Add T320: spatialvla T320 normal (EER), 2 seeds, 3-part chains (320a/b/c)

.gitattributes

@@ -64,3 +64,7 @@ Q6/spatial_CL/s0__p2/segment_pose.csv filter=lfs diff=lfs merge=lfs -text
 Q6/spatial_CL/s1__p2/segment_pose.csv filter=lfs diff=lfs merge=lfs -text
 Q6/spatial_noCL/s0__p2/segment_pose.csv filter=lfs diff=lfs merge=lfs -text
 Q6/spatial_noCL/s1__p2/segment_pose.csv filter=lfs diff=lfs merge=lfs -text
+T320/s0__p1/segment_pose.csv filter=lfs diff=lfs merge=lfs -text
+T320/s0__p2/segment_pose.csv filter=lfs diff=lfs merge=lfs -text
+T320/s1__p1/segment_pose.csv filter=lfs diff=lfs merge=lfs -text
+T320/s1__p2/segment_pose.csv filter=lfs diff=lfs merge=lfs -text

T320/manifest.json

@@ -0,0 +1,79 @@
+{
+  "name": "T320",
+  "config": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/tools/plot_config_T320.json",
+  "mode": "copy",
+  "runs": [
+    {
+      "dest": "T320/T320-normal__s0__p0",
+      "source": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0/wandb/run-20260818_014140-8xezm8n5/glob",
+      "files": {
+        "eval_success.csv": 23434,
+        "rollout_success.csv": 1446028,
+        "segment_pose.csv": 5462591,
+        "run_config.json": 1968,
+        "counters.json": 115
+      },
+      "missing": []
+    },
+    {
+      "dest": "T320/T320-normal__s0__p1",
+      "source": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0/wandb/run-20260917_184230-akww3qbe/glob",
+      "files": {
+        "eval_success.csv": 23932,
+        "rollout_success.csv": 1538690,
+        "segment_pose.csv": 11400874,
+        "run_config.json": 2374,
+        "counters.json": 116
+      },
+      "missing": []
+    },
+    {
+      "dest": "T320/T320-normal__s0__p2",
+      "source": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0/wandb/run-20260919_035826-u80uigo3/glob",
+      "files": {
+        "eval_success.csv": 59924,
+        "rollout_success.csv": 3960010,
+        "segment_pose.csv": 28717689,
+        "run_config.json": 2374,
+        "counters.json": 117
+      },
+      "missing": []
+    },
+    {
+      "dest": "T320/T320-normal__s1__p0",
+      "source": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1/wandb/run-20260818_021149-432cijo1/glob",
+      "files": {
+        "eval_success.csv": 23537,
+        "rollout_success.csv": 1458301,
+        "segment_pose.csv": 5463282,
+        "run_config.json": 1968,
+        "counters.json": 115
+      },
+      "missing": []
+    },
+    {
+      "dest": "T320/T320-normal__s1__p1",
+      "source": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1/wandb/run-20260917_184230-h5ntcpr4/glob",
+      "files": {
+        "eval_success.csv": 23934,
+        "rollout_success.csv": 1523590,
+        "segment_pose.csv": 11402269,
+        "run_config.json": 2374,
+        "counters.json": 116
+      },
+      "missing": []
+    },
+    {
+      "dest": "T320/T320-normal__s1__p2",
+      "source": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1/wandb/run-20260919_035826-lqm7k1th/glob",
+      "files": {
+        "eval_success.csv": 59807,
+        "rollout_success.csv": 3945920,
+        "segment_pose.csv": 28730559,
+        "run_config.json": 2374,
+        "counters.json": 117
+      },
+      "missing": []
+    }
+  ]
+}

T320/s0__p0/counters.json

@@ -0,0 +1,6 @@
+{
+  "episode": 32,
+  "total_steps": 655360,
+  "total_resets": 2048,
+  "timestamp": "2026-08-19T06:57:03.380399Z"
+}

