939502289400625,
|
| 84 |
+
0.003659219686040524
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0022449042655995613,
|
| 88 |
+
-0.0017599033181638392
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 2489056148
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1577080669,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000004.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1577080669,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 567,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_003_episode_000004_e3d56d6fb722/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_004_episode_000005_1dc81273d9a8/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 4,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 20005521,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 603.4799944609404,
|
| 22 |
+
"mean_inference_ms": 543.7787451595068,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.061512464486288866,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 650,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 4,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "1066cc5502c4993ec99071b4fa3838a518bfd6e956c8a97e352f5d7425f0b303",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "27ddf1d5d70d7b5e8601542acdc117e719969accf061a73a64ff0f0ff34dd5a9",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.00032692665302816795,
|
| 46 |
+
0.004146736217235714,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.003811240952805578,
|
| 51 |
+
-0.004264639536157369,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.00019985056405014134,
|
| 61 |
+
6.983206191615854e-05,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0032404770131243266,
|
| 66 |
+
-0.004232549448896006,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0003269266530281688,
|
| 76 |
+
0.004146736217235699
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.003811240952805579,
|
| 80 |
+
-0.004264639536157366
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.00019985056405013267,
|
| 84 |
+
6.983206191616374e-05
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.003240477013124323,
|
| 88 |
+
-0.004232549448896016
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1577912023
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2754298370,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000005.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2754298370,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 635,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_004_episode_000005_1dc81273d9a8/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_005_episode_000006_6d7ff7e3e250/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 5,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2142061306,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 581.5950818359852,
|
| 22 |
+
"mean_inference_ms": 541.8954896812255,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.009823245886453886,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 627,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 5,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "b38ce881bbf77bd00a245780a4ee35d65cb8d4d7e7d42db15bbf574a52857eb7",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "d032398895942985904b9dd2ccd983cda84df635eeda10c6668d249cad3c73b4",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0031697919547271835,
|
| 46 |
+
0.0010519077965145396,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.003015655549693186,
|
| 51 |
+
-0.0038873937150467816,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.0014923332328240224,
|
| 61 |
+
0.0025525094695309017,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.00016636782839701825,
|
| 66 |
+
0.0013352923452628895,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0031697919547271835,
|
| 76 |
+
0.001051907796514517
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.0030156555496931837,
|
| 80 |
+
-0.0038873937150467833
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.0014923332328240224,
|
| 84 |
+
0.002552509469530899
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.00016636782839701478,
|
| 88 |
+
0.0013352923452628982
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 2655247392
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 3120033489,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000006.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 3120033489,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 592,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_005_episode_000006_6d7ff7e3e250/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_006_episode_000007_a712aa6d6751/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 6,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 54076815,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 583.1528697162867,
|
| 22 |
+
"mean_inference_ms": 542.1989891807048,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.09434005686018551,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 581,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 6,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "9f637a54bf69cb3e1ccffa6f248dc04c59206c1b04663f9773f1d12dcd4fc707",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "f90175fa6533ea9d3403e1203a92e63eec83a1c59240e3a23da7d89d8ce4efd6",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.00031908681014411293,
|
| 46 |
+
0.0010019660010018305,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.0022545267716477524,
|
| 51 |
+
0.0022183099241974216,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0048243690307850084,
|
| 61 |
+
-0.0030627778291762928,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.000912751968649636,
|
| 66 |
+
-0.0002561589462590219,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0003190868101441138,
|
| 76 |
+
0.0010019660010018349
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.0022545267716477567,
|
| 80 |
+
0.0022183099241974216
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.0048243690307850215,
|
| 84 |
+
-0.003062777829176292
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.0009127519686496326,
|
| 88 |
+
-0.0002561589462590297
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 4168615274
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2776985119,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000007.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2776985119,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 642,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_006_episode_000007_a712aa6d6751/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_007_episode_000008_8641e9efbbbf/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 7,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 370479524,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 592.461378313601,
|
| 22 |
+
"mean_inference_ms": 546.1545020542466,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.12041752274658227,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 650,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 7,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "ec3470209019dd47b291b5ed7808b0d7b3b454925fb8a5311eea4e3723f4c098",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "c12ccc17c4f338ed3b2f2bd32a167d32e622c668b8cd6f65c487d0b31a5033b6",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.003756508317451993,
|
| 46 |
+
0.0010060653293187949,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.0015226971734774164,
|
| 51 |
+
-0.0041910246608500845,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.004882971435896777,
|
| 61 |
+
-0.001464342789772033,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0006665056854465723,
|
| 66 |
+
0.0038674345957393497,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.003756508317451993,
|
| 76 |
+
0.0010060653293187775
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0015226971734774216,
|
| 80 |
+
-0.004191024660850081
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.004882971435896771,
|
| 84 |
+
-0.0014643427897720364
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.000666505685446568,
|
| 88 |
+
0.003867434595739342
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 464809394
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1590257221,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000008.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1590257221,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 631,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_007_episode_000008_8641e9efbbbf/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_009_episode_000010_f27bd2e8fa66/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 9,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2815326209,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 603.3078953623772,
|
| 22 |
+
"mean_inference_ms": 543.9382394403219,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 7.39887193271502e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 377,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 9,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "75747b83b333805a1720cf9ff9acbfe6386372e9c20e65b927ba8addf639cc4b",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "f7c3152e6784b92bb2546a7ee7b7b9d594099487fa8cbcd79eca80dcd8ae1d87",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.000573492583611241,
|
| 46 |
+
0.004963912001485327,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.0006616504197848316,
|
| 51 |
+
0.0013623784438554637,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.003713367506386095,
|
| 61 |
+
-0.002860731835221522,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.00040699183757003654,
|
| 66 |
+
0.004226209455823332,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.000573492583611241,
|
| 76 |
+
0.004963912001485308
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.000661650419784836,
|
| 80 |
+
0.0013623784438554654
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.003713367506386087,
|
| 84 |
+
-0.002860731835221516
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0004069918375700357,
|
| 88 |
+
0.004226209455823345
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1213804093
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2215284696,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000010.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2215284696,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 578,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_009_episode_000010_f27bd2e8fa66/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_010_episode_000011_22d4f6cd2d6e/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 10,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3608317481,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 588.2364297285676,
|
| 22 |
+
"mean_inference_ms": 541.9765659335715,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 2.696991683033752e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 358,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 10,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "a6f8ccbef563ba7748b2f08730ad47fba479b6af4084978ac9712ec60ff44365",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "afcd3165c679f5f40cfe22b4489fd1a50e5c262ff1aecd55cdabba8632ca5153",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.00018837900861898293,
|
| 46 |
+
0.0012092078260761974,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.0006237412782329199,
|
| 51 |
+
0.0010011693789973852,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.004263748901579462,
|
| 61 |
+
-0.003866374863661412,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.002524719586767546,
|
| 66 |
+
0.003380325753086888,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.00018837900861898293,
|
| 76 |
+
0.0012092078260761818
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0006237412782329251,
|
| 80 |
+
0.0010011693789973844
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.004263748901579457,
|
| 84 |
+
-0.0038663748636614094
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.0025247195867675477,
|
| 88 |
+
0.0033803257530868767
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 108428048
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 3187069060,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000011.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 3187069060,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 639,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_010_episode_000011_22d4f6cd2d6e/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_012_episode_000014_07d469a69d02/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 12,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 791268538,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 586.2853610888124,
|
| 22 |
+
"mean_inference_ms": 541.9524819704776,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 7.888811963472076e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 179,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 12,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "3a7421c6ad00cd380a76cbfadee574ca509c066135c9fcf1becb821257e3952e",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "da15d49cb2192f2a351534d92e6caf203ca898625e0f95b466c04ed5c50b8c12",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0007679542830766536,
|
| 46 |
+
0.002987986522678565,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.0022446930013066135,
|
| 51 |
+
0.0025665758099254338,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-8.110647354235556e-05,
|
| 61 |
+
-0.0008301458724802036,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0010255504551712341,
|
| 66 |
+
-0.0012745171854855464,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0007679542830766519,
|
| 76 |
+
0.0029879865226785643
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.002244693001306609,
|
| 80 |
+
0.0025665758099254346
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-8.110647354235209e-05,
|
| 84 |
+
-0.0008301458724801992
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.001025550455171235,
|
| 88 |
+
-0.0012745171854855386
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 150309680
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2713619963,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000014.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2713619963,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 587,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_012_episode_000014_07d469a69d02/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_014_episode_000016_61b1ba9bd24a/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 14,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2709639000,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 602.1580705419183,
|
| 22 |
+
"mean_inference_ms": 543.8565055911357,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.014402707266967456,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 575,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 14,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "900c7a1aca8397ad8c161b7a2fabd44f6e57faabc569ddecfb7070237fd51c24",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "9cd5e222e7ba0ac28d5f334751d18b89b907c9a289090451dc30b896a3aa9fb7",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0008466968790856316,
|
| 46 |
+
-0.003063182852841906,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.004750023851035526,
|
| 51 |
+
0.0042998956896005275,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.002431280107154543,
|
| 61 |
+
0.00038398564935358814,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0012811654495899077,
|
| 66 |
+
-0.004422089370662408,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0008466968790856325,
|
| 76 |
+
-0.003063182852841917
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.004750023851035527,
|
| 80 |
+
0.004299895689600525
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.0024312801071545345,
|
| 84 |
+
0.00038398564935359075
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.001281165449589912,
|
| 88 |
+
-0.004422089370662413
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 950481753
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2130026241,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000016.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2130026241,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 600,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_014_episode_000016_61b1ba9bd24a/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
h2r-air/rollouts/tomato-to-bowl__h2r-air/state_017_episode_000019_1e2e5290bbae/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 17,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 1076138523,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 599.6602717787027,
|
| 22 |
+
"mean_inference_ms": 549.3211262343594,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.12089036931791179,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 650,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 17,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "2a9c36aea14183317387ae5895bfc08b620bb3423d16a198cd1090239943385b",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "405ee7dcc373430aedd034d868ce0779106c1dc6597834ffd0141fbfdcd0c83b",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0019773072803560823,
|
| 46 |
+
-0.00028656746131194843,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.0032217832097760496,
|
| 51 |
+
0.0014816891194486953,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0037826519664643232,
|
| 61 |
+
0.004288837132788204,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0005410280120899807,
|
| 66 |
+
-0.0023578125606727174,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0019773072803560823,
|
| 76 |
+
-0.0002865674613119276
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.0032217832097760457,
|
| 80 |
+
0.001481689119448697
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.003782651966464319,
|
| 84 |
+
0.004288837132788203
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0005410280120899747,
|
| 88 |
+
-0.0023578125606727074
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 2094967087
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2200621456,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/h2r-air",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__h2r-air__onset-0-80/episodes/successful/episode_000019.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2200621456,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 621,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/h2r-air/rollouts/tomato-to-bowl__h2r-air/state_017_episode_000019_1e2e5290bbae/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/aggregate.json
ADDED
|
@@ -0,0 +1,176 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cells": {
|
| 3 |
+
"tomato-to-bowl/handover-table": {
|
| 4 |
+
"exact": {
|
| 5 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 6 |
+