T320/s0__p0/eval_success.csv

@@ -0,0 +1,257 @@
+episode,total_steps,total_resets,eval_kind,group,task,scene,n_envs,success,grasp,obj_grasped
+4,81920,256,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,0.625,0.625
+4,81920,256,in_domain,group_A,put ketchup bottle on cloth,default,16,0.25,0.6875,0.6875
+4,81920,256,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.25,0.3125
+4,81920,256,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.4375,0.5
+4,81920,256,in_domain,group_B,put bread on newspaper,default,16,0.0625,0.125,0.375
+4,81920,256,in_domain,group_B,put bread on carpet,default,16,0.0625,0.0625,0.1875
+4,81920,256,in_domain,group_B,put 7up can on newspaper,default,16,0.0,0.1875,0.375
+4,81920,256,in_domain,group_B,put 7up can on carpet,default,16,0.0625,0.0625,0.3125
+4,81920,256,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+4,81920,256,in_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+4,81920,256,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+4,81920,256,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+4,81920,256,in_domain,group_D,put hamburger on frying pan,default,16,0.125,0.1875,0.3125
+4,81920,256,in_domain,group_D,put hamburger on cutting board,default,16,0.1875,0.3125,0.3125
+4,81920,256,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0625,0.125,0.125
+4,81920,256,in_domain,group_D,put plastic bottle on cutting board,default,16,0.0625,0.1875,0.375
+4,81920,256,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.3125,0.5,0.5
+4,81920,256,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.0625,0.4375,0.5
+4,81920,256,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.0625,0.0625
+4,81920,256,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.0625,0.125
+4,81920,256,out_of_domain,group_B,put bread on newspaper,default,16,0.0,0.0,0.1875
+4,81920,256,out_of_domain,group_B,put bread on carpet,default,16,0.0,0.0,0.3125
+4,81920,256,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.1875,0.25
+4,81920,256,out_of_domain,group_B,put 7up can on carpet,default,16,0.0625,0.125,0.1875
+4,81920,256,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+4,81920,256,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+4,81920,256,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+4,81920,256,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+4,81920,256,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0625,0.1875,0.25
+4,81920,256,out_of_domain,group_D,put hamburger on cutting board,default,16,0.0625,0.125,0.1875
+4,81920,256,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.0625,0.0625
+4,81920,256,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.0,0.125,0.25
+8,163840,512,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.625,0.8125
+8,163840,512,in_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.5625,0.6875
+8,163840,512,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.125,0.1875
+8,163840,512,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.25,0.3125
+8,163840,512,in_domain,group_B,put bread on newspaper,default,16,0.125,0.25,0.25
+8,163840,512,in_domain,group_B,put bread on carpet,default,16,0.0,0.0625,0.25
+8,163840,512,in_domain,group_B,put 7up can on newspaper,default,16,0.0,0.125,0.25
+8,163840,512,in_domain,group_B,put 7up can on carpet,default,16,0.0625,0.125,0.3125
+8,163840,512,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,in_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+8,163840,512,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+8,163840,512,in_domain,group_D,put hamburger on frying pan,default,16,0.125,0.25,0.5625
+8,163840,512,in_domain,group_D,put hamburger on cutting board,default,16,0.3125,0.4375,0.625
+8,163840,512,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0625,0.25,0.3125
+8,163840,512,in_domain,group_D,put plastic bottle on cutting board,default,16,0.125,0.1875,0.25
+8,163840,512,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.125,0.25,0.4375
+8,163840,512,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.125,0.25
+8,163840,512,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.0625,0.1875
+8,163840,512,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.0625,0.1875
+8,163840,512,out_of_domain,group_B,put bread on newspaper,default,16,0.0,0.125,0.1875
+8,163840,512,out_of_domain,group_B,put bread on carpet,default,16,0.0,0.0,0.375
+8,163840,512,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0,0.0625,0.3125
+8,163840,512,out_of_domain,group_B,put 7up can on carpet,default,16,0.0,0.0,0.0625
+8,163840,512,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0,0.1875,0.3125
+8,163840,512,out_of_domain,group_D,put hamburger on cutting board,default,16,0.125,0.125,0.1875
+8,163840,512,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.0625,0.125
+8,163840,512,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.0625,0.25,0.375
+12,245760,768,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.625,0.625
+12,245760,768,in_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.5,0.5
+12,245760,768,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.25,0.3125
+12,245760,768,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.125,0.25
+12,245760,768,in_domain,group_B,put bread on newspaper,default,16,0.125,0.5,0.5
+12,245760,768,in_domain,group_B,put bread on carpet,default,16,0.375,0.5625,0.6875
+12,245760,768,in_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.5625,0.625
+12,245760,768,in_domain,group_B,put 7up can on carpet,default,16,0.25,0.5,0.625
+12,245760,768,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+12,245760,768,in_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.125
+12,245760,768,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+12,245760,768,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+12,245760,768,in_domain,group_D,put hamburger on frying pan,default,16,0.125,0.4375,0.5625
+12,245760,768,in_domain,group_D,put hamburger on cutting board,default,16,0.25,0.5,0.6875
+12,245760,768,in_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.375,0.5
+12,245760,768,in_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.5625,0.6875
+12,245760,768,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.1875,0.25,0.375
+12,245760,768,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.4375,0.4375
+12,245760,768,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.1875,0.1875
+12,245760,768,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.1875,0.375
+12,245760,768,out_of_domain,group_B,put bread on newspaper,default,16,0.0,0.25,0.3125
+12,245760,768,out_of_domain,group_B,put bread on carpet,default,16,0.1875,0.4375,0.5
+12,245760,768,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.3125,0.4375
+12,245760,768,out_of_domain,group_B,put 7up can on carpet,default,16,0.125,0.25,0.3125
+12,245760,768,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+12,245760,768,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+12,245760,768,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+12,245760,768,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+12,245760,768,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0,0.1875,0.25
+12,245760,768,out_of_domain,group_D,put hamburger on cutting board,default,16,0.125,0.4375,0.4375
+12,245760,768,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0625,0.1875,0.3125
+12,245760,768,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.5,0.5625
+16,327680,1024,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.75,0.875
+16,327680,1024,in_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.75,0.75
+16,327680,1024,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.5,0.5625
+16,327680,1024,in_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.5,0.625
+16,327680,1024,in_domain,group_B,put bread on newspaper,default,16,0.1875,0.8125,0.875
+16,327680,1024,in_domain,group_B,put bread on carpet,default,16,0.5,0.8125,0.8125
+16,327680,1024,in_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.375,0.375
+16,327680,1024,in_domain,group_B,put 7up can on carpet,default,16,0.1875,0.4375,0.5625
+16,327680,1024,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+16,327680,1024,in_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+16,327680,1024,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+16,327680,1024,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+16,327680,1024,in_domain,group_D,put hamburger on frying pan,default,16,0.5,0.6875,0.75
+16,327680,1024,in_domain,group_D,put hamburger on cutting board,default,16,0.25,0.5,0.5
+16,327680,1024,in_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.4375,0.5625
+16,327680,1024,in_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.5,0.5
+16,327680,1024,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,0.8125,0.9375
+16,327680,1024,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.1875,0.6875,0.6875
+16,327680,1024,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.125,0.3125
+16,327680,1024,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.1875,0.3125,0.5
+16,327680,1024,out_of_domain,group_B,put bread on newspaper,default,16,0.125,0.5,0.5
+16,327680,1024,out_of_domain,group_B,put bread on carpet,default,16,0.3125,0.6875,0.6875
+16,327680,1024,out_of_domain,group_B,put 7up can on newspaper,default,16,0.125,0.4375,0.5
+16,327680,1024,out_of_domain,group_B,put 7up can on carpet,default,16,0.125,0.3125,0.5
+16,327680,1024,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+16,327680,1024,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+16,327680,1024,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+16,327680,1024,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+16,327680,1024,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0,0.1875,0.375
+16,327680,1024,out_of_domain,group_D,put hamburger on cutting board,default,16,0.375,0.625,0.625
+16,327680,1024,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.625,0.75
+16,327680,1024,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.25,0.375
+20,409600,1280,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.8125,0.875
+20,409600,1280,in_domain,group_A,put ketchup bottle on cloth,default,16,0.25,0.5625,0.8125
+20,409600,1280,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.5625,0.5625
+20,409600,1280,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.5,0.625
+20,409600,1280,in_domain,group_B,put bread on newspaper,default,16,0.25,0.6875,0.6875
+20,409600,1280,in_domain,group_B,put bread on carpet,default,16,0.625,0.75,0.75
+20,409600,1280,in_domain,group_B,put 7up can on newspaper,default,16,0.125,0.5625,0.625
+20,409600,1280,in_domain,group_B,put 7up can on carpet,default,16,0.25,0.8125,0.8125
+20,409600,1280,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0625
+20,409600,1280,in_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+20,409600,1280,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+20,409600,1280,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+20,409600,1280,in_domain,group_D,put hamburger on frying pan,default,16,0.3125,0.5,0.5
+20,409600,1280,in_domain,group_D,put hamburger on cutting board,default,16,0.25,0.6875,0.6875
+20,409600,1280,in_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.6875,0.75
+20,409600,1280,in_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.5625,0.75
+20,409600,1280,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.3125,0.375,0.375
+20,409600,1280,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.1875,0.5625,0.625
+20,409600,1280,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.3125,0.4375
+20,409600,1280,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.25,0.3125
+20,409600,1280,out_of_domain,group_B,put bread on newspaper,default,16,0.0625,0.5,0.5
+20,409600,1280,out_of_domain,group_B,put bread on carpet,default,16,0.125,0.25,0.25
+20,409600,1280,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0,0.375,0.4375
+20,409600,1280,out_of_domain,group_B,put 7up can on carpet,default,16,0.0,0.4375,0.5
+20,409600,1280,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0625,0.125,0.1875
+20,409600,1280,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0625,0.125
+20,409600,1280,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+20,409600,1280,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+20,409600,1280,out_of_domain,group_D,put hamburger on frying pan,default,16,0.1875,0.4375,0.5
+20,409600,1280,out_of_domain,group_D,put hamburger on cutting board,default,16,0.125,0.25,0.4375
+20,409600,1280,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.25,0.3125
+20,409600,1280,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.625,0.625
+24,491520,1536,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.75
+24,491520,1536,in_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.5625,0.625
+24,491520,1536,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.375,0.5
+24,491520,1536,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.1875,0.3125
+24,491520,1536,in_domain,group_B,put bread on newspaper,default,16,0.25,0.875,0.875
+24,491520,1536,in_domain,group_B,put bread on carpet,default,16,0.1875,0.75,0.75
+24,491520,1536,in_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.5625,0.5625
+24,491520,1536,in_domain,group_B,put 7up can on carpet,default,16,0.0625,0.5,0.5625
+24,491520,1536,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.125,0.25
+24,491520,1536,in_domain,group_C,put carrot on flat bowl,default,16,0.125,0.25,0.3125
+24,491520,1536,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+24,491520,1536,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+24,491520,1536,in_domain,group_D,put hamburger on frying pan,default,16,0.25,0.8125,0.875
+24,491520,1536,in_domain,group_D,put hamburger on cutting board,default,16,0.3125,0.9375,0.9375
+24,491520,1536,in_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.625,0.625
+24,491520,1536,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.5625,0.5625
+24,491520,1536,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.375,0.5625,0.625
+24,491520,1536,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.25,0.3125,0.375
+24,491520,1536,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.5,0.5625
+24,491520,1536,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.375,0.375
+24,491520,1536,out_of_domain,group_B,put bread on newspaper,default,16,0.1875,0.75,0.8125
+24,491520,1536,out_of_domain,group_B,put bread on carpet,default,16,0.25,0.875,0.9375
+24,491520,1536,out_of_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.5625,0.625
+24,491520,1536,out_of_domain,group_B,put 7up can on carpet,default,16,0.125,0.3125,0.3125
+24,491520,1536,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.1875
+24,491520,1536,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.125,0.125
+24,491520,1536,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+24,491520,1536,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+24,491520,1536,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0625,0.5,0.5625
+24,491520,1536,out_of_domain,group_D,put hamburger on cutting board,default,16,0.1875,0.5,0.625
+24,491520,1536,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.5,0.5625
+24,491520,1536,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.6875,0.6875
+28,573440,1792,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.5625,0.6875
+28,573440,1792,in_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.5625,0.5625
+28,573440,1792,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.5,0.75
+28,573440,1792,in_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.625,0.75
+28,573440,1792,in_domain,group_B,put bread on newspaper,default,16,0.4375,0.8125,0.8125
+28,573440,1792,in_domain,group_B,put bread on carpet,default,16,0.8125,0.875,0.875
+28,573440,1792,in_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.8125,0.875
+28,573440,1792,in_domain,group_B,put 7up can on carpet,default,16,0.1875,0.6875,0.6875
+28,573440,1792,in_domain,group_C,put carrot on sheet metal,default,16,0.0625,0.125,0.25
+28,573440,1792,in_domain,group_C,put carrot on flat bowl,default,16,0.3125,0.5,0.5
+28,573440,1792,in_domain,group_C,put banana on sheet metal,default,16,0.0625,0.0625,0.0625
+28,573440,1792,in_domain,group_C,put banana on flat bowl,default,16,0.0625,0.0625,0.0625
+28,573440,1792,in_domain,group_D,put hamburger on frying pan,default,16,0.375,0.875,0.9375
+28,573440,1792,in_domain,group_D,put hamburger on cutting board,default,16,0.4375,0.9375,0.9375
+28,573440,1792,in_domain,group_D,put plastic bottle on frying pan,default,16,0.4375,0.625,0.6875
+28,573440,1792,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.5625,0.5625
+28,573440,1792,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.5,0.5
+28,573440,1792,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.625,0.6875
+28,573440,1792,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.5,0.625
+28,573440,1792,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.375,0.5625
+28,573440,1792,out_of_domain,group_B,put bread on newspaper,default,16,0.375,0.875,0.875
+28,573440,1792,out_of_domain,group_B,put bread on carpet,default,16,0.3125,0.625,0.6875
+28,573440,1792,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.875,0.875
+28,573440,1792,out_of_domain,group_B,put 7up can on carpet,default,16,0.25,0.4375,0.5
+28,573440,1792,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.1875,0.1875
+28,573440,1792,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.125,0.25
+28,573440,1792,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.0625
+28,573440,1792,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0625
+28,573440,1792,out_of_domain,group_D,put hamburger on frying pan,default,16,0.3125,0.5,0.5625
+28,573440,1792,out_of_domain,group_D,put hamburger on cutting board,default,16,0.4375,0.6875,0.6875
+28,573440,1792,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0625,0.125,0.25
+28,573440,1792,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.625,0.625
+32,655360,2048,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.5,0.5625
+32,655360,2048,in_domain,group_A,put ketchup bottle on cloth,default,16,0.25,0.4375,0.5625
+32,655360,2048,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.8125,0.875
+32,655360,2048,in_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.625,0.6875
+32,655360,2048,in_domain,group_B,put bread on newspaper,default,16,0.4375,0.8125,0.8125
+32,655360,2048,in_domain,group_B,put bread on carpet,default,16,0.5625,0.6875,0.6875
+32,655360,2048,in_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.6875,0.75
+32,655360,2048,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.8125,0.875
+32,655360,2048,in_domain,group_C,put carrot on sheet metal,default,16,0.125,0.375,0.5
+32,655360,2048,in_domain,group_C,put carrot on flat bowl,default,16,0.125,0.125,0.1875
+32,655360,2048,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.0625
+32,655360,2048,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0625
+32,655360,2048,in_domain,group_D,put hamburger on frying pan,default,16,0.6875,0.9375,0.9375
+32,655360,2048,in_domain,group_D,put hamburger on cutting board,default,16,0.3125,0.875,0.875
+32,655360,2048,in_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.8125,0.875
+32,655360,2048,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.625,0.75
+32,655360,2048,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.625,0.6875
+32,655360,2048,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.625,0.75
+32,655360,2048,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.5,0.5625
+32,655360,2048,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.875,0.875
+32,655360,2048,out_of_domain,group_B,put bread on newspaper,default,16,0.1875,0.75,0.75
+32,655360,2048,out_of_domain,group_B,put bread on carpet,default,16,0.25,0.5625,0.5625
+32,655360,2048,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.625,0.625
+32,655360,2048,out_of_domain,group_B,put 7up can on carpet,default,16,0.375,0.625,0.875
+32,655360,2048,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.1875,0.625
+32,655360,2048,out_of_domain,group_C,put carrot on flat bowl,default,16,0.3125,0.375,0.375
+32,655360,2048,out_of_domain,group_C,put banana on sheet metal,default,16,0.0625,0.0625,0.0625
+32,655360,2048,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+32,655360,2048,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5,0.6875,0.6875
+32,655360,2048,out_of_domain,group_D,put hamburger on cutting board,default,16,0.6875,1.0,1.0
+32,655360,2048,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.25,0.4375,0.4375
+32,655360,2048,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.5,0.5625