"collision_closing_speed_m_per_step": {
|
| 7 |
+
"count": 0,
|
| 8 |
+
"mean": null,
|
| 9 |
+
"median": null,
|
| 10 |
+
"minimum": null
|
| 11 |
+
},
|
| 12 |
+
"episodes": 0,
|
| 13 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 14 |
+
"hri_completion_step": {
|
| 15 |
+
"count": 0,
|
| 16 |
+
"mean": null,
|
| 17 |
+
"median": null,
|
| 18 |
+
"minimum": null
|
| 19 |
+
},
|
| 20 |
+
"hri_success_rate": 0.0,
|
| 21 |
+
"intent_directive_accuracy": {
|
| 22 |
+
"count": 0,
|
| 23 |
+
"mean": null,
|
| 24 |
+
"median": null,
|
| 25 |
+
"minimum": null
|
| 26 |
+
},
|
| 27 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 28 |
+
"count": 0,
|
| 29 |
+
"mean": null,
|
| 30 |
+
"median": null,
|
| 31 |
+
"minimum": null
|
| 32 |
+
},
|
| 33 |
+
"overall_success_rate": 0.0,
|
| 34 |
+
"safety_shield_intervention_rate": 0.0,
|
| 35 |
+
"safety_success_rate": 0.0,
|
| 36 |
+
"task_completion_step": {
|
| 37 |
+
"count": 0,
|
| 38 |
+
"mean": null,
|
| 39 |
+
"median": null,
|
| 40 |
+
"minimum": null
|
| 41 |
+
},
|
| 42 |
+
"task_success_rate": 0.0,
|
| 43 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 44 |
+
},
|
| 45 |
+
"object-perturbed": {
|
| 46 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 47 |
+
"collision_closing_speed_m_per_step": {
|
| 48 |
+
"count": 2,
|
| 49 |
+
"mean": 0.00014855166165153046,
|
| 50 |
+
"median": 0.00014855166165153046,
|
| 51 |
+
"minimum": 0.0
|
| 52 |
+
},
|
| 53 |
+
"episodes": 20,
|
| 54 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 55 |
+
"hri_completion_step": {
|
| 56 |
+
"count": 5,
|
| 57 |
+
"mean": 157.6,
|
| 58 |
+
"median": 175.0,
|
| 59 |
+
"minimum": 112.0
|
| 60 |
+
},
|
| 61 |
+
"hri_success_rate": 0.25,
|
| 62 |
+
"intent_directive_accuracy": {
|
| 63 |
+
"count": 0,
|
| 64 |
+
"mean": null,
|
| 65 |
+
"median": null,
|
| 66 |
+
"minimum": null
|
| 67 |
+
},
|
| 68 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 69 |
+
"count": 20,
|
| 70 |
+
"mean": 0.05254494453354156,
|
| 71 |
+
"median": 0.03618862316971609,
|
| 72 |
+
"minimum": 2.489647803055376e-05
|
| 73 |
+
},
|
| 74 |
+
"overall_success_rate": 0.0,
|
| 75 |
+
"safety_shield_intervention_rate": 0.0,
|
| 76 |
+
"safety_success_rate": 0.9,
|
| 77 |
+
"task_completion_step": {
|
| 78 |
+
"count": 0,
|
| 79 |
+
"mean": null,
|
| 80 |
+
"median": null,
|
| 81 |
+
"minimum": null
|
| 82 |
+
},
|
| 83 |
+
"task_success_rate": 0.0,
|
| 84 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 85 |
+
}
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"overall_by_mode": {
|
| 89 |
+
"exact": {
|
| 90 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 91 |
+
"collision_closing_speed_m_per_step": {
|
| 92 |
+
"count": 0,
|
| 93 |
+
"mean": null,
|
| 94 |
+
"median": null,
|
| 95 |
+
"minimum": null
|
| 96 |
+
},
|
| 97 |
+
"episodes": 0,
|
| 98 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 99 |
+
"hri_completion_step": {
|
| 100 |
+
"count": 0,
|
| 101 |
+
"mean": null,
|
| 102 |
+
"median": null,
|
| 103 |
+
"minimum": null
|
| 104 |
+
},
|
| 105 |
+
"hri_success_rate": 0.0,
|
| 106 |
+
"intent_directive_accuracy": {
|
| 107 |
+
"count": 0,
|
| 108 |
+
"mean": null,
|
| 109 |
+
"median": null,
|
| 110 |
+
"minimum": null
|
| 111 |
+
},
|
| 112 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 113 |
+
"count": 0,
|
| 114 |
+
"mean": null,
|
| 115 |
+
"median": null,
|
| 116 |
+
"minimum": null
|
| 117 |
+
},
|
| 118 |
+
"overall_success_rate": 0.0,
|
| 119 |
+
"safety_shield_intervention_rate": 0.0,
|
| 120 |
+
"safety_success_rate": 0.0,
|
| 121 |
+
"task_completion_step": {
|
| 122 |
+
"count": 0,
|
| 123 |
+
"mean": null,
|
| 124 |
+
"median": null,
|
| 125 |
+
"minimum": null
|
| 126 |
+
},
|
| 127 |
+
"task_success_rate": 0.0,
|
| 128 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 129 |
+
},
|
| 130 |
+
"object-perturbed": {
|
| 131 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 132 |
+
"collision_closing_speed_m_per_step": {
|
| 133 |
+
"count": 2,
|
| 134 |
+
"mean": 0.00014855166165153046,
|
| 135 |
+
"median": 0.00014855166165153046,
|
| 136 |
+
"minimum": 0.0
|
| 137 |
+
},
|
| 138 |
+
"episodes": 20,
|
| 139 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 140 |
+
"hri_completion_step": {
|
| 141 |
+
"count": 5,
|
| 142 |
+
"mean": 157.6,
|
| 143 |
+
"median": 175.0,
|
| 144 |
+
"minimum": 112.0
|
| 145 |
+
},
|
| 146 |
+
"hri_success_rate": 0.25,
|
| 147 |
+
"intent_directive_accuracy": {
|
| 148 |
+
"count": 0,
|
| 149 |
+
"mean": null,
|
| 150 |
+
"median": null,
|
| 151 |
+
"minimum": null
|
| 152 |
+
},
|
| 153 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 154 |
+
"count": 20,
|
| 155 |
+
"mean": 0.05254494453354156,
|
| 156 |
+
"median": 0.03618862316971609,
|
| 157 |
+
"minimum": 2.489647803055376e-05
|
| 158 |
+
},
|
| 159 |
+
"overall_success_rate": 0.0,
|
| 160 |
+
"safety_shield_intervention_rate": 0.0,
|
| 161 |
+
"safety_success_rate": 0.9,
|
| 162 |
+
"task_completion_step": {
|
| 163 |
+
"count": 0,
|
| 164 |
+
"mean": null,
|
| 165 |
+
"median": null,
|
| 166 |
+
"minimum": null
|
| 167 |
+
},
|
| 168 |
+
"task_success_rate": 0.0,
|
| 169 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"paired_changes": [],
|
| 173 |
+
"paired_episodes": 0,
|
| 174 |
+
"rollouts": 20,
|
| 175 |
+
"schema_version": 3
|
| 176 |
+
}
|
handover-table/manifest.json
ADDED
|
@@ -0,0 +1,553 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"accepted_episode_contract": "collector-episodes-directory-v1",
|
| 3 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 4 |
+
"action_key": null,
|
| 5 |
+
"adaptive_intent_expected": true,
|
| 6 |
+
"adaptive_trust_region_config": null,
|
| 7 |
+
"adaptive_trust_region_enabled": false,
|
| 8 |
+
"base_episodes": 20,
|
| 9 |
+
"composition_filter": null,
|
| 10 |
+
"episodes_per_cell": 20,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_mode": "simple",
|
| 13 |
+
"excluded_trajectories": [],
|
| 14 |
+
"execute_horizon": 1,
|
| 15 |
+
"extra_perturbation_source_indices": [],
|
| 16 |
+
"handover_signal_prompts_enabled": true,
|
| 17 |
+
"human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations",
|
| 18 |
+
"human_interaction_filter": "handover-table",
|
| 19 |
+
"human_interaction_prompts_enabled": true,
|
| 20 |
+
"human_task_dir": null,
|
| 21 |
+
"initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2",
|
| 22 |
+
"initialization_source": "human-plan",
|
| 23 |
+
"intent_human_prompts_enabled": true,
|
| 24 |
+
"intent_visual_history_enabled": true,
|
| 25 |
+
"intrinsic_action_evaluation": true,
|
| 26 |
+
"max_steps": 650,
|
| 27 |
+
"modes": [
|
| 28 |
+
"object-perturbed"
|
| 29 |
+
],
|
| 30 |
+
"object_perturbation_m": 0.005,
|
| 31 |
+
"observation_keys": [],
|
| 32 |
+
"perturbation_attempts": 20,
|
| 33 |
+
"perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 34 |
+
"perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988",
|
| 35 |
+
"perturbed_state_schedule": [
|
| 36 |
+
{
|
| 37 |
+
"evaluation_state_index": 0,
|
| 38 |
+
"perturbation_index": 0,
|
| 39 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 40 |
+
"source_index": 0,
|
| 41 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000001.hdf5"
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"evaluation_state_index": 1,
|
| 45 |
+
"perturbation_index": 0,
|
| 46 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 47 |
+
"source_index": 1,
|
| 48 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000002.hdf5"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"evaluation_state_index": 2,
|
| 52 |
+
"perturbation_index": 0,
|
| 53 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 54 |
+
"source_index": 2,
|
| 55 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000003.hdf5"
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"evaluation_state_index": 3,
|
| 59 |
+
"perturbation_index": 0,
|
| 60 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 61 |
+
"source_index": 3,
|
| 62 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000004.hdf5"
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"evaluation_state_index": 4,
|
| 66 |
+
"perturbation_index": 0,
|
| 67 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 68 |
+
"source_index": 4,
|
| 69 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000005.hdf5"
|
| 70 |
+
},
|
| 71 |
+
{
|
| 72 |
+
"evaluation_state_index": 5,
|
| 73 |
+
"perturbation_index": 0,
|
| 74 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 75 |
+
"source_index": 5,
|
| 76 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000006.hdf5"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"evaluation_state_index": 6,
|
| 80 |
+
"perturbation_index": 0,
|
| 81 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 82 |
+
"source_index": 6,
|
| 83 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000007.hdf5"
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"evaluation_state_index": 7,
|
| 87 |
+
"perturbation_index": 0,
|
| 88 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 89 |
+
"source_index": 7,
|
| 90 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000008.hdf5"
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"evaluation_state_index": 8,
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 96 |
+
"source_index": 8,
|
| 97 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000009.hdf5"
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"evaluation_state_index": 9,
|
| 101 |
+
"perturbation_index": 0,
|
| 102 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 103 |
+
"source_index": 9,
|
| 104 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000010.hdf5"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"evaluation_state_index": 10,
|
| 108 |
+
"perturbation_index": 0,
|
| 109 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 110 |
+
"source_index": 10,
|
| 111 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000011.hdf5"
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"evaluation_state_index": 11,
|
| 115 |
+
"perturbation_index": 0,
|
| 116 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 117 |
+
"source_index": 11,
|
| 118 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000012.hdf5"
|
| 119 |
+
},
|
| 120 |
+
{
|
| 121 |
+
"evaluation_state_index": 12,
|
| 122 |
+
"perturbation_index": 0,
|
| 123 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 124 |
+
"source_index": 12,
|
| 125 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000013.hdf5"
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"evaluation_state_index": 13,
|
| 129 |
+
"perturbation_index": 0,
|
| 130 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 131 |
+
"source_index": 13,
|
| 132 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000014.hdf5"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"evaluation_state_index": 14,
|
| 136 |
+
"perturbation_index": 0,
|
| 137 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 138 |
+
"source_index": 14,
|
| 139 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000015.hdf5"
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"evaluation_state_index": 15,
|
| 143 |
+
"perturbation_index": 0,
|
| 144 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 145 |
+
"source_index": 15,
|
| 146 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000016.hdf5"
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"evaluation_state_index": 16,
|
| 150 |
+
"perturbation_index": 0,
|
| 151 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 152 |
+
"source_index": 16,
|
| 153 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000018.hdf5"
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"evaluation_state_index": 17,
|
| 157 |
+
"perturbation_index": 0,
|
| 158 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 159 |
+
"source_index": 17,
|
| 160 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000020.hdf5"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"evaluation_state_index": 18,
|
| 164 |
+
"perturbation_index": 0,
|
| 165 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 166 |
+
"source_index": 18,
|
| 167 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000021.hdf5"
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"evaluation_state_index": 19,
|
| 171 |
+
"perturbation_index": 0,
|
| 172 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 173 |
+
"source_index": 19,
|
| 174 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000022.hdf5"
|
| 175 |
+
}
|
| 176 |
+
],
|
| 177 |
+
"policy_endpoint": "http://127.0.0.1:5694",
|
| 178 |
+
"policy_payload_schema": "hitbench-policy-observation-v3",
|
| 179 |
+
"policy_rollouts": 20,
|
| 180 |
+
"policy_server_config": {
|
| 181 |
+
"ablation": {
|
| 182 |
+
"history_indices": [
|
| 183 |
+
-9,
|
| 184 |
+
-6,
|
| 185 |
+
-3,
|
| 186 |
+
0
|
| 187 |
+
],
|
| 188 |
+
"interaction_prompt": true,
|
| 189 |
+
"regular_prompt": true,
|
| 190 |
+
"variant": "E",
|
| 191 |
+
"visual_history": 4
|
| 192 |
+
},
|
| 193 |
+
"action": {
|
| 194 |
+
"shape": [
|
| 195 |
+
50,
|
| 196 |
+
7
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
"action_execution": "fresh trust sample and action chunk each request; evaluator executes one action",
|
| 200 |
+
"identity": {
|
| 201 |
+
"checkpoint": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_large_h50_100k/checkpoints/100000/hri_diff",
|
| 202 |
+
"model": "hri-diff"
|
| 203 |
+
},
|
| 204 |
+
"observation": {
|
| 205 |
+
"observation.depth.agentview": "float32 1HW camera-Z metres",
|
| 206 |
+
"observation.images.rgb": "uint8 HWC RGB",
|
| 207 |
+
"observation.state": "float32 [8] current proprioception"
|
| 208 |
+
},
|
| 209 |
+
"policy": "hri-diff",
|
| 210 |
+
"rgb_input_contract": {
|
| 211 |
+
"alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame",
|
| 212 |
+
"codec_roundtrip": {
|
| 213 |
+
"canonical_codec": "av1",
|
| 214 |
+
"crf": 30,
|
| 215 |
+
"fps": 20,
|
| 216 |
+
"g": 2,
|
| 217 |
+
"pix_fmt": "yuv420p",
|
| 218 |
+
"vcodec": "libsvtav1"
|
| 219 |
+
},
|
| 220 |
+
"storage": "av1_yuv420_video"
|
| 221 |
+
},
|
| 222 |
+
"trust_flow": {
|
| 223 |
+
"dimension": 512,
|
| 224 |
+
"ode_steps": 20,
|
| 225 |
+
"tokens": 50
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
"policy_variant": "E",
|
| 229 |
+
"reconstruction_selection": "object-perturbed",
|
| 230 |
+
"recorded_evaluation_mode": "single",
|
| 231 |
+
"runtime_perturbation_sampling": false,
|
| 232 |
+
"safety_filter_enabled": false,
|
| 233 |
+
"save_video_mode": "all",
|
| 234 |
+
"schema_version": 10,
|
| 235 |
+
"selected_cases": [
|
| 236 |
+
"tomato-to-bowl/handover-table"
|
| 237 |
+
],
|
| 238 |
+
"shortages": {},
|
| 239 |
+
"source_alignment": [
|
| 240 |
+
{
|
| 241 |
+
"event_human_seeds": [
|
| 242 |
+
3796498520
|
| 243 |
+
],
|
| 244 |
+
"human_plan_sha256": "2389db811270012c57eedc33f3fb8b10d5552661132dd1e5f5c1a16612823ec4",
|
| 245 |
+
"human_seed": 3796498520,
|
| 246 |
+
"initial_sim_state_sha256": "cf512c4515e787a9212d6162b1fa8c2e86b7e2f01c40b362fbcc2dd015930f0c",
|
| 247 |
+
"interaction_ids": [
|
| 248 |
+
"handover-table"
|
| 249 |
+
],
|
| 250 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 251 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000001.hdf5",
|
| 252 |
+
"task_seed": 1577080669,
|
| 253 |
+
"task_sim_state_sha256": "5f8658f699edee7093ffc2b24723aebe494791c846acfcb078fa4d3a4e49c585"
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"event_human_seeds": [
|
| 257 |
+
2928195551
|
| 258 |
+
],
|
| 259 |
+
"human_plan_sha256": "9fa3f40595fe925d9f96963baa3362baad236d13fc90cfd5fde22cb904c7bdc9",
|
| 260 |
+
"human_seed": 2928195551,
|
| 261 |
+
"initial_sim_state_sha256": "817dabbfb700ef25d8ac6e39a74f5c1910804d179c0a5969c5c742bbf7a117bf",
|
| 262 |
+
"interaction_ids": [
|
| 263 |
+
"handover-table"
|
| 264 |
+
],
|
| 265 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 266 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000002.hdf5",
|
| 267 |
+
"task_seed": 773541292,
|
| 268 |
+
"task_sim_state_sha256": "8b01ef99c4fa98d7b59dceec9f81f259778c2e4a00772b137151c31cae25a0f5"
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"event_human_seeds": [
|
| 272 |
+
2784720470
|
| 273 |
+
],
|
| 274 |
+
"human_plan_sha256": "03c6b5b85a8b1250176e5b667f1f9903f32d93bb272a219b9e389c4a7def5e18",
|
| 275 |
+
"human_seed": 2784720470,
|
| 276 |
+
"initial_sim_state_sha256": "0a66901e3972598b7dedff58ed552d959ca0988e7cfa02ccb1542d8766bfe067",
|
| 277 |
+
"interaction_ids": [
|
| 278 |
+
"handover-table"
|
| 279 |
+
],
|
| 280 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 281 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000003.hdf5",
|
| 282 |
+
"task_seed": 2762937174,
|
| 283 |
+
"task_sim_state_sha256": "034a7f57ffca3d1c3e03955d9fb54369cb3fa26b73d7008b30c9f952cafafce4"
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"event_human_seeds": [
|
| 287 |
+
1785016529
|
| 288 |
+
],
|
| 289 |
+
"human_plan_sha256": "d08622c3c06b8f7a917521e1a8f9bee294033217d77ebedab926363fc91f0d2d",
|
| 290 |
+
"human_seed": 1785016529,
|
| 291 |
+
"initial_sim_state_sha256": "6ae1dc2ace3ee25b6a447a0bb32d8988bfd387d6d55ac22c3f7387fc0ee1416d",
|
| 292 |
+
"interaction_ids": [
|
| 293 |
+
"handover-table"
|
| 294 |
+
],
|
| 295 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 296 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000004.hdf5",
|
| 297 |
+
"task_seed": 713873487,
|
| 298 |
+
"task_sim_state_sha256": "d78b1cc24d32b01106a081bed15d1be9aaf191ba1511b77eb982466e5d60636b"
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
+
"event_human_seeds": [
|
| 302 |
+
3750610714
|
| 303 |
+
],
|
| 304 |
+
"human_plan_sha256": "92f46f90d54d7e81db3f74946a1fa5410d6140f729c2f55560862999379a7766",
|
| 305 |
+
"human_seed": 3750610714,
|
| 306 |
+
"initial_sim_state_sha256": "d4d3f92cf2f2520313fc864413128a1e3b9382b44d7345d6556e731530768eed",
|
| 307 |
+
"interaction_ids": [
|
| 308 |
+
"handover-table"
|
| 309 |
+
],
|
| 310 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 311 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000005.hdf5",
|
| 312 |
+
"task_seed": 439585592,
|
| 313 |
+
"task_sim_state_sha256": "a1d0776fd0f6d1aed7760a5d20f68d5d8b4f82c428367b54c55c9e6720d0600e"
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"event_human_seeds": [
|
| 317 |
+
1095659813
|
| 318 |
+
],
|
| 319 |
+
"human_plan_sha256": "5b702c329e209304550acca06e7723e328222ae1f967f93387d9046c00722cd2",
|
| 320 |
+
"human_seed": 1095659813,
|
| 321 |
+
"initial_sim_state_sha256": "8e7a0b28a07557f48c3afaae63535aa55ed6a8bb92e3a61bdfdcd4bfeb356618",
|
| 322 |
+
"interaction_ids": [
|
| 323 |
+
"handover-table"
|
| 324 |
+
],
|
| 325 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 326 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000006.hdf5",
|
| 327 |
+
"task_seed": 2754298370,
|
| 328 |
+
"task_sim_state_sha256": "f73fb456d9e435812ed28c1a2c457f45b6882aea4b5a1b6f7f1f9a9899a30731"
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"event_human_seeds": [
|
| 332 |
+
1104805849
|
| 333 |
+
],
|
| 334 |
+
"human_plan_sha256": "3170d497bd29023576978f3d5bda67655ff8856c26f7fde8057be0d6e5015875",
|
| 335 |
+
"human_seed": 1104805849,
|
| 336 |
+
"initial_sim_state_sha256": "1529204c12ef31ab5d4164ff6e9389a63e178650916be2137fab7b50a1f7aa42",
|
| 337 |
+
"interaction_ids": [
|
| 338 |
+
"handover-table"
|
| 339 |
+
],
|
| 340 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 341 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000007.hdf5",
|
| 342 |
+
"task_seed": 3120033489,
|
| 343 |
+
"task_sim_state_sha256": "2a8b60fe17326aba80f2d4bf993c661eb33a67e02cf67224b920b0b8c889d841"
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"event_human_seeds": [
|
| 347 |
+
1360482347
|
| 348 |
+
],
|
| 349 |
+
"human_plan_sha256": "8d314e2b67f745464abe93c671b80e4a830045fbd85353244a447e1b26a6e85a",
|
| 350 |
+
"human_seed": 1360482347,
|
| 351 |
+
"initial_sim_state_sha256": "bd60c423dd00fb436f089aaca0b8ad2894895934c54efc7230d5221e10a04872",
|
| 352 |
+
"interaction_ids": [
|
| 353 |
+
"handover-table"
|
| 354 |
+
],
|
| 355 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 356 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000008.hdf5",
|
| 357 |
+
"task_seed": 2776985119,
|
| 358 |
+
"task_sim_state_sha256": "5228344bba2fadafb1cac0ad9574d8190b5db093ef81af4b761a5bdc9655cf58"
|
| 359 |
+
},
|
| 360 |
+
{
|
| 361 |
+
"event_human_seeds": [
|
| 362 |
+
3133002200
|
| 363 |
+
],
|
| 364 |
+
"human_plan_sha256": "e07ca874af89a8b66f5423913db0711633bcb584d41ab62d17ee6c2d4036b53e",
|
| 365 |
+
"human_seed": 3133002200,
|
| 366 |
+
"initial_sim_state_sha256": "07ae3f0c773514f0a0b114931d40a1c7f7406c5a7b8c27fa2792980bcdc2c30c",
|
| 367 |
+
"interaction_ids": [
|
| 368 |
+
"handover-table"
|
| 369 |
+
],
|
| 370 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 371 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000009.hdf5",
|
| 372 |
+
"task_seed": 1590257221,
|
| 373 |
+
"task_sim_state_sha256": "75c638827030c70b2477a3b999918065b7b1c1aa8cca2d595f95764f580c637e"
|
| 374 |
+
},
|
| 375 |
+
{
|
| 376 |
+
"event_human_seeds": [
|
| 377 |
+
3493156461
|
| 378 |
+
],
|
| 379 |
+
"human_plan_sha256": "a7d78078fe4a6e6057889f75fe3d235bd6d06793f2f9d38f140a9f4825328b4f",
|
| 380 |
+
"human_seed": 3493156461,
|
| 381 |
+
"initial_sim_state_sha256": "c2a2eabbd7c0b6e150a2bf8318c4ea2ee164a18af6a79f90f9cbe1e3e3f2a21a",
|
| 382 |
+
"interaction_ids": [
|
| 383 |
+
"handover-table"
|
| 384 |
+
],
|
| 385 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 386 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000010.hdf5",
|
| 387 |
+
"task_seed": 373243349,
|
| 388 |
+
"task_sim_state_sha256": "25a1707419cabd3f11e49fdf53f8f32e63f91601feb61a97983110d2c18ef8d6"
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"event_human_seeds": [
|
| 392 |
+
3060084383
|
| 393 |
+
],
|
| 394 |
+
"human_plan_sha256": "7b170c1784dcf43a616fb17247ddbf7c944e20c700d33a209873561bfa69a33a",
|
| 395 |
+
"human_seed": 3060084383,
|
| 396 |
+
"initial_sim_state_sha256": "4922e177739f75d3a5f760861cd5f29475d785826e8890d52d64b17c1f1005cb",
|
| 397 |
+
"interaction_ids": [
|
| 398 |
+
"handover-table"
|
| 399 |
+
],
|
| 400 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 401 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000011.hdf5",
|
| 402 |
+
"task_seed": 2215284696,
|
| 403 |
+
"task_sim_state_sha256": "e1c0b41c6b47b7a01933affe7bb31c0b454b51d185d4cf963048fa4c5046c336"
|
| 404 |
+
},
|
| 405 |
+
{
|
| 406 |
+
"event_human_seeds": [
|
| 407 |
+
2906705625
|
| 408 |
+
],
|
| 409 |
+
"human_plan_sha256": "77bf6cf793d6af59600993004c9c827fc8c1ce223ed4e4fedc84e38d12167d06",
|
| 410 |
+
"human_seed": 2906705625,
|
| 411 |
+
"initial_sim_state_sha256": "47add0c194bc13db1bc4432ad25b30b4635ef24a9b0c285b8ac52c7bcc9dd37a",
|
| 412 |
+
"interaction_ids": [
|
| 413 |
+
"handover-table"
|
| 414 |
+
],
|
| 415 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 416 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000012.hdf5",
|
| 417 |
+
"task_seed": 3187069060,
|
| 418 |
+
"task_sim_state_sha256": "0a91af46276be0331d58c9fb747d766723102c830fbc5535cd3aa2e2ab0dfaf2"
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"event_human_seeds": [
|
| 422 |
+
764046721
|
| 423 |
+
],
|
| 424 |
+
"human_plan_sha256": "7945a15a255228de0debf1f7d5b9cfb1ad09ba7f378f32fe16e6f8c3356951c3",
|
| 425 |
+
"human_seed": 764046721,
|
| 426 |
+
"initial_sim_state_sha256": "591671d4c7f9cd15915091ff1bf652e815989a95f304672732627715950462cc",
|
| 427 |
+
"interaction_ids": [
|
| 428 |
+
"handover-table"
|
| 429 |
+
],
|
| 430 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 431 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000013.hdf5",
|
| 432 |
+
"task_seed": 4286315569,
|
| 433 |
+
"task_sim_state_sha256": "8e60aeb211eac0c267ad58eb5798a6fe6c5e9d5bf5e7783478cc0b0073fdfe2a"
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"event_human_seeds": [
|
| 437 |
+
3620154516
|
| 438 |
+
],
|
| 439 |
+
"human_plan_sha256": "ed892f20a6f8b219563c4d9c1fbfc38146a5a1db5692a99289cd01ae18758f5e",
|
| 440 |
+
"human_seed": 3620154516,
|
| 441 |
+
"initial_sim_state_sha256": "5ae1fd97b121ee90a10323f0eee773b21cb358254ce37e18285fbde2b121de4e",
|
| 442 |
+
"interaction_ids": [
|
| 443 |
+
"handover-table"
|
| 444 |
+
],
|
| 445 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 446 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000014.hdf5",
|
| 447 |
+
"task_seed": 1890333878,
|
| 448 |
+
"task_sim_state_sha256": "2c9c829d5f6e8b130b1cb9f0125c811bdfa4b82eaace4ae437eb7a54848875a6"
|
| 449 |
+
},
|
| 450 |
+
{
|
| 451 |
+
"event_human_seeds": [
|
| 452 |
+
1000130378
|
| 453 |
+
],
|
| 454 |
+
"human_plan_sha256": "66340eea7584c6a1866c95f400901c6d4e1f47642008c847127e13425617e62a",
|
| 455 |
+
"human_seed": 1000130378,
|
| 456 |
+
"initial_sim_state_sha256": "da37acb1c487f221b6591189820aacf4f8e3b602e07a2c905a3103a6c0588705",
|
| 457 |
+
"interaction_ids": [
|
| 458 |
+
"handover-table"
|
| 459 |
+
],
|
| 460 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 461 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000015.hdf5",
|
| 462 |
+
"task_seed": 2713619963,
|
| 463 |
+
"task_sim_state_sha256": "b6ba81a6e05f702ba0389b9c1b770cfec1ddb143b64bf04476ddcda0283302b1"
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"event_human_seeds": [
|
| 467 |
+
4014065771
|
| 468 |
+
],
|
| 469 |
+
"human_plan_sha256": "d7f6212a8835cc34e9d77c7501fba751a04ada29b533ef5dc7ee38766532d9d9",
|
| 470 |
+
"human_seed": 4014065771,
|
| 471 |
+
"initial_sim_state_sha256": "84ec6f5f27bf597779f36525fec4975feac38bc7bd115fd603fc0d00409384bf",
|
| 472 |
+
"interaction_ids": [
|
| 473 |
+
"handover-table"
|
| 474 |
+
],
|
| 475 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 476 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000016.hdf5",
|
| 477 |
+
"task_seed": 1512525398,
|
| 478 |
+
"task_sim_state_sha256": "c7da56189e269a83f5d8963cbcb4e4380b503e90e9f2096544e40977fa1ed7dc"
|
| 479 |
+
},
|
| 480 |
+
{
|
| 481 |
+
"event_human_seeds": [
|
| 482 |
+
2307829924
|
| 483 |
+
],
|
| 484 |
+
"human_plan_sha256": "7748f47b52c867bb9f63e2da0acde514bf18c1906e1bad42f665798189658097",
|
| 485 |
+
"human_seed": 2307829924,
|
| 486 |
+
"initial_sim_state_sha256": "47a3dd13da74a8ceb49003210d29caf33f14140a9cc4ce1b6bea7826c86a4a39",
|
| 487 |
+
"interaction_ids": [
|
| 488 |
+
"handover-table"
|
| 489 |
+
],
|
| 490 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 491 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000018.hdf5",
|
| 492 |
+
"task_seed": 1554710272,
|
| 493 |
+
"task_sim_state_sha256": "ad87fde6fe370937ba0c40d14c975daa7a07c1732f4f3899b64ae64ce9b8a854"
|
| 494 |
+
},
|
| 495 |
+
{
|
| 496 |
+
"event_human_seeds": [
|
| 497 |
+
575267134
|
| 498 |
+
],
|
| 499 |
+
"human_plan_sha256": "07e1eb9535124aba69756dbc5c467c867feccfd20f9623deb816fb1463b49bd5",
|
| 500 |
+
"human_seed": 575267134,
|
| 501 |
+
"initial_sim_state_sha256": "ee69de69ba118da9c133b9f5be37897259035203e04df595593dfe822a7f2d8c",
|
| 502 |
+
"interaction_ids": [
|
| 503 |
+
"handover-table"
|
| 504 |
+
],
|
| 505 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 506 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000020.hdf5",
|
| 507 |
+
"task_seed": 2200621456,
|
| 508 |
+
"task_sim_state_sha256": "16077a974417645ea7ee95126316a5ed59c2ba3580efd51894c02923f87f54a8"
|
| 509 |
+
},
|
| 510 |
+
{
|
| 511 |
+
"event_human_seeds": [
|
| 512 |
+
2352052300
|
| 513 |
+
],
|
| 514 |
+
"human_plan_sha256": "647697636858483b47fb2bb7a4d76505931326fc9e92c5c75d08225c27154408",
|
| 515 |
+
"human_seed": 2352052300,
|
| 516 |
+
"initial_sim_state_sha256": "d86c1abea58dd0ea2d7b2faf4d886a296e316556f2b9686e3cc49d701a800944",
|
| 517 |
+
"interaction_ids": [
|
| 518 |
+
"handover-table"
|
| 519 |
+
],
|
| 520 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 521 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000021.hdf5",
|
| 522 |
+
"task_seed": 847517899,
|
| 523 |
+
"task_sim_state_sha256": "c9e9f7d53bd91f26b2d2e8e7ee68c5c9172dcec1fc0bfaf9636fcabf46e2f732"
|
| 524 |
+
},
|
| 525 |
+
{
|
| 526 |
+
"event_human_seeds": [
|
| 527 |
+
305616706
|
| 528 |
+
],
|
| 529 |
+
"human_plan_sha256": "653ce7ce7d15c5c5c42e5194c085a16b06125ff8e321796b72e11e5dae32a158",
|
| 530 |
+
"human_seed": 305616706,
|
| 531 |
+
"initial_sim_state_sha256": "91c8990d2551f11a7561d8b92c322623ede72a6262012b6314edf1f2546896f0",
|
| 532 |
+
"interaction_ids": [
|
| 533 |
+
"handover-table"
|
| 534 |
+
],
|
| 535 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 536 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000022.hdf5",
|
| 537 |
+
"task_seed": 1382278980,
|
| 538 |
+
"task_sim_state_sha256": "c96702b4f731fc33502aa673284c4044ed9749551f5d17e78022c37975302272"
|
| 539 |
+
}
|
| 540 |
+
],
|
| 541 |
+
"source_alignment_contract": "accepted-exact-state-and-human-plan-v1",
|
| 542 |
+
"split_family": null,
|
| 543 |
+
"split_manifest": null,
|
| 544 |
+
"split_manifest_sha256": null,
|
| 545 |
+
"split_name": null,
|
| 546 |
+
"state_atol": 0.0001,
|
| 547 |
+
"task_filter": "tomato-to-bowl",
|
| 548 |
+
"trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw",
|
| 549 |
+
"transfer_action_guards_enabled": false,
|
| 550 |
+
"video_fps": 30,
|
| 551 |
+
"video_success_metric": "overall_success",
|
| 552 |
+
"visual_history_enabled": false
|
| 553 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 0,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3796498520,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 1145.1888205483556,
|
| 22 |
+
"mean_inference_ms": 565.4239816404879,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.08423175153688953,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 53,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 0,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "5456613320fd25bfd025700954b839b0f374a7906d1f9c31d0a1124a13b98ee0",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "855e06ef65cc49782398b8e38e2608c4fdc2b77fd2c21e6b6f9faf8050a59d67",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.004417053188608233,
|
| 46 |
+
-0.0021997474529992234,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.004769188382587261,
|
| 51 |
+
-0.0015495593216388395,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
-0.00023548479991108984,
|
| 56 |
+
0.0038089805874784166,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.0009641005368474231,
|
| 61 |
+
0.0003294058808336192,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.004417053188608233,
|
| 76 |
+
-0.00219974745299921
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.004769188382587255,
|
| 80 |
+
-0.0015495593216388382
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
-0.00023548479991106555,
|
| 84 |
+
0.003808980587478419
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
0.0009641005368474266,
|
| 88 |
+
0.0003294058808336175
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1063507650
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1577080669,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000001.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1577080669,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 640,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_000_episode_000001_ca516cbf12c5/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_001_episode_000002_3ecd9d6ad46d/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 1,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2928195551,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 638.9241544529796,
|
| 22 |
+
"mean_inference_ms": 548.2671141294906,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.03764541374717122,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 166,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 1,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "83881786290a0774857e4aa6a468e749d7ca7155506fc66f24d684a8c22df6f8",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "a9605853b0ef6d7bf4fb88b494e887f7bedf3480d74e861da7950a095c38f2a6",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.004040913703693021,
|
| 46 |
+
-0.0018279329250504572,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.004880230539737296,
|
| 51 |
+
0.00293241966636542,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.0037904498901836503,
|
| 61 |
+
-0.0024795328257403437,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.002050297305020224,
|
| 66 |
+
0.0028550752333730833,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.00404091370369302,
|
| 76 |
+
-0.0018279329250504507
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.004880230539737291,
|
| 80 |
+
0.002932419666365417
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.003790449890183653,
|
| 84 |
+
-0.002479532825740347
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0020502973050202256,
|
| 88 |
+
0.002855075233373093
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1553994649
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 773541292,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000002.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 773541292,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 617,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_001_episode_000002_3ecd9d6ad46d/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_002_episode_000003_344cfa7eb204/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 2,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2784720470,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 600.3202432766557,
|
| 22 |
+
"mean_inference_ms": 545.549878392082,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.16456971011802823,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 56,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 2,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "3aa2660a03ab315df291e61fad88a8ce160e0a2c8806e618e7ea5cdc419abe29",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "c76cee9c11e4636b8782459e2e06d18bb8ececb4d2c038861b384a0f86565c4b",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0014290856251579942,
|
| 46 |
+
-0.0008021478184779829,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.004148838713216557,
|
| 51 |
+
-0.0009113468317618889,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.0016772118215359344,
|
| 61 |
+
0.0017070482608301032,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0005588824393296804,
|
| 66 |
+
-0.0005648682901044366,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.001429085625157994,
|
| 76 |
+
-0.0008021478184779655
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.004148838713216552,
|
| 80 |
+
-0.0009113468317618915
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.001677211821535937,
|
| 84 |
+
0.0017070482608301006
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0005588824393296743,
|
| 88 |
+
-0.0005648682901044392
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 2605472830
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2762937174,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000003.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2762937174,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 621,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_002_episode_000003_344cfa7eb204/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_003_episode_000004_aa7a86b0fd8f/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 3,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 1785016529,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 609.0710647404194,
|
| 22 |
+
"mean_inference_ms": 542.8712005426104,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.03473183259226097,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 84,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 3,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "f6bef833bddf6cd1cd3a0821960948f19b9436a4507d9f25d0b875ed2dcc15ba",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "4a9c4dec5143e74e64069598d8c3cccf1349683ed0587b017ec00664cb9d7e70",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0035385297264328604,
|
| 46 |
+
0.0015154148069858597,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.004704714075853614,
|
| 51 |
+
0.0007327998299680588,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.0018631849975369041,
|
| 61 |
+
-0.0022242595709521945,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0011246759472556683,
|
| 66 |
+
4.436917578459765e-05,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0035385297264328612,
|
| 76 |
+
0.0015154148069858398
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.00470471407585361,
|
| 80 |
+
0.0007327998299680614
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.0018631849975369146,
|
| 84 |
+
-0.0022242595709521884
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.0011246759472556657,
|
| 88 |
+
4.4369175784595045e-05
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1179695658
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 713873487,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000004.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 713873487,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 615,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_003_episode_000004_aa7a86b0fd8f/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_004_episode_000005_271007be6070/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 4,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": 112,
|
| 17 |
+
"hri_success": true,
|
| 18 |
+
"human_seed": 3750610714,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 599.6324894949794,
|
| 22 |
+
"mean_inference_ms": 543.6812630940515,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.03295040329894113,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 77,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 4,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "6490c4b7b41cbc8ea41d119ef4bc47a63831dd53553b50e59c68c66b49a4a756",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "d96dd57a2b743984789018a57ba25f0af031f162eca445ce030ed0ce28ce6d16",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0006405749767104153,
|
| 46 |
+
0.0006066550173139396,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.0046033339349454,