T320/s0__p0/run_config.json

@@ -0,0 +1,73 @@
+{
+  "name": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0",
+  "seed": 0,
+  "resume_episode": 0,
+  "env_id": "PickPlaceNxM-v1",
+  "env_n": 2,
+  "env_m": 2,
+  "num_envs": 64,
+  "obj_set": "rand",
+  "obj1_index": 7,
+  "obj2_index": 2,
+  "obj3_index": 10,
+  "plate1_index": 1,
+  "plate2_index": 2,
+  "plate3_index": 3,
+  "scene": "",
+  "segment_len": 80,
+  "episode_len": 320,
+  "task_len": 80,
+  "ppo_update_len": 160,
+  "max_episodes": 32,
+  "max_steps": 0,
+  "max_reset": 2048,
+  "config_path": "configs/four_group_sequential_2x2.yaml",
+  "task_order": "sequential",
+  "task_filter": "",
+  "reset_mode": "per_episode",
+  "reset_robot": true,
+  "reset_unsuitable": false,
+  "unsuitable_detector": "low_z",
+  "hsr_reset_scope": "per_env",
+  "record_segment_pose": true,
+  "record_end_of_segment_xyz": false,
+  "enable_backward": false,
+  "backward_interval": 1,
+  "num_groups": 0,
+  "alg_ppo_epoch": 1,
+  "alg_gradient_accum": 20,
+  "alg_entropy_coef": 0.0,
+  "buffer_gamma": 0.99,
+  "buffer_lambda": 0.95,
+  "buffer_minibatch": 8,
+  "buffer_inferbatch": 32,
+  "policy": "spatialvla",
+  "vla_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "vla_load_path": "",
+  "vla_unnorm_key": "bridge_orig/1.0.0",
+  "vla_lora_rank": 32,
+  "vla_lr": 0.0001,
+  "vla_vhlr": 0.003,
+  "vla_grad_norm": 10.0,
+  "vla_optim_beta1": 0.9,
+  "vla_optim_beta2": 0.999,
+  "vla_temperature": 1.0,
+  "vla_temperature_eval": 0.0,
+  "eval_interval": 4,
+  "num_eval_episode": 4,
+  "eval_at_start": false,
+  "eval_single": false,
+  "eval_sequential": false,
+  "eval_sequences": 5,
+  "vla_checkpoint_interval": 8,
+  "resume_from": "",
+  "wandb": true,
+  "wandb_dir": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0",
+  "record_video": true,
+  "ppo_log": "ppo_log.txt",
+  "eval_report": "eval_report.txt",
+  "log_file": "run.log",
+  "start_time": "2026-08-18T01:41:41.890539Z",
+  "cronos_version": "V0.3",
+  "git_rev": "e45cdb86f5cb717413258a1713bab07820fc9ea0"
+}

T320/s0__p1/counters.json

@@ -0,0 +1,6 @@
+{
+  "episode": 64,
+  "total_steps": 1310720,
+  "total_resets": 4096,
+  "timestamp": "2026-09-18T20:13:56.564007Z"
+}