|
| 51 |
+
0.004092814098571006,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
-0.004447869599026988,
|
| 56 |
+
-0.003189321368729403,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0029909200073237885,
|
| 61 |
+
-0.002319887051665026,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0006405749767104153,
|
| 76 |
+
0.0006066550173139292
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.004603333934945397,
|
| 80 |
+
0.004092814098571008
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
-0.00444786959902701,
|
| 84 |
+
-0.0031893213687293966
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
-0.0029909200073237763,
|
| 88 |
+
-0.002319887051665025
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 3630957344
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "resume_regular_task",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 439585592,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000005.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 439585592,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 1,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 77,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_004_episode_000005_271007be6070/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_005_episode_000006_26b83a9c3e25/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 5,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 1095659813,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 596.0339512676001,
|
| 22 |
+
"mean_inference_ms": 541.9386607967317,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.04406225751945671,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 88,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 5,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "e8a3c736fded1d672a99bbcbd7fb2af1279aa0293d80e444d2027e98f3d81a9c",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "868188e8e8aa98c71023c863d1d3664c748a37b665674f89442a55cec0c04b9b",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0003447942430930672,
|
| 46 |
+
-0.0010831312570226959,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.00021559738967584507,
|
| 51 |
+
0.00029973039829912784,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
-0.0028170620300285165,
|
| 56 |
+
-0.004856699036478507,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.002411332240166486,
|
| 61 |
+
-0.0007942896090759322,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0003447942430930672,
|
| 76 |
+
-0.0010831312570226828
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.000215597389675839,
|
| 80 |
+
0.00029973039829913044
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
-0.002817062030028491,
|
| 84 |
+
-0.004856699036478499
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
0.002411332240166499,
|
| 88 |
+
-0.0007942896090759287
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1294289421
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2754298370,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000006.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2754298370,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 589,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_005_episode_000006_26b83a9c3e25/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_006_episode_000007_b806bd435a81/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 6,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": 184,
|
| 17 |
+
"hri_success": true,
|
| 18 |
+
"human_seed": 1104805849,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 591.1759305745363,
|
| 22 |
+
"mean_inference_ms": 542.9437561505116,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.00027868270507947217,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 104,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 6,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "3fe017d23a28d9c584d540ed6d1ea9526dd6a98952fd5495135397c9019935b0",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "3bb1e01938f4e53ac32c85b245395dfc87209eec65e651b241133903d48e7988",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0019643259363677527,
|
| 46 |
+
0.0023951771227046503,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.0006256940125907995,
|
| 51 |
+
0.0025439429350983048,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0025579269076792532,
|
| 61 |
+
0.0008595438849533718,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0007660294304009246,
|
| 66 |
+
0.0030478466714164987,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0019643259363677523,
|
| 76 |
+
0.002395177122704651
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0006256940125908021,
|
| 80 |
+
0.002543942935098303
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.0025579269076792498,
|
| 84 |
+
0.0008595438849533709
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0007660294304009186,
|
| 88 |
+
0.0030478466714165065
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 4176320191
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "resume_regular_task",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 3120033489,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000007.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 3120033489,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 1,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 97,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_006_episode_000007_b806bd435a81/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_007_episode_000008_0a82b124029c/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 7,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 1360482347,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 606.4595459029078,
|
| 22 |
+
"mean_inference_ms": 546.3386172056198,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 2.489647803055376e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 247,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 7,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "6242c027d6d3b87eed998d80dcfb2aa70260be09fe4830b24689c636906a7cb1",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "ef99628f9e1c384f2a4e92cb575b2f0d8cd24f08c450cd4b39f5fb1af6a520d0",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0014078186058780352,
|
| 46 |
+
0.0024301366435402483,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.002084817221632118,
|
| 51 |
+
-0.002753419466403978,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.001808393851198159,
|
| 61 |
+
0.0020086004616622737,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.003597834340188899,
|
| 66 |
+
-0.0011323379412052081,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.001407818605878036,
|
| 76 |
+
0.002430136643540263
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.0020848172216321173,
|
| 80 |
+
-0.002753419466403978
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.0018083938511981603,
|
| 84 |
+
0.0020086004616622745
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.0035978343401889016,
|
| 88 |
+
-0.0011323379412052173
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1559669139
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2776985119,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000008.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2776985119,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 641,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_007_episode_000008_0a82b124029c/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_008_episode_000009_85b1ed4c8786/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 8,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": 128,
|
| 17 |
+
"hri_success": true,
|
| 18 |
+
"human_seed": 3133002200,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 601.0997127741575,
|
| 22 |
+
"mean_inference_ms": 542.4499429604755,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.06735649289066921,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 88,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 8,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "5e4ddbf418c07bdb113ede3ace2b1a9e6b15378531d5bb0d2d0bed990b0092d7",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "959e9e6829ea3252e565624c140630f1e4e14a6d3c9ca379147432a776a78f07",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0032705435338609137,
|
| 46 |
+
-0.0034781892787133506,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.0011516205975764249,
|
| 51 |
+
-0.004844669448096625,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0009484481853350712,
|
| 56 |
+
0.0011185938566653786,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.002857903921034355,
|
| 61 |
+
0.002315954959981756,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0032705435338609137,
|
| 76 |
+
-0.003478189278713353
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.0011516205975764236,
|
| 80 |
+
-0.004844669448096623
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
0.0009484481853350548,
|
| 84 |
+
0.001118593856665389
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
-0.0028579039210343683,
|
| 88 |
+
0.0023159549599817532
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1156584712
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "resume_regular_task",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1590257221,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000009.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1590257221,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 1,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 114,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_008_episode_000009_85b1ed4c8786/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_009_episode_000010_61442423f7a0/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 9,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3493156461,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 633.8204145431519,
|
| 22 |
+
"mean_inference_ms": 546.0035895885757,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.17962718837482725,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 133,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 9,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "b00bce54b743b6c362de94d86aa6f8009604733226688605c4a10496d3035c83",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "7d0fda41152ddbdcc4e17f11fb73733964e94d5e92b5653f016c490b54e5e7fa",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.004217543927462319,
|
| 46 |
+
-0.002878096978159439,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.001520339038218646,
|
| 51 |
+
0.0013685226548565063,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.004751621149507335,
|
| 61 |
+
-0.0049357736840055025,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0016804702506015706,
|
| 66 |
+
-0.0042498899044171035,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.00421754392746232,
|
| 76 |
+
-0.0028780969781594667
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0015203390382186478,
|
| 80 |
+
0.0013685226548565063
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.00475162114950733,
|
| 84 |
+
-0.004935773684005503
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.0016804702506015702,
|
| 88 |
+
-0.004249889904417094
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 4051764664
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 373243349,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000010.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 373243349,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 623,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_009_episode_000010_61442423f7a0/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_010_episode_000011_553909c8d595/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 10,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3060084383,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 595.9992585703731,
|
| 22 |
+
"mean_inference_ms": 541.5580440369936,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.06270055527625337,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 69,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 10,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "b7d7ff88b800002b846f4d4804ef3de176e4a5ca2f9745950e17fe5729760434",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "3bb2b330ec7802bdef6477b3d5238092cfb28a1ed6242bf3d77eece7c6ec10a9",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.003919261745223243,
|
| 46 |
+
0.0034928671354814145,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.0018864549513231549,
|
| 51 |
+
0.0031599713138143054,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
-0.0029760967807211935,
|
| 56 |
+
0.0005641584387438003,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.00026537367676282564,
|
| 61 |
+
-0.0022924751625397893,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.003919261745223243,
|
| 76 |
+
0.003492867135481419
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0018864549513231575,
|
| 80 |
+
0.003159971313814303
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
-0.002976096780721198,
|
| 84 |
+
0.0005641584387437873
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
0.0002653736767628135,
|
| 88 |
+
-0.0022924751625397876
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 644197206
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2215284696,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000011.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2215284696,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 617,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_010_episode_000011_553909c8d595/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_011_episode_000012_21be390f1609/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 11,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2906705625,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 594.6908546611667,
|
| 22 |
+
"mean_inference_ms": 542.7020990361387,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.061794484861225935,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 121,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 11,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "9a6fb60e70989447451ee1e54bbd2b9411346f77508bee5fc1d6a5bd27428543",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "d6059a2221c625e93847977c3834af9b08f76d3d8638debdfa3979c6a95e66ae",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0020481107688132324,
|
| 46 |
+
-0.004907213896896356,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.00041318115340273354,
|
| 51 |
+
0.0019595553316410566,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.003827991620465321,
|
| 56 |
+
0.0027615462921449507,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.00179991498599813,
|
| 61 |
+
0.003917057869974289,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0020481107688132324,
|
| 76 |
+
-0.004907213896896362
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.00041318115340273093,
|
| 80 |
+
0.00195955533164106
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
0.003827991620465299,
|
| 84 |
+
0.002761546292144941
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
0.001799914985998143,
|
| 88 |
+
0.003917057869974293
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 3413008141
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 3187069060,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000012.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 3187069060,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 641,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_011_episode_000012_21be390f1609/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_012_episode_000013_61b1b059a85d/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 12,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": 189,
|
| 17 |
+
"hri_success": true,
|
| 18 |
+
"human_seed": 764046721,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 614.5987706258893,
|
| 22 |
+
"mean_inference_ms": 542.6690638896364,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.0011798138328709084,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 92,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 12,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "5ae2a46634fe552402db1e7d15ddc7bf6e4282675542e6f63eb1a8e9077233b8",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "eeae3d84288f86ac0f08b18d553c04d9391a90066cade3fd7604f6acf38881d8",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0019614732336157006,
|
| 46 |
+
-0.00043868715403566627,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.0015275977225290144,
|
| 51 |
+
-0.0009533770072315192,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.001238583958115963,
|
| 61 |
+
-0.0033279640684436354,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.004974526819650715,
|
| 66 |
+
-0.004858658622725609,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0019614732336157006,
|
| 76 |
+
-0.00043868715403566627
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.001527597722529014,
|
| 80 |
+
-0.000953377007231521
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.0012385839581159595,
|
| 84 |
+
-0.003327964068443637
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.004974526819650718,
|
| 88 |
+
-0.004858658622725596
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 152731344
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "resume_regular_task",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 4286315569,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000013.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 4286315569,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 1,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 102,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_012_episode_000013_61b1b059a85d/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_013_episode_000014_216b6dd6ea38/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 115
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": 0.0002971033233030609,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 13,
|
| 13 |
+
"failure": true,
|
| 14 |
+
"first_safety_violation_step": 115,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3620154516,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 580.7753819972277,
|
| 22 |
+
"mean_inference_ms": 540.5457651404583,
|
| 23 |
+
"measured_steps": 116,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 9.173622445358188e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 88,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 13,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "bfb0d7c636cf85889f7020f3765c6c862dbb6682f7f5617d3a792903ed15117b",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "1d2ea7095ca4d7026020614236b65f70b24317e4e70fe2dcdf2438fc3aadb33c",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0013951236348004447,
|
| 46 |
+
-0.004188689088376607,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.002768968938423086,
|
| 51 |
+