T320/s0__p1/eval_success.csv

@@ -0,0 +1,257 @@
+episode,total_steps,total_resets,eval_kind,group,task,scene,n_envs,success,grasp,obj_grasped
+36,737280,2304,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.5,0.6875
+36,737280,2304,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.6875,0.75
+36,737280,2304,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.4375,0.5625
+36,737280,2304,in_domain,group_A,put kitchen shovel on cloth,default,16,0.3125,0.6875,0.875
+36,737280,2304,in_domain,group_B,put bread on newspaper,default,16,0.4375,0.8125,0.8125
+36,737280,2304,in_domain,group_B,put bread on carpet,default,16,0.625,0.875,0.875
+36,737280,2304,in_domain,group_B,put 7up can on newspaper,default,16,0.4375,0.9375,1.0
+36,737280,2304,in_domain,group_B,put 7up can on carpet,default,16,0.1875,0.8125,0.875
+36,737280,2304,in_domain,group_C,put carrot on sheet metal,default,16,0.125,0.4375,0.5625
+36,737280,2304,in_domain,group_C,put carrot on flat bowl,default,16,0.3125,0.375,0.5
+36,737280,2304,in_domain,group_C,put banana on sheet metal,default,16,0.0625,0.125,0.125
+36,737280,2304,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+36,737280,2304,in_domain,group_D,put hamburger on frying pan,default,16,0.625,1.0,1.0
+36,737280,2304,in_domain,group_D,put hamburger on cutting board,default,16,0.8125,1.0,1.0
+36,737280,2304,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.6875,0.6875
+36,737280,2304,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.625,0.75
+36,737280,2304,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.625,0.625
+36,737280,2304,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.6875,0.75
+36,737280,2304,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.3125,0.6875,0.75
+36,737280,2304,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.1875,0.4375,0.625
+36,737280,2304,out_of_domain,group_B,put bread on newspaper,default,16,0.25,0.5625,0.5625
+36,737280,2304,out_of_domain,group_B,put bread on carpet,default,16,0.4375,0.5625,0.625
+36,737280,2304,out_of_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.875,0.875
+36,737280,2304,out_of_domain,group_B,put 7up can on carpet,default,16,0.625,0.8125,0.8125
+36,737280,2304,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0625,0.3125,0.5
+36,737280,2304,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0625,0.1875
+36,737280,2304,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+36,737280,2304,out_of_domain,group_C,put banana on flat bowl,default,16,0.0625,0.0625,0.0625
+36,737280,2304,out_of_domain,group_D,put hamburger on frying pan,default,16,0.3125,0.875,0.875
+36,737280,2304,out_of_domain,group_D,put hamburger on cutting board,default,16,0.6875,0.875,0.9375
+36,737280,2304,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.3125,0.625,0.625
+36,737280,2304,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.8125,0.875
+40,819200,2560,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.8125,0.9375
+40,819200,2560,in_domain,group_A,put ketchup bottle on cloth,default,16,0.1875,0.8125,0.875
+40,819200,2560,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.3125,0.8125,0.8125
+40,819200,2560,in_domain,group_A,put kitchen shovel on cloth,default,16,0.1875,0.375,0.5625
+40,819200,2560,in_domain,group_B,put bread on newspaper,default,16,0.5,0.9375,0.9375
+40,819200,2560,in_domain,group_B,put bread on carpet,default,16,0.8125,1.0,1.0
+40,819200,2560,in_domain,group_B,put 7up can on newspaper,default,16,0.5,1.0,1.0
+40,819200,2560,in_domain,group_B,put 7up can on carpet,default,16,0.4375,0.875,0.9375
+40,819200,2560,in_domain,group_C,put carrot on sheet metal,default,16,0.125,0.5,0.5
+40,819200,2560,in_domain,group_C,put carrot on flat bowl,default,16,0.5,0.625,0.625
+40,819200,2560,in_domain,group_C,put banana on sheet metal,default,16,0.125,0.5625,0.5625
+40,819200,2560,in_domain,group_C,put banana on flat bowl,default,16,0.4375,0.4375,0.4375
+40,819200,2560,in_domain,group_D,put hamburger on frying pan,default,16,0.5625,1.0,1.0
+40,819200,2560,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+40,819200,2560,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.625,0.6875
+40,819200,2560,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.625,0.75
+40,819200,2560,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.75
+40,819200,2560,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.8125,0.8125
+40,819200,2560,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.4375,0.4375
+40,819200,2560,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.3125,0.75,0.875
+40,819200,2560,out_of_domain,group_B,put bread on newspaper,default,16,0.375,0.75,0.75
+40,819200,2560,out_of_domain,group_B,put bread on carpet,default,16,0.625,0.6875,0.6875
+40,819200,2560,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.6875,0.8125
+40,819200,2560,out_of_domain,group_B,put 7up can on carpet,default,16,0.5625,0.8125,0.875
+40,819200,2560,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0625,0.375,0.5
+40,819200,2560,out_of_domain,group_C,put carrot on flat bowl,default,16,0.375,0.625,0.75
+40,819200,2560,out_of_domain,group_C,put banana on sheet metal,default,16,0.1875,0.3125,0.5
+40,819200,2560,out_of_domain,group_C,put banana on flat bowl,default,16,0.125,0.1875,0.3125
+40,819200,2560,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5,0.8125,0.8125
+40,819200,2560,out_of_domain,group_D,put hamburger on cutting board,default,16,0.375,0.6875,0.75
+40,819200,2560,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.5625,0.625
+40,819200,2560,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.25,0.4375,0.6875
+44,901120,2816,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.875,0.875
+44,901120,2816,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.8125,0.875
+44,901120,2816,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.75,0.8125
+44,901120,2816,in_domain,group_A,put kitchen shovel on cloth,default,16,0.3125,0.625,0.75
+44,901120,2816,in_domain,group_B,put bread on newspaper,default,16,0.75,1.0,1.0
+44,901120,2816,in_domain,group_B,put bread on carpet,default,16,0.875,1.0,1.0
+44,901120,2816,in_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.75,0.75
+44,901120,2816,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.8125,0.875
+44,901120,2816,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.625,0.625
+44,901120,2816,in_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.625,0.75
+44,901120,2816,in_domain,group_C,put banana on sheet metal,default,16,0.6875,0.8125,0.875
+44,901120,2816,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.75,0.8125
+44,901120,2816,in_domain,group_D,put hamburger on frying pan,default,16,0.75,1.0,1.0
+44,901120,2816,in_domain,group_D,put hamburger on cutting board,default,16,0.8125,1.0,1.0
+44,901120,2816,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.75,0.75
+44,901120,2816,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.8125,0.8125
+44,901120,2816,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.75
+44,901120,2816,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.8125,0.8125
+44,901120,2816,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.625,0.6875
+44,901120,2816,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.5,0.8125
+44,901120,2816,out_of_domain,group_B,put bread on newspaper,default,16,0.4375,0.75,0.75
+44,901120,2816,out_of_domain,group_B,put bread on carpet,default,16,0.5625,0.6875,0.6875
+44,901120,2816,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.75,0.875
+44,901120,2816,out_of_domain,group_B,put 7up can on carpet,default,16,0.375,0.9375,1.0
+44,901120,2816,out_of_domain,group_C,put carrot on sheet metal,default,16,0.3125,0.5625,0.5625
+44,901120,2816,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.625,0.6875
+44,901120,2816,out_of_domain,group_C,put banana on sheet metal,default,16,0.3125,0.625,0.6875
+44,901120,2816,out_of_domain,group_C,put banana on flat bowl,default,16,0.5625,0.6875,0.6875
+44,901120,2816,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5,0.875,0.9375
+44,901120,2816,out_of_domain,group_D,put hamburger on cutting board,default,16,0.625,0.75,0.75
+44,901120,2816,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.4375,0.6875,0.75
+44,901120,2816,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.5,0.5625
+48,983040,3072,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.8125,0.875
+48,983040,3072,in_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.875,0.9375
+48,983040,3072,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.625,0.8125
+48,983040,3072,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5625,0.75,0.9375
+48,983040,3072,in_domain,group_B,put bread on newspaper,default,16,0.6875,1.0,1.0
+48,983040,3072,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+48,983040,3072,in_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.875,0.9375
+48,983040,3072,in_domain,group_B,put 7up can on carpet,default,16,0.4375,0.9375,1.0
+48,983040,3072,in_domain,group_C,put carrot on sheet metal,default,16,0.5,0.6875,0.6875
+48,983040,3072,in_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.6875,0.875
+48,983040,3072,in_domain,group_C,put banana on sheet metal,default,16,0.9375,0.9375,0.9375
+48,983040,3072,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.9375
+48,983040,3072,in_domain,group_D,put hamburger on frying pan,default,16,0.5625,1.0,1.0
+48,983040,3072,in_domain,group_D,put hamburger on cutting board,default,16,0.8125,0.9375,0.9375
+48,983040,3072,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.875,0.875
+48,983040,3072,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.5625,0.625
+48,983040,3072,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.8125,0.8125
+48,983040,3072,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.9375,1.0
+48,983040,3072,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.5625,0.6875
+48,983040,3072,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.4375,0.8125,1.0
+48,983040,3072,out_of_domain,group_B,put bread on newspaper,default,16,0.625,0.875,0.9375
+48,983040,3072,out_of_domain,group_B,put bread on carpet,default,16,0.75,0.8125,0.8125
+48,983040,3072,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.875,0.875
+48,983040,3072,out_of_domain,group_B,put 7up can on carpet,default,16,0.625,0.875,0.875
+48,983040,3072,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.75,0.75
+48,983040,3072,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5,0.625,0.625
+48,983040,3072,out_of_domain,group_C,put banana on sheet metal,default,16,0.5625,0.6875,0.8125
+48,983040,3072,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.8125,0.8125
+48,983040,3072,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5625,1.0,1.0
+48,983040,3072,out_of_domain,group_D,put hamburger on cutting board,default,16,0.6875,0.9375,0.9375
+48,983040,3072,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.75,0.8125