0.0041378595883770075,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0005015846673533386,
|
| 56 |
+
-0.0032463389506466878,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.004289266862017804,
|
| 61 |
+
-0.0002523520298094578,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0013951236348004447,
|
| 76 |
+
-0.004188689088376627
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0027689689384230833,
|
| 80 |
+
0.004137859588377008
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
0.0005015846673533464,
|
| 84 |
+
-0.003246338950646701
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
-0.004289266862017797,
|
| 88 |
+
-0.00025235202980945955
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 2219854064
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 115,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "safety_violation:robot_human_overlap",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1890333878,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": false,
|
| 103 |
+
"safety_violation_reason": "robot_human_overlap",
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000014.hdf5",
|
| 107 |
+
"steps": 115,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1890333878,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 115,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 1,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 62,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_013_episode_000014_216b6dd6ea38/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_014_episode_000015_4832ceb472bd/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 14,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 1000130378,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 617.0281665399671,
|
| 22 |
+
"mean_inference_ms": 545.6673301355197,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 3.381582261010529e-05,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 137,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 14,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "883249b51ab29335b004be4a18e8525f49c0d262d4bd358116680c3d7943e344",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "76883686746da74635ecb516642878f3cceb9cdb2403ca981f6198e255637323",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.004902531081644023,
|
| 46 |
+
-0.0013987907169711322,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.0028579121927696377,
|
| 51 |
+
-0.0033893153776260107,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.002773301093570643,
|
| 61 |
+
0.0016526512923242948,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
-0.0034894391855217616,
|
| 66 |
+
-0.00137371813635212,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.004902531081644023,
|
| 76 |
+
-0.0013987907169711513
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.0028579121927696386,
|
| 80 |
+
-0.00338931537762601
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.0027733010935706483,
|
| 84 |
+
0.0016526512923242887
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
-0.003489439185521764,
|
| 88 |
+
-0.0013737181363521079
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 2690949618
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2713619963,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000015.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2713619963,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 637,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_014_episode_000015_4832ceb472bd/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_015_episode_000016_2e26488ba7b5/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 15,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 4014065771,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 594.9360532686114,
|
| 22 |
+
"mean_inference_ms": 545.5075144223296,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.12405875041208397,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 86,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 15,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"lemon_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "e1355812e4041ce88826eedaae2ff20d10313f3718e4cbe566daf0b716e25fe9",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "8f5bfd01b74a11c5141d572c5b749ef91ef85a6989abd8ebed54ded274515b76",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0028634134287511374,
|
| 46 |
+
-0.004292290820928135,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.004390829356512263,
|
| 51 |
+
-0.0029170389469853203,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0032477084992365013,
|
| 61 |
+
0.004764123407941745,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0010122874917597308,
|
| 66 |
+
-0.001866602338563228,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.002863413428751139,
|
| 76 |
+
-0.0042922908209281395
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.004390829356512268,
|
| 80 |
+
-0.002917038946985322
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
-0.0032477084992364935,
|
| 84 |
+
0.004764123407941751
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.0010122874917597256,
|
| 88 |
+
-0.0018666023385632245
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 1138408837
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1512525398,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000016.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1512525398,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 619,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_015_episode_000016_2e26488ba7b5/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_016_episode_000018_d43f2404ff3a/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 135
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": 0.0,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 16,
|
| 13 |
+
"failure": true,
|
| 14 |
+
"first_safety_violation_step": 135,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2307829924,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 597.8878922760487,
|
| 22 |
+
"mean_inference_ms": 542.9296830944993,
|
| 23 |
+
"measured_steps": 136,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.0011742735618479024,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 106,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 16,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "d62b50f21d535304ddad7f17b56e9f569231fe0918fa9f9c8ef700dd209f88d1",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "f7ece31a1456605965bd50f91a5280869af32fa0ed4f71b380df8f1ccd3e3f5b",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
-0.0033672590992902575,
|
| 46 |
+
-0.000758118110490813,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.001638051901901874,
|
| 51 |
+
-0.0037567878354548695,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.0015496397370925452,
|
| 56 |
+
-0.003859429061192382,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0009187170813393652,
|
| 61 |
+
0.0037590127750865843,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
-0.0033672590992902584,
|
| 76 |
+
-0.0007581181104907965
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.0016380519019018693,
|
| 80 |
+
-0.0037567878354548712
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
0.0015496397370925686,
|
| 84 |
+
-0.0038594290611923786
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
-0.0009187170813393531,
|
| 88 |
+
0.0037590127750865886
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 3719723196
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 135,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "safety_violation:robot_human_overlap",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1554710272,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": false,
|
| 103 |
+
"safety_violation_reason": "robot_human_overlap",
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000018.hdf5",
|
| 107 |
+
"steps": 135,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1554710272,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 135,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 1,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 59,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_016_episode_000018_d43f2404ff3a/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_017_episode_000020_72974df7d7ec/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 17,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 575267134,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 593.4780053794384,
|
| 22 |
+
"mean_inference_ms": 543.6097793295406,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.00017517638092734962,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 78,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 17,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "4d5fba2f5d94ae411ba7db1bebaaaa2e9a735d358c233356e0bbca573279d5c2",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "d773a8a84aac211fb654c44dc718f60f8ca587d02c68e6acdb9df91354f52da1",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0022705895227625892,
|
| 46 |
+
0.0008446492632938063,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
0.00034650271212395556,
|
| 51 |
+
0.0023826888186127895,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.00294342465998082,
|
| 56 |
+
0.003038855912587901,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.004734014293058364,
|
| 61 |
+
0.004211469410214566,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0022705895227625892,
|
| 76 |
+
0.0008446492632938141
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
0.00034650271212395296,
|
| 80 |
+
0.002382688818612786
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
0.0029434246599808382,
|
| 84 |
+
0.003038855912587895
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
-0.004734014293058364,
|
| 88 |
+
0.004211469410214565
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 4168829345
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 2200621456,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000020.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 2200621456,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 645,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_017_episode_000020_72974df7d7ec/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_018_episode_000021_0d80fe34dd73/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 18,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2352052300,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 604.8228684812784,
|
| 22 |
+
"mean_inference_ms": 546.2301699917477,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.14018876930317153,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 83,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 18,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"banana_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "45166043a89a7123ac90276ebf95059c64eca1ca91ccc614e1183b1580a8351b",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "e437c4e03e6c848ad59a8774b09ee4c466a04b99212650e93e9d3696aeb7333b",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0,
|
| 46 |
+
0.0,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.0009811535195347193,
|
| 51 |
+
-0.004848588473821476,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
-0.0028933079006013274,
|
| 56 |
+
-0.003544580675649417,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
0.0035367476255679514,
|
| 61 |
+
0.0021228048460313273,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.001838568054307252,
|
| 66 |
+
0.004804900835676279,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"bowl_1": [
|
| 75 |
+
-0.0009811535195347167,
|
| 76 |
+
-0.004848588473821478
|
| 77 |
+
],
|
| 78 |
+
"lemon_1": [
|
| 79 |
+
-0.002893307900601325,
|
| 80 |
+
-0.0035445806756494126
|
| 81 |
+
],
|
| 82 |
+
"plate_1": [
|
| 83 |
+
0.0035367476255679505,
|
| 84 |
+
0.0021228048460313256
|
| 85 |
+
],
|
| 86 |
+
"tomato_1": [
|
| 87 |
+
0.001838568054307258,
|
| 88 |
+
0.00480490083567629
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 3858851996
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "human_interaction_in_progress",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 847517899,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000021.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 847517899,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 0,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 619,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_018_episode_000021_0d80fe34dd73/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
handover-table/rollouts/tomato-to-bowl__handover-table/state_019_episode_000022_fca91d6c7d0f/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 19,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": 175,
|
| 17 |
+
"hri_success": true,
|
| 18 |
+
"human_seed": 305616706,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 619.6653824299574,
|
| 22 |
+
"mean_inference_ms": 545.0300674355374,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.014022885734032245,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 92,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 19,
|
| 32 |
+
"excluded_objects": {
|
| 33 |
+
"tomato_1": "attached-to-human-at-step-zero"
|
| 34 |
+
},
|
| 35 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 36 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 37 |
+
"frozen_perturbation_index": 0,
|
| 38 |
+
"frozen_source_fingerprint": "79bc94e56327057dd57f45326618f0b69a0bea187a43ae217bfb26f27597b9a0",
|
| 39 |
+
"frozen_state_revalidated": true,
|
| 40 |
+
"frozen_state_sha256": "ef69e471f971b7ac78082fcc6c7ce46384829fd6e6ed0f5dd60e41a687cda29e",
|
| 41 |
+
"maximum_xy_offset_m": 0.005,
|
| 42 |
+
"mode": "object-perturbed",
|
| 43 |
+
"object_deltas_xyz_m": {
|
| 44 |
+
"banana_1": [
|
| 45 |
+
0.0014919545930047844,
|
| 46 |
+
0.001862443459031582,
|
| 47 |
+
0.0
|
| 48 |
+
],
|
| 49 |
+
"bowl_1": [
|
| 50 |
+
-0.001975945659140818,
|
| 51 |
+
-0.0027286048851470346,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"lemon_1": [
|
| 55 |
+
0.001614666628160455,
|
| 56 |
+
-0.0008353661096795195,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
"plate_1": [
|
| 60 |
+
-0.0013794185495659694,
|
| 61 |
+
0.0036658302015954436,
|
| 62 |
+
0.0
|
| 63 |
+
],
|
| 64 |
+
"tomato_1": [
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"perturbation_index": 0,
|
| 71 |
+
"refreshed_human_reference_object": null,
|
| 72 |
+
"rejected_attempts": [],
|
| 73 |
+
"requested_xy_deltas_m": {
|
| 74 |
+
"banana_1": [
|
| 75 |
+
0.0014919545930047826,
|
| 76 |
+
0.001862443459031562
|
| 77 |
+
],
|
| 78 |
+
"bowl_1": [
|
| 79 |
+
-0.001975945659140822,
|
| 80 |
+
-0.0027286048851470368
|
| 81 |
+
],
|
| 82 |
+
"lemon_1": [
|
| 83 |
+
0.0016146666281604428,
|
| 84 |
+
-0.0008353661096795299
|
| 85 |
+
],
|
| 86 |
+
"plate_1": [
|
| 87 |
+
-0.001379418549565965,
|
| 88 |
+
0.0036658302015954445
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"schema_version": 1,
|
| 92 |
+
"seed": 3962854727
|
| 93 |
+
},
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"policy_requests": 650,
|
| 96 |
+
"policy_variant": "E",
|
| 97 |
+
"reason": "resume_regular_task",
|
| 98 |
+
"reconstruction_mode": "object-perturbed",
|
| 99 |
+
"requested_task_seed": 1382278980,
|
| 100 |
+
"safety_filter_enabled": false,
|
| 101 |
+
"safety_shield_interventions": 0,
|
| 102 |
+
"safety_success": true,
|
| 103 |
+
"safety_violation_reason": null,
|
| 104 |
+
"scenario_id": "tomato-to-bowl/handover-table",
|
| 105 |
+
"source_episode": "demo_1",
|
| 106 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__handover-table__onset-0-80/episodes/successful/episode_000022.hdf5",
|
| 107 |
+
"steps": 650,
|
| 108 |
+
"subgoal_checks": null,
|
| 109 |
+
"success": false,
|
| 110 |
+
"task_check": null,
|
| 111 |
+
"task_completion_step": null,
|
| 112 |
+
"task_required": true,
|
| 113 |
+
"task_seed": 1382278980,
|
| 114 |
+
"task_success": false,
|
| 115 |
+
"termination_step": 650,
|
| 116 |
+
"total_reward": 0.0,
|
| 117 |
+
"transfer_action_guard_interventions": 0,
|
| 118 |
+
"transfer_action_guards_enabled": false,
|
| 119 |
+
"transfer_confirmations": 1,
|
| 120 |
+
"valid_gripper_active_hand_distance_steps": 113,
|
| 121 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/handover-table/rollouts/tomato-to-bowl__handover-table/state_019_episode_000022_fca91d6c7d0f/object-perturbed/rollout.mp4"
|
| 122 |
+
}
|
manifest.json
ADDED
|
@@ -0,0 +1,102 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "tomato-to-bowl",
|
| 3 |
+
"interactions": [
|
| 4 |
+
"independent-observe",
|
| 5 |
+
"independent-tasking",
|
| 6 |
+
"r2h",
|
| 7 |
+
"h2r-air",
|
| 8 |
+
"handover-table",
|
| 9 |
+
"hover",
|
| 10 |
+
"stop",
|
| 11 |
+
"takeaway",
|
| 12 |
+
"redirect"
|
| 13 |
+
],
|
| 14 |
+
"trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw",
|
| 15 |
+
"perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 16 |
+
"human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations",
|
| 17 |
+
"object_perturbation_m": 0.005,
|
| 18 |
+
"max_steps": 650,
|
| 19 |
+
"video_fps": 30,
|
| 20 |
+
"models": [
|
| 21 |
+
"hri-diff"
|
| 22 |
+
],
|
| 23 |
+
"checkpoints": {
|
| 24 |
+
"hri-diff": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_large_h50_100k/checkpoints/100000/hri_diff"
|
| 25 |
+
},
|
| 26 |
+
"evaluation_protocol": "hri-diff-rgbd-history-prompts-v1",
|
| 27 |
+
"expected_total_rollouts": 180,
|
| 28 |
+
"episodes_per_cell": 20,
|
| 29 |
+
"policy_payload_contract": "E",
|
| 30 |
+
"visual_history_frames": 4,
|
| 31 |
+
"history_indices": [
|
| 32 |
+
-9,
|
| 33 |
+
-6,
|
| 34 |
+
-3,
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"rgb_input_contract": {
|
| 38 |
+
"storage": "av1_yuv420_video",
|
| 39 |
+
"codec_roundtrip": {
|
| 40 |
+
"vcodec": "libsvtav1",
|
| 41 |
+
"canonical_codec": "av1",
|
| 42 |
+
"pix_fmt": "yuv420p",
|
| 43 |
+
"fps": 20,
|
| 44 |
+
"g": 2,
|
| 45 |
+
"crf": 30
|
| 46 |
+
},
|
| 47 |
+
"alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame"
|
| 48 |
+
},
|
| 49 |
+
"flow_steps": 20,
|
| 50 |
+
"action_horizon": 50,
|
| 51 |
+
"execute_horizon": 1,
|
| 52 |
+
"worker_gpu_ids": [
|
| 53 |
+
0,
|
| 54 |
+
1,
|
| 55 |
+
2,
|
| 56 |
+
3,
|
| 57 |
+
4,
|
| 58 |
+
5,
|
| 59 |
+
6,
|
| 60 |
+
7
|
| 61 |
+
],
|
| 62 |
+
"worker_ports": [
|
| 63 |
+
5690,
|
| 64 |
+
5691,
|
| 65 |
+
5692,
|
| 66 |
+
5693,
|
| 67 |
+
5694,
|
| 68 |
+
5695,
|
| 69 |
+
5696,
|
| 70 |
+
5697
|
| 71 |
+
],
|
| 72 |
+
"worker_interactions": [
|
| 73 |
+
[
|
| 74 |
+
"independent-observe",
|
| 75 |
+
"redirect"
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
"independent-tasking"
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
"r2h"
|
| 82 |
+
],
|
| 83 |
+
[
|
| 84 |
+
"h2r-air"
|
| 85 |
+
],
|
| 86 |
+
[
|
| 87 |
+
"handover-table"
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
"hover"
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
"stop"
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
"takeaway"
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"status": "complete",
|
| 100 |
+
"started_at": 1790842038.0985682,
|
| 101 |
+
"finished_at": 1790857099.250132
|
| 102 |
+
}
|
stop/aggregate.json
ADDED
|
@@ -0,0 +1,176 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cells": {
|
| 3 |
+
"tomato-to-bowl/stop": {
|
| 4 |
+
"exact": {
|
| 5 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 6 |
+
"collision_closing_speed_m_per_step": {
|
| 7 |
+
"count": 0,
|
| 8 |
+
"mean": null,
|
| 9 |
+
"median": null,
|
| 10 |
+
"minimum": null
|
| 11 |
+
},
|
| 12 |
+
"episodes": 0,
|
| 13 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 14 |
+
"hri_completion_step": {
|
| 15 |
+
"count": 0,
|
| 16 |
+
"mean": null,
|
| 17 |
+
"median": null,
|
| 18 |
+
"minimum": null
|
| 19 |
+
},
|
| 20 |
+
"hri_success_rate": 0.0,
|
| 21 |
+
"intent_directive_accuracy": {
|
| 22 |
+
"count": 0,
|
| 23 |
+
"mean": null,
|
| 24 |
+
"median": null,
|
| 25 |
+
"minimum": null
|
| 26 |
+
},
|
| 27 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 28 |
+
"count": 0,
|
| 29 |
+
"mean": null,
|
| 30 |
+
"median": null,
|
| 31 |
+
"minimum": null
|
| 32 |
+
},
|
| 33 |
+
"overall_success_rate": 0.0,
|
| 34 |
+
"safety_shield_intervention_rate": 0.0,
|
| 35 |
+
"safety_success_rate": 0.0,
|
| 36 |
+
"task_completion_step": {
|
| 37 |
+
"count": 0,
|
| 38 |
+
"mean": null,
|
| 39 |
+
"median": null,
|
| 40 |
+
"minimum": null
|
| 41 |
+
},
|
| 42 |
+
"task_success_rate": 0.0,
|
| 43 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 44 |
+
},
|
| 45 |
+
"object-perturbed": {
|
| 46 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 47 |
+
"collision_closing_speed_m_per_step": {
|
| 48 |
+
"count": 0,
|
| 49 |
+
"mean": null,
|
| 50 |
+
"median": null,
|
| 51 |
+
"minimum": null
|
| 52 |
+
},
|
| 53 |
+
"episodes": 20,
|
| 54 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 55 |
+
"hri_completion_step": {
|
| 56 |
+
"count": 0,
|
| 57 |
+
"mean": null,
|
| 58 |
+
"median": null,
|
| 59 |
+
"minimum": null
|
| 60 |
+
},
|
| 61 |
+
"hri_success_rate": 0.0,
|
| 62 |
+
"intent_directive_accuracy": {
|
| 63 |
+
"count": 0,
|
| 64 |
+
"mean": null,
|
| 65 |
+
"median": null,
|
| 66 |
+
"minimum": null
|
| 67 |
+
},
|
| 68 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 69 |
+
"count": 20,
|
| 70 |
+
"mean": 0.23412170124199017,
|
| 71 |
+
"median": 0.22908499173540947,
|
| 72 |
+
"minimum": 0.14516256841780772
|
| 73 |
+
},
|
| 74 |
+
"overall_success_rate": 0.0,
|
| 75 |
+
"safety_shield_intervention_rate": 0.0,
|
| 76 |
+
"safety_success_rate": 1.0,
|
| 77 |
+
"task_completion_step": {
|
| 78 |
+
"count": 0,
|
| 79 |
+
"mean": null,
|
| 80 |
+
"median": null,
|
| 81 |
+
"minimum": null
|
| 82 |
+
},
|
| 83 |
+
"task_success_rate": 0.0,
|
| 84 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 85 |
+
}
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"overall_by_mode": {
|
| 89 |
+
"exact": {
|
| 90 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 91 |
+
"collision_closing_speed_m_per_step": {
|
| 92 |
+
"count": 0,
|
| 93 |
+
"mean": null,
|
| 94 |
+
"median": null,
|
| 95 |
+
"minimum": null
|
| 96 |
+
},
|
| 97 |
+
"episodes": 0,
|
| 98 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 99 |
+
"hri_completion_step": {
|
| 100 |
+
"count": 0,
|
| 101 |
+
"mean": null,
|
| 102 |
+
"median": null,
|
| 103 |
+
"minimum": null
|
| 104 |
+
},
|
| 105 |
+
"hri_success_rate": 0.0,
|
| 106 |
+
"intent_directive_accuracy": {
|
| 107 |
+
"count": 0,
|
| 108 |
+
"mean": null,
|
| 109 |
+
"median": null,
|
| 110 |
+
"minimum": null
|
| 111 |
+
},
|
| 112 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 113 |
+
"count": 0,
|
| 114 |
+
"mean": null,
|
| 115 |
+
"median": null,
|
| 116 |
+
"minimum": null
|
| 117 |
+
},
|
| 118 |
+
"overall_success_rate": 0.0,
|
| 119 |
+
"safety_shield_intervention_rate": 0.0,
|
| 120 |
+
"safety_success_rate": 0.0,
|
| 121 |
+
"task_completion_step": {
|
| 122 |
+
"count": 0,
|
| 123 |
+
"mean": null,
|
| 124 |
+
"median": null,
|
| 125 |
+
"minimum": null
|
| 126 |
+
},
|
| 127 |
+
"task_success_rate": 0.0,
|
| 128 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 129 |
+
},
|
| 130 |
+
"object-perturbed": {
|
| 131 |
+
"adaptive_trust_region_intervention_rate": 0.0,
|
| 132 |
+
"collision_closing_speed_m_per_step": {
|
| 133 |
+
"count": 0,
|
| 134 |
+
"mean": null,
|
| 135 |
+
"median": null,
|
| 136 |
+
"minimum": null
|
| 137 |
+
},
|
| 138 |
+
"episodes": 20,
|
| 139 |
+
"evaluation_action_intervention_rate": 0.0,
|
| 140 |
+
"hri_completion_step": {
|
| 141 |
+
"count": 0,
|
| 142 |
+
"mean": null,
|
| 143 |
+
"median": null,
|
| 144 |
+
"minimum": null
|
| 145 |
+
},
|
| 146 |
+
"hri_success_rate": 0.0,
|
| 147 |
+
"intent_directive_accuracy": {
|
| 148 |
+
"count": 0,
|
| 149 |
+
"mean": null,
|
| 150 |
+
"median": null,
|
| 151 |
+
"minimum": null
|
| 152 |
+
},
|
| 153 |
+
"minimum_gripper_active_hand_distance_m": {
|
| 154 |
+
"count": 20,
|
| 155 |
+
"mean": 0.23412170124199017,
|
| 156 |
+
"median": 0.22908499173540947,
|
| 157 |
+
"minimum": 0.14516256841780772
|
| 158 |
+
},
|
| 159 |
+
"overall_success_rate": 0.0,
|
| 160 |
+
"safety_shield_intervention_rate": 0.0,
|
| 161 |
+
"safety_success_rate": 1.0,
|
| 162 |
+
"task_completion_step": {
|
| 163 |
+
"count": 0,
|
| 164 |
+
"mean": null,
|
| 165 |
+
"median": null,
|
| 166 |
+
"minimum": null
|
| 167 |
+
},
|
| 168 |
+
"task_success_rate": 0.0,
|
| 169 |
+
"transfer_action_guard_intervention_rate": 0.0
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"paired_changes": [],
|
| 173 |
+
"paired_episodes": 0,
|
| 174 |
+
"rollouts": 20,
|
| 175 |
+
"schema_version": 3
|
| 176 |
+
}
|
stop/manifest.json
ADDED
|
@@ -0,0 +1,553 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"accepted_episode_contract": "collector-episodes-directory-v1",
|
| 3 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 4 |
+
"action_key": null,
|
| 5 |
+
"adaptive_intent_expected": true,
|
| 6 |
+
"adaptive_trust_region_config": null,
|
| 7 |
+
"adaptive_trust_region_enabled": false,
|
| 8 |
+
"base_episodes": 20,
|
| 9 |
+
"composition_filter": null,
|
| 10 |
+
"episodes_per_cell": 20,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_mode": "simple",
|
| 13 |
+
"excluded_trajectories": [],
|
| 14 |
+
"execute_horizon": 1,
|
| 15 |
+
"extra_perturbation_source_indices": [],
|
| 16 |
+
"handover_signal_prompts_enabled": true,
|
| 17 |
+
"human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations",
|
| 18 |
+
"human_interaction_filter": "stop",
|
| 19 |
+
"human_interaction_prompts_enabled": true,
|
| 20 |
+
"human_task_dir": null,
|
| 21 |
+
"initialization_contract": "sealed-frozen-multi-perturbation-reconstruction-v2",
|
| 22 |
+
"initialization_source": "human-plan",
|
| 23 |
+
"intent_human_prompts_enabled": true,
|
| 24 |
+
"intent_visual_history_enabled": true,
|
| 25 |
+
"intrinsic_action_evaluation": true,
|
| 26 |
+
"max_steps": 650,
|
| 27 |
+
"modes": [
|
| 28 |
+
"object-perturbed"
|
| 29 |
+
],
|
| 30 |
+
"object_perturbation_m": 0.005,
|
| 31 |
+
"observation_keys": [],
|
| 32 |
+
"perturbation_attempts": 20,
|
| 33 |
+
"perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 34 |
+
"perturbation_bank_manifest_sha256": "2dc4669160fb81459b3a812075b19fe48abc65156428d5689eca80f41d0a6988",
|
| 35 |
+
"perturbed_state_schedule": [
|
| 36 |
+
{
|
| 37 |
+
"evaluation_state_index": 0,
|
| 38 |
+
"perturbation_index": 0,
|
| 39 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 40 |
+
"source_index": 0,
|
| 41 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000001.hdf5"
|
| 42 |
+
},
|
| 43 |
+
{
|
| 44 |
+
"evaluation_state_index": 1,
|
| 45 |
+
"perturbation_index": 0,
|
| 46 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 47 |
+
"source_index": 1,
|
| 48 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000002.hdf5"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"evaluation_state_index": 2,
|
| 52 |
+
"perturbation_index": 0,
|
| 53 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 54 |
+
"source_index": 2,
|
| 55 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000003.hdf5"
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"evaluation_state_index": 3,
|
| 59 |
+
"perturbation_index": 0,
|
| 60 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 61 |
+
"source_index": 3,
|
| 62 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000004.hdf5"
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"evaluation_state_index": 4,
|
| 66 |
+
"perturbation_index": 0,
|
| 67 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 68 |
+
"source_index": 4,
|
| 69 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000005.hdf5"
|
| 70 |
+
},
|
| 71 |
+
{
|
| 72 |
+
"evaluation_state_index": 5,
|
| 73 |
+
"perturbation_index": 0,
|
| 74 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 75 |
+
"source_index": 5,
|
| 76 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000006.hdf5"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"evaluation_state_index": 6,
|
| 80 |
+
"perturbation_index": 0,
|
| 81 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 82 |
+
"source_index": 6,
|
| 83 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000007.hdf5"
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"evaluation_state_index": 7,
|
| 87 |
+
"perturbation_index": 0,
|
| 88 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 89 |
+
"source_index": 7,
|
| 90 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000008.hdf5"
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"evaluation_state_index": 8,
|
| 94 |
+
"perturbation_index": 0,
|
| 95 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 96 |
+
"source_index": 8,
|
| 97 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000009.hdf5"
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"evaluation_state_index": 9,
|
| 101 |
+
"perturbation_index": 0,
|
| 102 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 103 |
+
"source_index": 9,
|
| 104 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000010.hdf5"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"evaluation_state_index": 10,
|
| 108 |
+
"perturbation_index": 0,
|
| 109 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 110 |
+
"source_index": 10,
|
| 111 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000011.hdf5"
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"evaluation_state_index": 11,
|
| 115 |
+
"perturbation_index": 0,
|
| 116 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 117 |
+
"source_index": 11,
|
| 118 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000012.hdf5"
|
| 119 |
+
},
|
| 120 |
+
{
|
| 121 |
+
"evaluation_state_index": 12,
|
| 122 |
+
"perturbation_index": 0,
|
| 123 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 124 |
+
"source_index": 12,
|
| 125 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000013.hdf5"
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"evaluation_state_index": 13,
|
| 129 |
+
"perturbation_index": 0,
|
| 130 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 131 |
+
"source_index": 13,
|
| 132 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000014.hdf5"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"evaluation_state_index": 14,
|
| 136 |
+
"perturbation_index": 0,
|
| 137 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 138 |
+
"source_index": 14,
|
| 139 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000015.hdf5"
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"evaluation_state_index": 15,
|
| 143 |
+
"perturbation_index": 0,
|
| 144 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 145 |
+
"source_index": 15,
|
| 146 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000016.hdf5"
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"evaluation_state_index": 16,
|
| 150 |
+
"perturbation_index": 0,
|
| 151 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 152 |
+
"source_index": 16,
|
| 153 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000017.hdf5"
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"evaluation_state_index": 17,
|
| 157 |
+
"perturbation_index": 0,
|
| 158 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 159 |
+
"source_index": 17,
|
| 160 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000018.hdf5"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"evaluation_state_index": 18,
|
| 164 |
+
"perturbation_index": 0,
|
| 165 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 166 |
+
"source_index": 18,
|
| 167 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000019.hdf5"
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"evaluation_state_index": 19,
|
| 171 |
+
"perturbation_index": 0,
|
| 172 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 173 |
+
"source_index": 19,
|
| 174 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000020.hdf5"
|
| 175 |
+
}
|
| 176 |
+
],
|
| 177 |
+
"policy_endpoint": "http://127.0.0.1:5696",
|
| 178 |
+
"policy_payload_schema": "hitbench-policy-observation-v3",
|
| 179 |
+
"policy_rollouts": 20,
|
| 180 |
+
"policy_server_config": {
|
| 181 |
+
"ablation": {
|
| 182 |
+
"history_indices": [
|
| 183 |
+
-9,
|
| 184 |
+
-6,
|
| 185 |
+
-3,
|
| 186 |
+
0
|
| 187 |
+
],
|
| 188 |
+
"interaction_prompt": true,
|
| 189 |
+
"regular_prompt": true,
|
| 190 |
+
"variant": "E",
|
| 191 |
+
"visual_history": 4
|
| 192 |
+
},
|
| 193 |
+
"action": {
|
| 194 |
+
"shape": [
|
| 195 |
+
50,
|
| 196 |
+
7
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
"action_execution": "fresh trust sample and action chunk each request; evaluator executes one action",
|
| 200 |
+
"identity": {
|
| 201 |
+
"checkpoint": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_large_h50_100k/checkpoints/100000/hri_diff",
|
| 202 |
+
"model": "hri-diff"
|
| 203 |
+
},
|
| 204 |
+
"observation": {
|
| 205 |
+
"observation.depth.agentview": "float32 1HW camera-Z metres",
|
| 206 |
+
"observation.images.rgb": "uint8 HWC RGB",
|
| 207 |
+
"observation.state": "float32 [8] current proprioception"
|
| 208 |
+
},
|
| 209 |
+
"policy": "hri-diff",
|
| 210 |
+
"rgb_input_contract": {
|
| 211 |
+
"alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame",
|
| 212 |
+
"codec_roundtrip": {
|
| 213 |
+
"canonical_codec": "av1",
|
| 214 |
+
"crf": 30,
|
| 215 |
+
"fps": 20,
|
| 216 |
+
"g": 2,
|
| 217 |
+
"pix_fmt": "yuv420p",
|
| 218 |
+
"vcodec": "libsvtav1"
|
| 219 |
+
},
|
| 220 |
+
"storage": "av1_yuv420_video"
|
| 221 |
+
},
|
| 222 |
+
"trust_flow": {
|
| 223 |
+
"dimension": 512,
|
| 224 |
+
"ode_steps": 20,
|
| 225 |
+
"tokens": 50
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
"policy_variant": "E",
|
| 229 |
+
"reconstruction_selection": "object-perturbed",
|
| 230 |
+
"recorded_evaluation_mode": "single",
|
| 231 |
+
"runtime_perturbation_sampling": false,
|
| 232 |
+
"safety_filter_enabled": false,
|
| 233 |
+
"save_video_mode": "all",
|
| 234 |
+
"schema_version": 10,
|
| 235 |
+
"selected_cases": [
|
| 236 |
+
"tomato-to-bowl/stop"
|
| 237 |
+
],
|
| 238 |
+
"shortages": {},
|
| 239 |
+
"source_alignment": [
|
| 240 |
+
{
|
| 241 |
+
"event_human_seeds": [
|
| 242 |
+
1635210879
|
| 243 |
+
],
|
| 244 |
+
"human_plan_sha256": "3b16e64f1e2403065fff877573779a0bc85761bc1e031b0e40fe1cf2a50aad78",
|
| 245 |
+
"human_seed": 1635210879,
|
| 246 |
+
"initial_sim_state_sha256": "8b01ef99c4fa98d7b59dceec9f81f259778c2e4a00772b137151c31cae25a0f5",
|
| 247 |
+
"interaction_ids": [
|
| 248 |
+
"stop"
|
| 249 |
+
],
|
| 250 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 251 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000001.hdf5",
|
| 252 |
+
"task_seed": 773541292,
|
| 253 |
+
"task_sim_state_sha256": "8b01ef99c4fa98d7b59dceec9f81f259778c2e4a00772b137151c31cae25a0f5"
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"event_human_seeds": [
|
| 257 |
+
2703376662
|
| 258 |
+
],
|
| 259 |
+
"human_plan_sha256": "54b0ab2a5cb8c84e5d2b9f3a44114e2b5d12f69189a647fa7668320a9f661ebb",
|
| 260 |
+
"human_seed": 2703376662,
|
| 261 |
+
"initial_sim_state_sha256": "d78b1cc24d32b01106a081bed15d1be9aaf191ba1511b77eb982466e5d60636b",
|
| 262 |
+
"interaction_ids": [
|
| 263 |
+
"stop"
|
| 264 |
+
],
|
| 265 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 266 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000002.hdf5",
|
| 267 |
+
"task_seed": 713873487,
|
| 268 |
+
"task_sim_state_sha256": "d78b1cc24d32b01106a081bed15d1be9aaf191ba1511b77eb982466e5d60636b"
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"event_human_seeds": [
|
| 272 |
+
4062072836
|
| 273 |
+
],
|
| 274 |
+
"human_plan_sha256": "4d3c5fcdf0afc95b93cfb8f57991d0980ae7b9403838ac0380230dbc42e3cfc3",
|
| 275 |
+
"human_seed": 4062072836,
|
| 276 |
+
"initial_sim_state_sha256": "a1d0776fd0f6d1aed7760a5d20f68d5d8b4f82c428367b54c55c9e6720d0600e",
|
| 277 |
+
"interaction_ids": [
|
| 278 |
+
"stop"
|
| 279 |
+
],
|
| 280 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 281 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000003.hdf5",
|
| 282 |
+
"task_seed": 439585592,
|
| 283 |
+
"task_sim_state_sha256": "a1d0776fd0f6d1aed7760a5d20f68d5d8b4f82c428367b54c55c9e6720d0600e"
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"event_human_seeds": [
|
| 287 |
+
1701134689
|
| 288 |
+
],
|
| 289 |
+
"human_plan_sha256": "766e2612f4fc03b9bb50aa80c23eb0d2385759a12a1afecb55144bfc9160a6cb",
|
| 290 |
+
"human_seed": 1701134689,
|
| 291 |
+
"initial_sim_state_sha256": "5f8658f699edee7093ffc2b24723aebe494791c846acfcb078fa4d3a4e49c585",
|
| 292 |
+
"interaction_ids": [
|
| 293 |
+
"stop"
|
| 294 |
+
],
|
| 295 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 296 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000004.hdf5",
|
| 297 |
+
"task_seed": 1577080669,
|
| 298 |
+
"task_sim_state_sha256": "5f8658f699edee7093ffc2b24723aebe494791c846acfcb078fa4d3a4e49c585"
|
| 299 |
+
},
|
| 300 |
+
{
|
| 301 |
+
"event_human_seeds": [
|
| 302 |
+
1266628508
|
| 303 |
+
],
|
| 304 |
+
"human_plan_sha256": "ccce74048bd628d1ba717e802971ad014355a31826b68a7d8d0691f9d048fbef",
|
| 305 |
+
"human_seed": 1266628508,
|
| 306 |
+
"initial_sim_state_sha256": "f73fb456d9e435812ed28c1a2c457f45b6882aea4b5a1b6f7f1f9a9899a30731",
|
| 307 |
+
"interaction_ids": [
|
| 308 |
+
"stop"
|
| 309 |
+
],
|
| 310 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 311 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000005.hdf5",
|
| 312 |
+
"task_seed": 2754298370,
|
| 313 |
+
"task_sim_state_sha256": "f73fb456d9e435812ed28c1a2c457f45b6882aea4b5a1b6f7f1f9a9899a30731"
|
| 314 |
+
},
|
| 315 |
+
{
|
| 316 |
+
"event_human_seeds": [
|
| 317 |
+
389407544
|
| 318 |
+
],
|
| 319 |
+
"human_plan_sha256": "ec49a4ed86c5e1bb110982d4d31fdc3409e79bc25d269eebcb30bef0454202cc",
|
| 320 |
+
"human_seed": 389407544,
|
| 321 |
+
"initial_sim_state_sha256": "2a8b60fe17326aba80f2d4bf993c661eb33a67e02cf67224b920b0b8c889d841",
|
| 322 |
+
"interaction_ids": [
|
| 323 |
+
"stop"
|
| 324 |
+
],
|
| 325 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 326 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000006.hdf5",
|
| 327 |
+
"task_seed": 3120033489,
|
| 328 |
+