+48,983040,3072,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.6875,0.8125
+52,1064960,3328,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.8125,0.8125
+52,1064960,3328,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.6875,0.75
+52,1064960,3328,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5,0.625,0.6875
+52,1064960,3328,in_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.4375,0.75
+52,1064960,3328,in_domain,group_B,put bread on newspaper,default,16,0.6875,0.8125,0.8125
+52,1064960,3328,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+52,1064960,3328,in_domain,group_B,put 7up can on newspaper,default,16,0.25,0.9375,1.0
+52,1064960,3328,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.9375,0.9375
+52,1064960,3328,in_domain,group_C,put carrot on sheet metal,default,16,0.25,0.8125,0.875
+52,1064960,3328,in_domain,group_C,put carrot on flat bowl,default,16,0.5,0.6875,0.75
+52,1064960,3328,in_domain,group_C,put banana on sheet metal,default,16,0.5625,0.8125,0.875
+52,1064960,3328,in_domain,group_C,put banana on flat bowl,default,16,0.4375,0.75,0.75
+52,1064960,3328,in_domain,group_D,put hamburger on frying pan,default,16,0.5625,1.0,1.0
+52,1064960,3328,in_domain,group_D,put hamburger on cutting board,default,16,0.6875,1.0,1.0
+52,1064960,3328,in_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.6875,0.75
+52,1064960,3328,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.75,0.75
+52,1064960,3328,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,0.625,0.75
+52,1064960,3328,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.375,0.625,0.625
+52,1064960,3328,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.5,0.5625
+52,1064960,3328,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.3125,0.75,0.9375
+52,1064960,3328,out_of_domain,group_B,put bread on newspaper,default,16,0.8125,1.0,1.0
+52,1064960,3328,out_of_domain,group_B,put bread on carpet,default,16,0.6875,0.875,0.875
+52,1064960,3328,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.625,0.75
+52,1064960,3328,out_of_domain,group_B,put 7up can on carpet,default,16,0.5,0.875,0.875
+52,1064960,3328,out_of_domain,group_C,put carrot on sheet metal,default,16,0.25,0.75,0.75
+52,1064960,3328,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.5625,0.625
+52,1064960,3328,out_of_domain,group_C,put banana on sheet metal,default,16,0.25,0.5,0.5625
+52,1064960,3328,out_of_domain,group_C,put banana on flat bowl,default,16,0.375,0.6875,0.75
+52,1064960,3328,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5,0.625,0.8125
+52,1064960,3328,out_of_domain,group_D,put hamburger on cutting board,default,16,0.625,0.8125,0.875
+52,1064960,3328,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.75,0.75
+52,1064960,3328,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.875,0.9375
+56,1146880,3584,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.8125
+56,1146880,3584,in_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.75,1.0
+56,1146880,3584,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.8125,0.9375
+56,1146880,3584,in_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.625,0.8125
+56,1146880,3584,in_domain,group_B,put bread on newspaper,default,16,0.8125,0.875,0.9375
+56,1146880,3584,in_domain,group_B,put bread on carpet,default,16,0.8125,0.8125,0.8125
+56,1146880,3584,in_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.75,0.8125
+56,1146880,3584,in_domain,group_B,put 7up can on carpet,default,16,0.4375,0.875,1.0
+56,1146880,3584,in_domain,group_C,put carrot on sheet metal,default,16,0.4375,0.75,0.875
+56,1146880,3584,in_domain,group_C,put carrot on flat bowl,default,16,0.5,0.5625,0.6875
+56,1146880,3584,in_domain,group_C,put banana on sheet metal,default,16,0.5,0.75,0.75
+56,1146880,3584,in_domain,group_C,put banana on flat bowl,default,16,0.5,0.5,0.5625
+56,1146880,3584,in_domain,group_D,put hamburger on frying pan,default,16,0.5,0.875,0.875
+56,1146880,3584,in_domain,group_D,put hamburger on cutting board,default,16,0.6875,1.0,1.0
+56,1146880,3584,in_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.75,0.875
+56,1146880,3584,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,0.8125,0.8125
+56,1146880,3584,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.5625,0.8125
+56,1146880,3584,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.75,0.8125
+56,1146880,3584,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.4375,0.75
+56,1146880,3584,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.6875,0.8125
+56,1146880,3584,out_of_domain,group_B,put bread on newspaper,default,16,0.5,0.5625,0.5625
+56,1146880,3584,out_of_domain,group_B,put bread on carpet,default,16,0.375,0.4375,0.6875
+56,1146880,3584,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.5,0.5
+56,1146880,3584,out_of_domain,group_B,put 7up can on carpet,default,16,0.375,0.625,0.75
+56,1146880,3584,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5,0.6875,0.75
+56,1146880,3584,out_of_domain,group_C,put carrot on flat bowl,default,16,0.3125,0.5,0.625
+56,1146880,3584,out_of_domain,group_C,put banana on sheet metal,default,16,0.25,0.375,0.4375
+56,1146880,3584,out_of_domain,group_C,put banana on flat bowl,default,16,0.25,0.3125,0.5
+56,1146880,3584,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5,0.8125,0.875
+56,1146880,3584,out_of_domain,group_D,put hamburger on cutting board,default,16,0.625,0.75,0.8125
+56,1146880,3584,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.4375,0.5625,0.6875
+56,1146880,3584,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.375,0.625
+60,1228800,3840,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.75,0.8125
+60,1228800,3840,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.75,0.875
+60,1228800,3840,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.5625,0.75
+60,1228800,3840,in_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.5625,0.75
+60,1228800,3840,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+60,1228800,3840,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+60,1228800,3840,in_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.9375,1.0
+60,1228800,3840,in_domain,group_B,put 7up can on carpet,default,16,0.8125,0.9375,1.0
+60,1228800,3840,in_domain,group_C,put carrot on sheet metal,default,16,0.875,0.9375,0.9375
+60,1228800,3840,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.9375,0.9375
+60,1228800,3840,in_domain,group_C,put banana on sheet metal,default,16,0.6875,0.75,0.8125
+60,1228800,3840,in_domain,group_C,put banana on flat bowl,default,16,0.5625,0.6875,0.875
+60,1228800,3840,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+60,1228800,3840,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+60,1228800,3840,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.625,0.75
+60,1228800,3840,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.875,1.0
+60,1228800,3840,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.8125,0.875
+60,1228800,3840,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.625,0.75
+60,1228800,3840,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.3125,0.625,0.875
+60,1228800,3840,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.5625,0.75
+60,1228800,3840,out_of_domain,group_B,put bread on newspaper,default,16,0.75,0.875,0.9375
+60,1228800,3840,out_of_domain,group_B,put bread on carpet,default,16,0.9375,0.9375,0.9375
+60,1228800,3840,out_of_domain,group_B,put 7up can on newspaper,default,16,0.4375,0.625,0.6875
+60,1228800,3840,out_of_domain,group_B,put 7up can on carpet,default,16,0.4375,0.875,1.0
+60,1228800,3840,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.6875,0.75
+60,1228800,3840,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.75,0.75
+60,1228800,3840,out_of_domain,group_C,put banana on sheet metal,default,16,0.5,0.75,0.75
+60,1228800,3840,out_of_domain,group_C,put banana on flat bowl,default,16,0.6875,0.6875,0.8125
+60,1228800,3840,out_of_domain,group_D,put hamburger on frying pan,default,16,0.6875,1.0,1.0
+60,1228800,3840,out_of_domain,group_D,put hamburger on cutting board,default,16,0.6875,0.75,0.875
+60,1228800,3840,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.6875,0.8125
+60,1228800,3840,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.75,0.75
+64,1310720,4096,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.625,0.8125
+64,1310720,4096,in_domain,group_A,put ketchup bottle on cloth,default,16,0.25,0.5,0.875
+64,1310720,4096,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.5625,0.6875
+64,1310720,4096,in_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.5,0.75
+64,1310720,4096,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+64,1310720,4096,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+64,1310720,4096,in_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+64,1310720,4096,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.9375,0.9375
+64,1310720,4096,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.9375
+64,1310720,4096,in_domain,group_C,put carrot on flat bowl,default,16,0.8125,0.8125,0.875
+64,1310720,4096,in_domain,group_C,put banana on sheet metal,default,16,0.5,0.5,0.6875
+64,1310720,4096,in_domain,group_C,put banana on flat bowl,default,16,0.4375,0.5,0.6875
+64,1310720,4096,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+64,1310720,4096,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+64,1310720,4096,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.6875,0.75
+64,1310720,4096,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.625,0.6875
+64,1310720,4096,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.8125
+64,1310720,4096,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.8125,0.9375
+64,1310720,4096,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.4375,0.75
+64,1310720,4096,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.1875,0.4375,0.625
+64,1310720,4096,out_of_domain,group_B,put bread on newspaper,default,16,0.8125,0.875,0.9375
+64,1310720,4096,out_of_domain,group_B,put bread on carpet,default,16,0.9375,0.9375,0.9375
+64,1310720,4096,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.75,0.875
+64,1310720,4096,out_of_domain,group_B,put 7up can on carpet,default,16,0.5,0.8125,0.8125
+64,1310720,4096,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.75,0.75
+64,1310720,4096,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.6875,0.6875
+64,1310720,4096,out_of_domain,group_C,put banana on sheet metal,default,16,0.75,0.8125,0.875
+64,1310720,4096,out_of_domain,group_C,put banana on flat bowl,default,16,0.5,0.8125,0.8125
+64,1310720,4096,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,0.9375,0.9375
+64,1310720,4096,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,0.9375,0.9375
+64,1310720,4096,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.25,0.6875,0.875
+64,1310720,4096,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.5,0.625