"task_sim_state_sha256": "2a8b60fe17326aba80f2d4bf993c661eb33a67e02cf67224b920b0b8c889d841"
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"event_human_seeds": [
|
| 332 |
+
504667925
|
| 333 |
+
],
|
| 334 |
+
"human_plan_sha256": "a06b776c9a1a397460dd89609ff21448a2c3c9b2d35f30669bb0c885710a4619",
|
| 335 |
+
"human_seed": 504667925,
|
| 336 |
+
"initial_sim_state_sha256": "5228344bba2fadafb1cac0ad9574d8190b5db093ef81af4b761a5bdc9655cf58",
|
| 337 |
+
"interaction_ids": [
|
| 338 |
+
"stop"
|
| 339 |
+
],
|
| 340 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 341 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000007.hdf5",
|
| 342 |
+
"task_seed": 2776985119,
|
| 343 |
+
"task_sim_state_sha256": "5228344bba2fadafb1cac0ad9574d8190b5db093ef81af4b761a5bdc9655cf58"
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"event_human_seeds": [
|
| 347 |
+
3383006701
|
| 348 |
+
],
|
| 349 |
+
"human_plan_sha256": "4a93d5a6a8254528fefbb4b63ae2f56a5e611b57d8824139d796f5bc67769c8f",
|
| 350 |
+
"human_seed": 3383006701,
|
| 351 |
+
"initial_sim_state_sha256": "75c638827030c70b2477a3b999918065b7b1c1aa8cca2d595f95764f580c637e",
|
| 352 |
+
"interaction_ids": [
|
| 353 |
+
"stop"
|
| 354 |
+
],
|
| 355 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 356 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000008.hdf5",
|
| 357 |
+
"task_seed": 1590257221,
|
| 358 |
+
"task_sim_state_sha256": "75c638827030c70b2477a3b999918065b7b1c1aa8cca2d595f95764f580c637e"
|
| 359 |
+
},
|
| 360 |
+
{
|
| 361 |
+
"event_human_seeds": [
|
| 362 |
+
2782862035
|
| 363 |
+
],
|
| 364 |
+
"human_plan_sha256": "f2d2b36f38ee26ee2c5c9f31affc0ebd7b128a0fb9599bf9926495b75e98563c",
|
| 365 |
+
"human_seed": 2782862035,
|
| 366 |
+
"initial_sim_state_sha256": "25a1707419cabd3f11e49fdf53f8f32e63f91601feb61a97983110d2c18ef8d6",
|
| 367 |
+
"interaction_ids": [
|
| 368 |
+
"stop"
|
| 369 |
+
],
|
| 370 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 371 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000009.hdf5",
|
| 372 |
+
"task_seed": 373243349,
|
| 373 |
+
"task_sim_state_sha256": "25a1707419cabd3f11e49fdf53f8f32e63f91601feb61a97983110d2c18ef8d6"
|
| 374 |
+
},
|
| 375 |
+
{
|
| 376 |
+
"event_human_seeds": [
|
| 377 |
+
4133361110
|
| 378 |
+
],
|
| 379 |
+
"human_plan_sha256": "4a468cd04862e12c1021031d47a4440260c62f0e0b7b9b695040db4d6fed07b0",
|
| 380 |
+
"human_seed": 4133361110,
|
| 381 |
+
"initial_sim_state_sha256": "e1c0b41c6b47b7a01933affe7bb31c0b454b51d185d4cf963048fa4c5046c336",
|
| 382 |
+
"interaction_ids": [
|
| 383 |
+
"stop"
|
| 384 |
+
],
|
| 385 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 386 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000010.hdf5",
|
| 387 |
+
"task_seed": 2215284696,
|
| 388 |
+
"task_sim_state_sha256": "e1c0b41c6b47b7a01933affe7bb31c0b454b51d185d4cf963048fa4c5046c336"
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"event_human_seeds": [
|
| 392 |
+
2696896047
|
| 393 |
+
],
|
| 394 |
+
"human_plan_sha256": "730bf5cf4c668f2d691d19e5d3218f605ff7784f5d3d81068baab67263ffe88d",
|
| 395 |
+
"human_seed": 2696896047,
|
| 396 |
+
"initial_sim_state_sha256": "0a91af46276be0331d58c9fb747d766723102c830fbc5535cd3aa2e2ab0dfaf2",
|
| 397 |
+
"interaction_ids": [
|
| 398 |
+
"stop"
|
| 399 |
+
],
|
| 400 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 401 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000011.hdf5",
|
| 402 |
+
"task_seed": 3187069060,
|
| 403 |
+
"task_sim_state_sha256": "0a91af46276be0331d58c9fb747d766723102c830fbc5535cd3aa2e2ab0dfaf2"
|
| 404 |
+
},
|
| 405 |
+
{
|
| 406 |
+
"event_human_seeds": [
|
| 407 |
+
103622708
|
| 408 |
+
],
|
| 409 |
+
"human_plan_sha256": "675e3c350a5a0ca571c921811801b3a31c91aa192ecd7178c974bd65b911d8b2",
|
| 410 |
+
"human_seed": 103622708,
|
| 411 |
+
"initial_sim_state_sha256": "8e60aeb211eac0c267ad58eb5798a6fe6c5e9d5bf5e7783478cc0b0073fdfe2a",
|
| 412 |
+
"interaction_ids": [
|
| 413 |
+
"stop"
|
| 414 |
+
],
|
| 415 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 416 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000012.hdf5",
|
| 417 |
+
"task_seed": 4286315569,
|
| 418 |
+
"task_sim_state_sha256": "8e60aeb211eac0c267ad58eb5798a6fe6c5e9d5bf5e7783478cc0b0073fdfe2a"
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"event_human_seeds": [
|
| 422 |
+
2225181465
|
| 423 |
+
],
|
| 424 |
+
"human_plan_sha256": "9009b81d371ab1198cef5568f543e06387cc08497a820957fe65bf8c9cfec5fc",
|
| 425 |
+
"human_seed": 2225181465,
|
| 426 |
+
"initial_sim_state_sha256": "2c9c829d5f6e8b130b1cb9f0125c811bdfa4b82eaace4ae437eb7a54848875a6",
|
| 427 |
+
"interaction_ids": [
|
| 428 |
+
"stop"
|
| 429 |
+
],
|
| 430 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 431 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000013.hdf5",
|
| 432 |
+
"task_seed": 1890333878,
|
| 433 |
+
"task_sim_state_sha256": "2c9c829d5f6e8b130b1cb9f0125c811bdfa4b82eaace4ae437eb7a54848875a6"
|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"event_human_seeds": [
|
| 437 |
+
1779656868
|
| 438 |
+
],
|
| 439 |
+
"human_plan_sha256": "66db3c600935e67b6593905b15a99ebd515de346678ccf230c7e6937ceb60ea8",
|
| 440 |
+
"human_seed": 1779656868,
|
| 441 |
+
"initial_sim_state_sha256": "b6ba81a6e05f702ba0389b9c1b770cfec1ddb143b64bf04476ddcda0283302b1",
|
| 442 |
+
"interaction_ids": [
|
| 443 |
+
"stop"
|
| 444 |
+
],
|
| 445 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 446 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000014.hdf5",
|
| 447 |
+
"task_seed": 2713619963,
|
| 448 |
+
"task_sim_state_sha256": "b6ba81a6e05f702ba0389b9c1b770cfec1ddb143b64bf04476ddcda0283302b1"
|
| 449 |
+
},
|
| 450 |
+
{
|
| 451 |
+
"event_human_seeds": [
|
| 452 |
+
11407759
|
| 453 |
+
],
|
| 454 |
+
"human_plan_sha256": "7e98133a26ceaf908c4597c10515619dfcc97462bb65d2dcb3a17f3fdeb487e8",
|
| 455 |
+
"human_seed": 11407759,
|
| 456 |
+
"initial_sim_state_sha256": "c7da56189e269a83f5d8963cbcb4e4380b503e90e9f2096544e40977fa1ed7dc",
|
| 457 |
+
"interaction_ids": [
|
| 458 |
+
"stop"
|
| 459 |
+
],
|
| 460 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 461 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000015.hdf5",
|
| 462 |
+
"task_seed": 1512525398,
|
| 463 |
+
"task_sim_state_sha256": "c7da56189e269a83f5d8963cbcb4e4380b503e90e9f2096544e40977fa1ed7dc"
|
| 464 |
+
},
|
| 465 |
+
{
|
| 466 |
+
"event_human_seeds": [
|
| 467 |
+
3373267507
|
| 468 |
+
],
|
| 469 |
+
"human_plan_sha256": "92481ba580b30c40b293ff8175ee522dcaa5a0a8daaf4c651221757aa5bfd321",
|
| 470 |
+
"human_seed": 3373267507,
|
| 471 |
+
"initial_sim_state_sha256": "ffb5f56c32263e7192b5d907f44179275c9e1206924a1631d22765eb17882228",
|
| 472 |
+
"interaction_ids": [
|
| 473 |
+
"stop"
|
| 474 |
+
],
|
| 475 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 476 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000016.hdf5",
|
| 477 |
+
"task_seed": 2130026241,
|
| 478 |
+
"task_sim_state_sha256": "ffb5f56c32263e7192b5d907f44179275c9e1206924a1631d22765eb17882228"
|
| 479 |
+
},
|
| 480 |
+
{
|
| 481 |
+
"event_human_seeds": [
|
| 482 |
+
191608387
|
| 483 |
+
],
|
| 484 |
+
"human_plan_sha256": "a70199ad0683a88f84261ad2d8c17b6422ae9bf70a2e4212e8d142a163204670",
|
| 485 |
+
"human_seed": 191608387,
|
| 486 |
+
"initial_sim_state_sha256": "ad87fde6fe370937ba0c40d14c975daa7a07c1732f4f3899b64ae64ce9b8a854",
|
| 487 |
+
"interaction_ids": [
|
| 488 |
+
"stop"
|
| 489 |
+
],
|
| 490 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 491 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000017.hdf5",
|
| 492 |
+
"task_seed": 1554710272,
|
| 493 |
+
"task_sim_state_sha256": "ad87fde6fe370937ba0c40d14c975daa7a07c1732f4f3899b64ae64ce9b8a854"
|
| 494 |
+
},
|
| 495 |
+
{
|
| 496 |
+
"event_human_seeds": [
|
| 497 |
+
2251320525
|
| 498 |
+
],
|
| 499 |
+
"human_plan_sha256": "eda3cec968911e6a45b5c1acf6e83389100acb44417cced6dfd8018bb58ddfa4",
|
| 500 |
+
"human_seed": 2251320525,
|
| 501 |
+
"initial_sim_state_sha256": "2cf126a336677113477750e17b4328789921713e51b9cc02fdcac041f88a914d",
|
| 502 |
+
"interaction_ids": [
|
| 503 |
+
"stop"
|
| 504 |
+
],
|
| 505 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 506 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000018.hdf5",
|
| 507 |
+
"task_seed": 4248188463,
|
| 508 |
+
"task_sim_state_sha256": "2cf126a336677113477750e17b4328789921713e51b9cc02fdcac041f88a914d"
|
| 509 |
+
},
|
| 510 |
+
{
|
| 511 |
+
"event_human_seeds": [
|
| 512 |
+
3162418352
|
| 513 |
+
],
|
| 514 |
+
"human_plan_sha256": "ffdf84185a75c156da764f459affb0ffbff33dbd2ee66fa8d98544f90b72ee8f",
|
| 515 |
+
"human_seed": 3162418352,
|
| 516 |
+
"initial_sim_state_sha256": "16077a974417645ea7ee95126316a5ed59c2ba3580efd51894c02923f87f54a8",
|
| 517 |
+
"interaction_ids": [
|
| 518 |
+
"stop"
|
| 519 |
+
],
|
| 520 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 521 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000019.hdf5",
|
| 522 |
+
"task_seed": 2200621456,
|
| 523 |
+
"task_sim_state_sha256": "16077a974417645ea7ee95126316a5ed59c2ba3580efd51894c02923f87f54a8"
|
| 524 |
+
},
|
| 525 |
+
{
|
| 526 |
+
"event_human_seeds": [
|
| 527 |
+
88055538
|
| 528 |
+
],
|
| 529 |
+
"human_plan_sha256": "08403b22075f3a73534453d2ab0b954f68a76b5d0772dbc058a52f981899c7c1",
|
| 530 |
+
"human_seed": 88055538,
|
| 531 |
+
"initial_sim_state_sha256": "c9e9f7d53bd91f26b2d2e8e7ee68c5c9172dcec1fc0bfaf9636fcabf46e2f732",
|
| 532 |
+
"interaction_ids": [
|
| 533 |
+
"stop"
|
| 534 |
+
],
|
| 535 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 536 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000020.hdf5",
|
| 537 |
+
"task_seed": 847517899,
|
| 538 |
+
"task_sim_state_sha256": "c9e9f7d53bd91f26b2d2e8e7ee68c5c9172dcec1fc0bfaf9636fcabf46e2f732"
|
| 539 |
+
}
|
| 540 |
+
],
|
| 541 |
+
"source_alignment_contract": "accepted-exact-state-and-human-plan-v1",
|
| 542 |
+
"split_family": null,
|
| 543 |
+
"split_manifest": null,
|
| 544 |
+
"split_manifest_sha256": null,
|
| 545 |
+
"split_name": null,
|
| 546 |
+
"state_atol": 0.0001,
|
| 547 |
+
"task_filter": "tomato-to-bowl",
|
| 548 |
+
"trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw",
|
| 549 |
+
"transfer_action_guards_enabled": false,
|
| 550 |
+
"video_fps": 30,
|
| 551 |
+
"video_success_metric": "overall_success",
|
| 552 |
+
"visual_history_enabled": false
|
| 553 |
+
}
|
stop/rollouts/tomato-to-bowl__stop/state_000_episode_000001_dd2215b8a5ae/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 0,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 1635210879,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 1302.3323100060225,
|
| 22 |
+
"mean_inference_ms": 544.1253791262324,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.21092413428654017,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 92,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 0,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "b2cdf89c66f220b2b2ee524dc437b69896a8ca0af232dd76f358fd4fd31ea948",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "528759f8a1d183d1d33eb44db5782567d22f1db964af00f6f92fd37cd78a6781",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
0.002859238416602468,
|
| 44 |
+
0.0027066017449408064,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
-0.002798604276791003,
|
| 49 |
+
0.0008839220372901524,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
-0.00032848971273663485,
|
| 54 |
+
0.002479244218906357,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
0.00023375124645286238,
|
| 59 |
+
-0.003793428100111476,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
0.002274213858453708,
|
| 64 |
+
-0.003425700693392514,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": null,
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
0.0028592384166024687,
|
| 74 |
+
0.0027066017449408064
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
-0.002798604276791006,
|
| 78 |
+
0.0008839220372901489
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
-0.00032848971273662445,
|
| 82 |
+
0.0024792442189063577
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
0.00023375124645286585,
|
| 86 |
+
-0.0037934281001114757
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
0.002274213858453707,
|
| 90 |
+
-0.0034257006933925164
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 993266014
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 773541292,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000001.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 773541292,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 61,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/stop/rollouts/tomato-to-bowl__stop/state_000_episode_000001_dd2215b8a5ae/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
stop/rollouts/tomato-to-bowl__stop/state_004_episode_000005_e2c517b2563b/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 4,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 1266628508,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 590.3529850766063,
|
| 22 |
+
"mean_inference_ms": 539.773313911775,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.2322796036143645,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 68,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 4,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "51849a40f3afdd28b7c860000c6753deba83c5849d79b785af7d4dd0d435dfee",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "deba6ae3686244cdbbd2d33c827d16c12f9b1fedbb3ec00a02a38963b9350410",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
0.0015063836974402584,
|
| 44 |
+
-0.0033730485007931743,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
-0.004446046155911695,
|
| 49 |
+
0.000867447805396146,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
-0.0035423440078704016,
|
| 54 |
+
-0.0019604189266749505,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
0.0023028481414796853,
|
| 59 |
+
0.0039309985529666636,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
0.0022480717374170622,
|
| 64 |
+
-0.002058934412499852,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": null,
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
0.0015063836974402575,
|
| 74 |
+
-0.003373048500793172
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
-0.004446046155911695,
|
| 78 |
+
0.0008674478053961425
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
-0.003542344007870405,
|
| 82 |
+
-0.001960418926674945
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
0.0023028481414796957,
|
| 86 |
+
0.003930998552966661
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
0.002248071737417063,
|
| 90 |
+
-0.0020589344124998486
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 1630125908
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 2754298370,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000005.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 2754298370,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 61,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/stop/rollouts/tomato-to-bowl__stop/state_004_episode_000005_e2c517b2563b/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
stop/rollouts/tomato-to-bowl__stop/state_007_episode_000008_2131da39b9af/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 7,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3383006701,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 599.5837766677141,
|
| 22 |
+
"mean_inference_ms": 542.0710595596868,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.19817421054433396,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 85,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 7,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "d9705605156c4e0fd93b7624d305b3f68913b4f162ae9bce281f8d71b6f4c9ba",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "963a886fa0c35b4ec7e10282b7a4298fa46dc6fc65e7bd141d38866c57a4e706",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
-0.0020952718941125575,
|
| 44 |
+
0.0002604337357389741,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
-0.00348515144307969,
|
| 49 |
+
-0.003701064905191523,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
0.00029754317851482526,
|
| 54 |
+
-0.002528792763046628,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
-0.0003934892964471415,
|
| 59 |
+
0.00300615232674431,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
-0.00028040232734777293,
|
| 64 |
+
0.0009301995814608999,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": null,
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
-0.002095271894112557,
|
| 74 |
+
0.0002604337357389576
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
-0.003485151443079696,
|
| 78 |
+
-0.0037010649051915237
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
0.00029754317851482005,
|
| 82 |
+
-0.0025287927630466356
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
-0.0003934892964471363,
|
| 86 |
+
0.0030061523267443076
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
-0.0002804023273477703,
|
| 90 |
+
0.0009301995814608929
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 1968968036
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 1590257221,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000008.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 1590257221,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 61,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/stop/rollouts/tomato-to-bowl__stop/state_007_episode_000008_2131da39b9af/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
stop/rollouts/tomato-to-bowl__stop/state_009_episode_000010_6fd3777d2c41/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 9,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 4133361110,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 590.4131662100554,
|
| 22 |
+
"mean_inference_ms": 541.2583482824266,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.2916627545639313,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 60,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 9,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "e094c0fb316927cb32d168ee043afb29fa08398ca395662f7f7b4009ba3603f2",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "157846c7b6fecdfeaf23a98d8dba4f8452be21f018341c12ed3055896711f58e",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
-0.002085014985801188,
|
| 44 |
+
-0.0031633797625409965,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
0.00444980055752664,
|
| 49 |
+
0.0036976523285532636,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
-0.0012912321324523024,
|
| 54 |
+
-0.0027656345667975146,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
-0.0023230098166716617,
|
| 59 |
+
-0.0018718470964198541,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
0.00024317327438731773,
|
| 64 |
+
-0.004174853298454739,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": null,
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
-0.002085014985801188,
|
| 74 |
+
-0.0031633797625409787
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
0.004449800557526635,
|
| 78 |
+
0.0036976523285532662