T320/s0__p1/run_config.json

@@ -0,0 +1,80 @@
+{
+  "name": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0",
+  "seed": 0,
+  "resume_episode": 0,
+  "env_id": "PickPlaceNxM-v1",
+  "env_n": 2,
+  "env_m": 2,
+  "num_envs": 64,
+  "obj_set": "rand",
+  "obj1_index": 7,
+  "obj2_index": 2,
+  "obj3_index": 10,
+  "plate1_index": 1,
+  "plate2_index": 2,
+  "plate3_index": 3,
+  "scene": "",
+  "segment_len": 80,
+  "episode_len": 320,
+  "task_len": 80,
+  "ppo_update_len": 160,
+  "max_episodes": 32,
+  "max_steps": 0,
+  "max_reset": 2048,
+  "config_path": "configs/four_group_sequential_2x2.yaml",
+  "task_order": "sequential",
+  "task_filter": "",
+  "reset_mode": "per_episode",
+  "reset_robot": true,
+  "reset_unsuitable": false,
+  "unsuitable_detector": "low_z",
+  "hsr_reset_scope": "per_env",
+  "record_segment_pose": true,
+  "segment_pose_phase": "both",
+  "record_end_of_segment_xyz": false,
+  "enable_backward": false,
+  "backward_interval": 1,
+  "backward_goal": "table",
+  "backward_recep_prob": 0.5,
+  "num_groups": 0,
+  "alg_name": "ppo",
+  "alg_grpo_fix": true,
+  "grpo_group_scope": "batch",
+  "grpo_std_scope": "group",
+  "alg_ppo_epoch": 1,
+  "alg_gradient_accum": 20,
+  "alg_entropy_coef": 0.0,
+  "buffer_gamma": 0.99,
+  "buffer_lambda": 0.95,
+  "buffer_minibatch": 8,
+  "buffer_inferbatch": 32,
+  "policy": "spatialvla",
+  "vla_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "vla_load_path": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0/wandb/run-20260818_014140-8xezm8n5/glob/episode_0032",
+  "vla_unnorm_key": "bridge_orig/1.0.0",
+  "vla_lora_rank": 32,
+  "vla_lr": 0.0001,
+  "vla_vhlr": 0.003,
+  "vla_grad_norm": 10.0,
+  "vla_optim_beta1": 0.9,
+  "vla_optim_beta2": 0.999,
+  "vla_temperature": 1.0,
+  "vla_temperature_eval": 0.0,
+  "eval_interval": 4,
+  "num_eval_episode": 4,
+  "eval_at_start": false,
+  "eval_single": false,
+  "eval_sequential": false,
+  "eval_sequences": 5,
+  "vla_checkpoint_interval": 8,
+  "resume_from": "",
+  "wandb": true,
+  "wandb_dir": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0",
+  "record_video": true,
+  "ppo_log": "ppo_log.txt",
+  "eval_report": "eval_report.txt",
+  "log_file": "run.log",
+  "start_time": "2026-09-17T18:45:14.210642Z",
+  "cronos_version": "V0.93",
+  "git_rev": "4b8c508677330e79d7edc6c58b01f3cb948b110c"
+}

T320/s0__p1/segment_pose.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a369bbcc6778dd2d92f5263deda4b6b579fc35b9b1948cc5b861cd98c889cae
+size 11400874

T320/s0__p2/counters.json

@@ -0,0 +1,6 @@
+{
+  "episode": 144,
+  "total_steps": 2949120,
+  "total_resets": 9216,
+  "timestamp": "2026-09-21T16:13:30.887083Z"
+}

T320/s0__p2/eval_success.csv

@@ -0,0 +1,641 @@
+episode,total_steps,total_resets,eval_kind,group,task,scene,n_envs,success,grasp,obj_grasped
+68,1392640,4352,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.8125
+68,1392640,4352,in_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.6875,0.75
+68,1392640,4352,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.75,0.75
+68,1392640,4352,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.6875,0.8125
+68,1392640,4352,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+68,1392640,4352,in_domain,group_B,put bread on carpet,default,16,0.9375,0.9375,1.0
+68,1392640,4352,in_domain,group_B,put 7up can on newspaper,default,16,0.5,0.9375,0.9375
+68,1392640,4352,in_domain,group_B,put 7up can on carpet,default,16,0.25,0.9375,0.9375
+68,1392640,4352,in_domain,group_C,put carrot on sheet metal,default,16,0.625,0.8125,0.8125
+68,1392640,4352,in_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.6875,0.6875
+68,1392640,4352,in_domain,group_C,put banana on sheet metal,default,16,0.5625,0.75,0.8125
+68,1392640,4352,in_domain,group_C,put banana on flat bowl,default,16,0.5625,0.6875,0.75
+68,1392640,4352,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+68,1392640,4352,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+68,1392640,4352,in_domain,group_D,put plastic bottle on frying pan,default,16,0.375,1.0,1.0
+68,1392640,4352,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.8125,0.8125
+68,1392640,4352,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.875,0.875
+68,1392640,4352,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.5625,0.6875
+68,1392640,4352,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.6875,0.875
+68,1392640,4352,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.5625,0.6875
+68,1392640,4352,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+68,1392640,4352,out_of_domain,group_B,put bread on carpet,default,16,0.75,0.75,0.9375
+68,1392640,4352,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.8125,0.8125
+68,1392640,4352,out_of_domain,group_B,put 7up can on carpet,default,16,0.125,0.875,1.0
+68,1392640,4352,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.625,0.625
+68,1392640,4352,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5,0.5625,0.6875
+68,1392640,4352,out_of_domain,group_C,put banana on sheet metal,default,16,0.25,0.5,0.625
+68,1392640,4352,out_of_domain,group_C,put banana on flat bowl,default,16,0.3125,0.5625,0.6875
+68,1392640,4352,out_of_domain,group_D,put hamburger on frying pan,default,16,0.4375,0.875,0.9375
+68,1392640,4352,out_of_domain,group_D,put hamburger on cutting board,default,16,0.6875,0.9375,0.9375
+68,1392640,4352,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.625,0.75
+68,1392640,4352,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.625,0.75
+72,1474560,4608,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.75,0.75
+72,1474560,4608,in_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.75,0.75
+72,1474560,4608,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.625,0.6875
+72,1474560,4608,in_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.625,0.6875
+72,1474560,4608,in_domain,group_B,put bread on newspaper,default,16,0.875,1.0,1.0
+72,1474560,4608,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+72,1474560,4608,in_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.9375,0.9375
+72,1474560,4608,in_domain,group_B,put 7up can on carpet,default,16,0.4375,0.875,0.9375
+72,1474560,4608,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.8125
+72,1474560,4608,in_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.75,0.75
+72,1474560,4608,in_domain,group_C,put banana on sheet metal,default,16,0.8125,0.9375,0.9375
+72,1474560,4608,in_domain,group_C,put banana on flat bowl,default,16,0.625,0.8125,0.9375
+72,1474560,4608,in_domain,group_D,put hamburger on frying pan,default,16,0.1875,1.0,1.0
+72,1474560,4608,in_domain,group_D,put hamburger on cutting board,default,16,0.6875,1.0,1.0
+72,1474560,4608,in_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.875,0.875
+72,1474560,4608,in_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.75,0.75
+72,1474560,4608,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.9375,0.9375
+72,1474560,4608,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.75,0.75
+72,1474560,4608,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.5,0.625
+72,1474560,4608,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.8125,0.9375
+72,1474560,4608,out_of_domain,group_B,put bread on newspaper,default,16,0.875,1.0,1.0
+72,1474560,4608,out_of_domain,group_B,put bread on carpet,default,16,0.8125,0.9375,0.9375
+72,1474560,4608,out_of_domain,group_B,put 7up can on newspaper,default,16,0.6875,0.9375,0.9375
+72,1474560,4608,out_of_domain,group_B,put 7up can on carpet,default,16,0.5,0.875,0.9375
+72,1474560,4608,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.875,0.875
+72,1474560,4608,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.75,0.75
+72,1474560,4608,out_of_domain,group_C,put banana on sheet metal,default,16,0.625,0.75,0.75
+72,1474560,4608,out_of_domain,group_C,put banana on flat bowl,default,16,0.625,0.8125,0.875
+72,1474560,4608,out_of_domain,group_D,put hamburger on frying pan,default,16,0.1875,1.0,1.0
+72,1474560,4608,out_of_domain,group_D,put hamburger on cutting board,default,16,0.8125,1.0,1.0
+72,1474560,4608,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.3125,0.8125,0.8125
+72,1474560,4608,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.6875,0.8125
+76,1556480,4864,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+76,1556480,4864,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.875,0.875
+76,1556480,4864,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.6875,0.6875
+76,1556480,4864,in_domain,group_A,put kitchen shovel on cloth,default,16,0.4375,0.75,0.75
+76,1556480,4864,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+76,1556480,4864,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+76,1556480,4864,in_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+76,1556480,4864,in_domain,group_B,put 7up can on carpet,default,16,0.625,0.8125,0.9375
+76,1556480,4864,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.875
+76,1556480,4864,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.8125,0.9375
+76,1556480,4864,in_domain,group_C,put banana on sheet metal,default,16,0.75,0.8125,0.9375
+76,1556480,4864,in_domain,group_C,put banana on flat bowl,default,16,0.875,0.875,0.9375
+76,1556480,4864,in_domain,group_D,put hamburger on frying pan,default,16,0.8125,1.0,1.0
+76,1556480,4864,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+76,1556480,4864,in_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.75,0.75
+76,1556480,4864,in_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.75,0.8125
+76,1556480,4864,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+76,1556480,4864,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.75,0.75
+76,1556480,4864,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.3125,0.625,0.8125
+76,1556480,4864,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.5625,0.625
+76,1556480,4864,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+76,1556480,4864,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+76,1556480,4864,out_of_domain,group_B,put 7up can on newspaper,default,16,0.625,0.9375,0.9375
+76,1556480,4864,out_of_domain,group_B,put 7up can on carpet,default,16,0.75,0.8125,0.875
+76,1556480,4864,out_of_domain,group_C,put carrot on sheet metal,default,16,0.75,0.8125,0.8125
+76,1556480,4864,out_of_domain,group_C,put carrot on flat bowl,default,16,0.875,0.9375,0.9375
+76,1556480,4864,out_of_domain,group_C,put banana on sheet metal,default,16,0.5625,0.75,0.75
+76,1556480,4864,out_of_domain,group_C,put banana on flat bowl,default,16,0.6875,0.75,0.8125
+76,1556480,4864,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+76,1556480,4864,out_of_domain,group_D,put hamburger on cutting board,default,16,0.8125,0.9375,1.0
+76,1556480,4864,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.625,0.75
+76,1556480,4864,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.625,0.6875
+80,1638400,5120,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+80,1638400,5120,in_domain,group_A,put ketchup bottle on cloth,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.5,0.5625
+80,1638400,5120,in_domain,group_A,put kitchen shovel on cloth,default,16,0.6875,0.75,0.8125
+80,1638400,5120,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+80,1638400,5120,in_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.875,0.875
+80,1638400,5120,in_domain,group_B,put 7up can on carpet,default,16,0.625,0.75,0.8125
+80,1638400,5120,in_domain,group_C,put carrot on sheet metal,default,16,0.625,0.8125,0.9375
+80,1638400,5120,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.8125,0.9375
+80,1638400,5120,in_domain,group_C,put banana on sheet metal,default,16,0.875,0.8125,0.8125
+80,1638400,5120,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.6875,0.875
+80,1638400,5120,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.9375,0.9375
+80,1638400,5120,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.5625,0.625
+80,1638400,5120,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.8125
+80,1638400,5120,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.875,0.875
+80,1638400,5120,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.6875,0.8125
+80,1638400,5120,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.75,0.875
+80,1638400,5120,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+80,1638400,5120,out_of_domain,group_B,put bread on carpet,default,16,0.875,0.9375,1.0
+80,1638400,5120,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.875,0.875
+80,1638400,5120,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.875,1.0
+80,1638400,5120,out_of_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.9375,0.9375
+80,1638400,5120,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5,0.625,0.6875
+80,1638400,5120,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.875,0.875
+80,1638400,5120,out_of_domain,group_C,put banana on flat bowl,default,16,0.8125,0.8125,0.875
+80,1638400,5120,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,0.9375,1.0
+80,1638400,5120,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,0.9375,0.9375
+80,1638400,5120,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.75,0.8125
+80,1638400,5120,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.625,0.6875
+84,1720320,5376,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.75
+84,1720320,5376,in_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.8125,0.875
+84,1720320,5376,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.6875,0.75
+84,1720320,5376,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.8125,0.875
+84,1720320,5376,in_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+84,1720320,5376,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+84,1720320,5376,in_domain,group_B,put 7up can on newspaper,default,16,0.75,0.875,0.9375
+84,1720320,5376,in_domain,group_B,put 7up can on carpet,default,16,0.6875,0.75,0.9375