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
-0.0012912321324523037,
|
| 82 |
+
-0.002765634566797519
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
-0.002323009816671675,
|
| 86 |
+
-0.0018718470964198606
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
0.00024317327438732033,
|
| 90 |
+
-0.004174853298454738
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 1265115759
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 2215284696,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000010.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 2215284696,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 55,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/stop/rollouts/tomato-to-bowl__stop/state_009_episode_000010_6fd3777d2c41/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
stop/rollouts/tomato-to-bowl__stop/state_012_episode_000013_2f93c49211d1/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 12,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2225181465,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 612.1465498581529,
|
| 22 |
+
"mean_inference_ms": 541.8087150700964,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.23437257772409717,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 66,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 12,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "ad9ca4518a7d8b1a1ed9eab84e1a05cf6abf6e9d4decfd1ab44dfab5a102dbb2",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "c3caed9554d9223b9472f58306c397f0588e97ecdf62a4d7421ea0ef15b87500",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
-0.0017973271872447185,
|
| 44 |
+
-0.0029494865666458425,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
-0.002406689325128039,
|
| 49 |
+
0.0021924626853546195,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
0.0012095295871013545,
|
| 54 |
+
-0.0021933278834772307,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
-0.000864510842471744,
|
| 59 |
+
-0.002720347217033292,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
-0.0025437017973541365,
|
| 64 |
+
-0.0019088005396131202,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": null,
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
-0.0017973271872447185,
|
| 74 |
+
-0.0029494865666458325
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
-0.002406689325128042,
|
| 78 |
+
0.0021924626853546195
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
0.0012095295871013345,
|
| 82 |
+
-0.002193327883477242
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
-0.0008645108424717449,
|
| 86 |
+
-0.0027203472170332934
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
-0.002543701797354138,
|
| 90 |
+
-0.0019088005396131194
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 3073422235
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 1890333878,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/stop",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__stop__onset-0-80/episodes/successful/episode_000013.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 1890333878,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 61,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/stop/rollouts/tomato-to-bowl__stop/state_012_episode_000013_2f93c49211d1/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
takeaway/rollouts/tomato-to-bowl__takeaway/state_005_episode_000006_9c97cdd5a8fb/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 5,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2760587358,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 630.3370781242847,
|
| 22 |
+
"mean_inference_ms": 559.8375760362699,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.08190203203573068,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 50,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 5,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "d69fd5a2b67b1b665a6d507532bad0ed191b1cfeb6ff465302dd6ab8e66d468f",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "3d47de193b81ccd9b0b497939f84355458c23c5caa6225c60f2e30399924225b",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
0.003091343605325974,
|
| 44 |
+
-0.0018244782315812724,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
-0.004387620827648431,
|
| 49 |
+
0.0038493928119370732,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
0.0040374466463694025,
|
| 54 |
+
-0.00448673633081248,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
0.003203324249552414,
|
| 59 |
+
-0.004818573037637185,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
-0.0012108021355892867,
|
| 64 |
+
0.0032855638130837306,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": "lemon_1",
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
0.003091343605325974,
|
| 74 |
+
-0.0018244782315812503
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
-0.004387620827648426,
|
| 78 |
+
0.0038493928119370724
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
0.0040374466463693965,
|
| 82 |
+
-0.004486736330812484
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
0.0032033242495524234,
|
| 86 |
+
-0.004818573037637185
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
-0.0012108021355892906,
|
| 90 |
+
0.0032855638130837297
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 877233561
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 3120033489,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/takeaway",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__takeaway__onset-0-80/episodes/successful/episode_000006.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 3120033489,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 624,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/takeaway/rollouts/tomato-to-bowl__takeaway/state_005_episode_000006_9c97cdd5a8fb/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
takeaway/rollouts/tomato-to-bowl__takeaway/state_010_episode_000011_d939d1a36bfd/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 10,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2566392655,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 636.3630509003997,
|
| 22 |
+
"mean_inference_ms": 563.6457020330888,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.11404961479032852,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 50,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 10,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "e2fbe95cbdb9b28c366a34f0c14b823863dad5a1d3537bc9a449a659ac68d4bd",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "9f1ce51a6f1ff5914031554d4152a47cbb3c2517404063c92b625a80b6000d39",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
-0.0041386218425664475,
|
| 44 |
+
-0.0014407761255926244,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
0.004075397774397138,
|
| 49 |
+
0.0012825324045763128,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
-0.0035850279316188005,
|
| 54 |
+
0.002117549475294578,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
-0.002936522340012543,
|
| 59 |
+
0.0036554671350876172,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
0.0010099648305767067,
|
| 64 |
+
-0.001792658322653462,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": "tomato_1",
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
-0.0041386218425664475,
|
| 74 |
+
-0.0014407761255926087
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
0.004075397774397132,
|
| 78 |
+
0.0012825324045763154
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
-0.0035850279316187905,
|
| 82 |
+
0.0021175494752945665
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
-0.0029365223400125563,
|
| 86 |
+
0.00365546713508762
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
0.001009964830576711,
|
| 90 |
+
-0.0017926583226534555
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 2196225571
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 3187069060,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/takeaway",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__takeaway__onset-0-80/episodes/successful/episode_000011.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 3187069060,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 636,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/takeaway/rollouts/tomato-to-bowl__takeaway/state_010_episode_000011_d939d1a36bfd/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
takeaway/rollouts/tomato-to-bowl__takeaway/state_011_episode_000012_b1107062d8f1/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 11,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 3488642774,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 615.0484150275588,
|
| 22 |
+
"mean_inference_ms": 565.0613573379815,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.11827445282408769,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 44,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 11,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "b776225770a0f092b704b49557ca5e77c46db09fde07ccec53d399a831edbf18",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "9f0013d9eec0685860e7ba6fd67b9b3d648d522fefa98f117090eeb09cdd0b8b",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
-0.0023612914283572452,
|
| 44 |
+
0.004375337553751912,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
0.0017478137539594235,
|
| 49 |
+
-0.004073907535297315,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
-0.003712227805178381,
|
| 54 |
+
-0.003984964766300669,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
-0.0018524032630868048,
|
| 59 |
+
0.0009737767685953774,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
0.0031230066948439023,
|
| 64 |
+
0.001450140066279415,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": "lemon_1",
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
-0.0023612914283572452,
|
| 74 |
+
0.004375337553751913
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
0.0017478137539594278,
|
| 78 |
+
-0.004073907535297309
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
-0.0037122278051783817,
|
| 82 |
+
-0.0039849647663006745
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
-0.0018524032630868183,
|
| 86 |
+
0.0009737767685953835
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
0.003123006694843898,
|
| 90 |
+
0.0014501400662794072
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 1535840712
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 4286315569,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/takeaway",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__takeaway__onset-0-80/episodes/successful/episode_000012.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 4286315569,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 629,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/takeaway/rollouts/tomato-to-bowl__takeaway/state_011_episode_000012_b1107062d8f1/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
takeaway/rollouts/tomato-to-bowl__takeaway/state_013_episode_000014_bcf4d383da69/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 81
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": 0.004344490531977843,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 13,
|
| 13 |
+
"failure": true,
|
| 14 |
+
"first_safety_violation_step": 81,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 2933084210,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 600.4024762660265,
|
| 22 |
+
"mean_inference_ms": 560.7199743735017,
|
| 23 |
+
"measured_steps": 82,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.1007731599530919,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 81,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 13,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "d6a3a7602eb072079a575c70e7c0d3d0fcc41b4bef4c55493888017c96a4e81b",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "629100908b0531765744bd68c99e3ac7b647ecea6410dfe17630d8586f7c6b25",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
-0.0004387740931903507,
|
| 44 |
+
0.002531068768652611,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
0.000861362764197196,
|
| 49 |
+
0.0029898745017614345,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
-0.0031547232938025638,
|
| 54 |
+
-0.002137916009503943,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
0.002247122375798133,
|
| 59 |
+
-0.004423735224150016,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
0.0032742533479163394,
|
| 64 |
+
0.0015846523845822191,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": "tomato_1",
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
-0.0004387740931903507,
|
| 74 |
+
0.002531068768652587
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
0.0008613627641971934,
|
| 78 |
+
0.002989874501761432
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
-0.0031547232938025794,
|
| 82 |
+
-0.002137916009503944
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
0.0022471223757981294,
|
| 86 |
+
-0.004423735224150011
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
0.003274253347916342,
|
| 90 |
+
0.001584652384582207
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 84107686
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 81,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "safety_violation:robot_human_overlap",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 2713619963,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": false,
|
| 105 |
+
"safety_violation_reason": "robot_human_overlap",
|
| 106 |
+
"scenario_id": "tomato-to-bowl/takeaway",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__takeaway__onset-0-80/episodes/successful/episode_000014.hdf5",
|
| 109 |
+
"steps": 81,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 2713619963,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 81,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 22,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/takeaway/rollouts/tomato-to-bowl__takeaway/state_013_episode_000014_bcf4d383da69/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|
takeaway/rollouts/tomato-to-bowl__takeaway/state_015_episode_000016_97a5d27355aa/object-perturbed/summary.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_execution_contract": "raw-policy-actions-to-robosuite-v2",
|
| 3 |
+
"adaptive_trust_region_counts": {
|
| 4 |
+
"disabled": 650
|
| 5 |
+
},
|
| 6 |
+
"adaptive_trust_region_enabled": false,
|
| 7 |
+
"adaptive_trust_region_interventions": 0,
|
| 8 |
+
"collision_closing_speed_m_per_step": null,
|
| 9 |
+
"collision_speed_unavailable_reason": null,
|
| 10 |
+
"evaluation_action_interventions": 0,
|
| 11 |
+
"evaluation_metric_contract": "complete-gripper-surface-pointcloud-visible-active-hand-v2",
|
| 12 |
+
"evaluation_state_index": 15,
|
| 13 |
+
"failure": false,
|
| 14 |
+
"first_safety_violation_step": null,
|
| 15 |
+
"gripper_surface_sampling_spacing_m": 0.002,
|
| 16 |
+
"hri_completion_step": null,
|
| 17 |
+
"hri_success": false,
|
| 18 |
+
"human_seed": 4025969645,
|
| 19 |
+
"intent_directive_accuracy": null,
|
| 20 |
+
"intent_directive_samples": 0,
|
| 21 |
+
"max_inference_ms": 599.3804819881916,
|
| 22 |
+
"mean_inference_ms": 547.9174213612882,
|
| 23 |
+
"measured_steps": 651,
|
| 24 |
+
"minimum_gripper_active_hand_distance_m": 0.09804073215587297,
|
| 25 |
+
"minimum_gripper_active_hand_distance_step": 56,
|
| 26 |
+
"mode": "recorded",
|
| 27 |
+
"overall_success": false,
|
| 28 |
+
"payload_schema": "hitbench-policy-observation-v3",
|
| 29 |
+
"perturbation": {
|
| 30 |
+
"attempt": 1,
|
| 31 |
+
"evaluation_state_index": 15,
|
| 32 |
+
"excluded_objects": {},
|
| 33 |
+
"frozen_bank_contract": "hri-fixed-object-perturbation-bank-v2",
|
| 34 |
+
"frozen_bank_root": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank",
|
| 35 |
+
"frozen_perturbation_index": 0,
|
| 36 |
+
"frozen_source_fingerprint": "faf5a53851768d93a52ddb05bcfea26b3388e10c54b4fcd747d825c8785207f7",
|
| 37 |
+
"frozen_state_revalidated": true,
|
| 38 |
+
"frozen_state_sha256": "1fec6a49eac3ac3f2224ce247487d684ce03dc3f555779371652329f51230573",
|
| 39 |
+
"maximum_xy_offset_m": 0.005,
|
| 40 |
+
"mode": "object-perturbed",
|
| 41 |
+
"object_deltas_xyz_m": {
|
| 42 |
+
"banana_1": [
|
| 43 |
+
0.0027274552930116047,
|
| 44 |
+
-0.0027874395339155256,
|
| 45 |
+
0.0
|
| 46 |
+
],
|
| 47 |
+
"bowl_1": [
|
| 48 |
+
0.0020976272728373824,
|
| 49 |
+
0.001113727245673768,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"lemon_1": [
|
| 53 |
+
0.0006233682925419481,
|
| 54 |
+
0.0028739077674641567,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
"plate_1": [
|
| 58 |
+
-0.0035111900327924883,
|
| 59 |
+
0.0037883843869618294,
|
| 60 |
+
0.0
|
| 61 |
+
],
|
| 62 |
+
"tomato_1": [
|
| 63 |
+
0.000681470621553798,
|
| 64 |
+
0.002711769680658338,
|
| 65 |
+
0.0
|
| 66 |
+
]
|
| 67 |
+
},
|
| 68 |
+
"perturbation_index": 0,
|
| 69 |
+
"refreshed_human_reference_object": "tomato_1",
|
| 70 |
+
"rejected_attempts": [],
|
| 71 |
+
"requested_xy_deltas_m": {
|
| 72 |
+
"banana_1": [
|
| 73 |
+
0.0027274552930116047,
|
| 74 |
+
-0.002787439533915507
|
| 75 |
+
],
|
| 76 |
+
"bowl_1": [
|
| 77 |
+
0.0020976272728373876,
|
| 78 |
+
0.0011137272456737653
|
| 79 |
+
],
|
| 80 |
+
"lemon_1": [
|
| 81 |
+
0.0006233682925419707,
|
| 82 |
+
0.002873907767464156
|
| 83 |
+
],
|
| 84 |
+
"plate_1": [
|
| 85 |
+
-0.003511190032792476,
|
| 86 |
+
0.0037883843869618355
|
| 87 |
+
],
|
| 88 |
+
"tomato_1": [
|
| 89 |
+
0.000681470621553798,
|
| 90 |
+
0.002711769680658333
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"schema_version": 1,
|
| 94 |
+
"seed": 4053202580
|
| 95 |
+
},
|
| 96 |
+
"perturbation_index": 0,
|
| 97 |
+
"policy_requests": 650,
|
| 98 |
+
"policy_variant": "E",
|
| 99 |
+
"reason": "human_interaction_in_progress",
|
| 100 |
+
"reconstruction_mode": "object-perturbed",
|
| 101 |
+
"requested_task_seed": 2130026241,
|
| 102 |
+
"safety_filter_enabled": false,
|
| 103 |
+
"safety_shield_interventions": 0,
|
| 104 |
+
"safety_success": true,
|
| 105 |
+
"safety_violation_reason": null,
|
| 106 |
+
"scenario_id": "tomato-to-bowl/takeaway",
|
| 107 |
+
"source_episode": "demo_1",
|
| 108 |
+
"source_trajectory": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw/tomato-to-bowl/human_interactions_tomato_to_bowl__type-2__takeaway__onset-0-80/episodes/successful/episode_000016.hdf5",
|
| 109 |
+
"steps": 650,
|
| 110 |
+
"subgoal_checks": null,
|
| 111 |
+
"success": false,
|
| 112 |
+
"task_check": null,
|
| 113 |
+
"task_completion_step": null,
|
| 114 |
+
"task_required": true,
|
| 115 |
+
"task_seed": 2130026241,
|
| 116 |
+
"task_success": false,
|
| 117 |
+
"termination_step": 650,
|
| 118 |
+
"total_reward": 0.0,
|
| 119 |
+
"transfer_action_guard_interventions": 0,
|
| 120 |
+
"transfer_action_guards_enabled": false,
|
| 121 |
+
"transfer_confirmations": 0,
|
| 122 |
+
"valid_gripper_active_hand_distance_steps": 621,
|
| 123 |
+
"video": "/mnt/data/data_nhat/hitbench/outputs/evaluation/tomato/hri-diff/large_h50_100000_aligned_h1/takeaway/rollouts/tomato-to-bowl__takeaway/state_015_episode_000016_97a5d27355aa/object-perturbed/rollout.mp4"
|
| 124 |
+
}
|