+84,1720320,5376,in_domain,group_C,put carrot on sheet metal,default,16,0.625,0.9375,1.0
+84,1720320,5376,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.875,1.0
+84,1720320,5376,in_domain,group_C,put banana on sheet metal,default,16,0.875,0.875,0.9375
+84,1720320,5376,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.875
+84,1720320,5376,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+84,1720320,5376,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+84,1720320,5376,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.6875,0.75
+84,1720320,5376,in_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.75,0.75
+84,1720320,5376,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.625,0.625
+84,1720320,5376,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.8125,0.8125
+84,1720320,5376,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.625,0.625
+84,1720320,5376,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.875,0.875
+84,1720320,5376,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,0.9375,0.9375
+84,1720320,5376,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+84,1720320,5376,out_of_domain,group_B,put 7up can on newspaper,default,16,0.625,0.8125,0.875
+84,1720320,5376,out_of_domain,group_B,put 7up can on carpet,default,16,0.75,0.875,0.875
+84,1720320,5376,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5,0.6875,0.75
+84,1720320,5376,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.875,0.9375
+84,1720320,5376,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.8125
+84,1720320,5376,out_of_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.875
+84,1720320,5376,out_of_domain,group_D,put hamburger on frying pan,default,16,0.8125,1.0,1.0
+84,1720320,5376,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+84,1720320,5376,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.875,1.0
+84,1720320,5376,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.8125,0.8125
+88,1802240,5632,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.8125,0.875
+88,1802240,5632,in_domain,group_A,put ketchup bottle on cloth,default,16,0.9375,0.9375,0.9375
+88,1802240,5632,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.875,0.9375
+88,1802240,5632,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.8125,0.9375
+88,1802240,5632,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+88,1802240,5632,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+88,1802240,5632,in_domain,group_B,put 7up can on newspaper,default,16,0.75,0.9375,0.9375
+88,1802240,5632,in_domain,group_B,put 7up can on carpet,default,16,0.875,1.0,1.0
+88,1802240,5632,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.6875,0.75
+88,1802240,5632,in_domain,group_C,put carrot on flat bowl,default,16,0.5,0.5625,0.5625
+88,1802240,5632,in_domain,group_C,put banana on sheet metal,default,16,0.8125,0.9375,0.9375
+88,1802240,5632,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.8125,1.0
+88,1802240,5632,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+88,1802240,5632,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+88,1802240,5632,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.875,0.875
+88,1802240,5632,in_domain,group_D,put plastic bottle on cutting board,default,16,0.9375,0.9375,0.9375
+88,1802240,5632,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.75,0.875
+88,1802240,5632,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.875,0.875
+88,1802240,5632,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.75,0.75
+88,1802240,5632,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5625,0.875,0.875
+88,1802240,5632,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+88,1802240,5632,out_of_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+88,1802240,5632,out_of_domain,group_B,put 7up can on newspaper,default,16,0.625,0.8125,0.875
+88,1802240,5632,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.875,0.9375
+88,1802240,5632,out_of_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.875,0.9375
+88,1802240,5632,out_of_domain,group_C,put carrot on flat bowl,default,16,0.4375,0.6875,0.8125
+88,1802240,5632,out_of_domain,group_C,put banana on sheet metal,default,16,0.6875,0.6875,0.6875
+88,1802240,5632,out_of_domain,group_C,put banana on flat bowl,default,16,0.6875,0.75,0.875
+88,1802240,5632,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+88,1802240,5632,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+88,1802240,5632,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.9375,0.9375
+88,1802240,5632,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.6875,0.75
+92,1884160,5888,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,1.0
+92,1884160,5888,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.875,0.875
+92,1884160,5888,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.9375,0.9375
+92,1884160,5888,in_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.9375,1.0
+92,1884160,5888,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+92,1884160,5888,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+92,1884160,5888,in_domain,group_B,put 7up can on newspaper,default,16,0.75,1.0,1.0
+92,1884160,5888,in_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+92,1884160,5888,in_domain,group_C,put carrot on sheet metal,default,16,0.875,0.875,0.9375
+92,1884160,5888,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.875,0.9375
+92,1884160,5888,in_domain,group_C,put banana on sheet metal,default,16,0.8125,0.875,0.875
+92,1884160,5888,in_domain,group_C,put banana on flat bowl,default,16,0.9375,1.0,1.0
+92,1884160,5888,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+92,1884160,5888,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+92,1884160,5888,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.6875,0.6875
+92,1884160,5888,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,0.875,0.9375
+92,1884160,5888,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.9375,1.0
+92,1884160,5888,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.625,0.8125
+92,1884160,5888,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.8125,0.875
+92,1884160,5888,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.9375,1.0
+92,1884160,5888,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+92,1884160,5888,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+92,1884160,5888,out_of_domain,group_B,put 7up can on newspaper,default,16,0.625,1.0,1.0
+92,1884160,5888,out_of_domain,group_B,put 7up can on carpet,default,16,0.75,0.9375,1.0
+92,1884160,5888,out_of_domain,group_C,put carrot on sheet metal,default,16,0.75,0.875,0.875
+92,1884160,5888,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.6875,0.8125
+92,1884160,5888,out_of_domain,group_C,put banana on sheet metal,default,16,0.75,0.75,0.875
+92,1884160,5888,out_of_domain,group_C,put banana on flat bowl,default,16,0.875,0.875,0.9375
+92,1884160,5888,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+92,1884160,5888,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+92,1884160,5888,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.75,0.8125
+92,1884160,5888,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.8125,0.8125
+96,1966080,6144,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+96,1966080,6144,in_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.875,0.875
+96,1966080,6144,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.6875,0.75,0.875
+96,1966080,6144,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,0.9375,0.9375
+96,1966080,6144,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+96,1966080,6144,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+96,1966080,6144,in_domain,group_B,put 7up can on newspaper,default,16,0.75,1.0,1.0
+96,1966080,6144,in_domain,group_B,put 7up can on carpet,default,16,0.6875,1.0,1.0
+96,1966080,6144,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,1.0
+96,1966080,6144,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.9375,0.9375
+96,1966080,6144,in_domain,group_C,put banana on sheet metal,default,16,0.75,0.8125,0.8125
+96,1966080,6144,in_domain,group_C,put banana on flat bowl,default,16,0.75,0.75,0.8125
+96,1966080,6144,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+96,1966080,6144,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+96,1966080,6144,in_domain,group_D,put plastic bottle on frying pan,default,16,0.4375,0.625,0.75
+96,1966080,6144,in_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.6875,0.6875
+96,1966080,6144,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.9375,0.9375
+96,1966080,6144,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.875,0.9375
+96,1966080,6144,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.6875,0.75
+96,1966080,6144,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.9375,0.9375
+96,1966080,6144,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+96,1966080,6144,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+96,1966080,6144,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.9375,1.0
+96,1966080,6144,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.9375,1.0
+96,1966080,6144,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.8125,0.875
+96,1966080,6144,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.6875,0.75
+96,1966080,6144,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.8125
+96,1966080,6144,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.875,0.875
+96,1966080,6144,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,0.9375,0.9375
+96,1966080,6144,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+96,1966080,6144,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.6875,0.6875
+96,1966080,6144,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.75,0.75
+100,2048000,6400,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.75
+100,2048000,6400,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.9375,0.9375
+100,2048000,6400,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5,0.6875,0.75
+100,2048000,6400,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,1.0,1.0
+100,2048000,6400,in_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_B,put 7up can on newspaper,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_B,put 7up can on carpet,default,16,0.75,1.0,1.0
+100,2048000,6400,in_domain,group_C,put carrot on sheet metal,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_C,put carrot on flat bowl,default,16,0.875,0.9375,0.9375
+100,2048000,6400,in_domain,group_C,put banana on sheet metal,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_C,put banana on flat bowl,default,16,0.875,0.875,0.9375
+100,2048000,6400,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+100,2048000,6400,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_D,put plastic bottle on frying pan,default,16,0.875,0.875,0.875
+100,2048000,6400,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.625,0.6875
+100,2048000,6400,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.8125,0.8125
+100,2048000,6400,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.75,0.8125
+100,2048000,6400,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.75,0.75
+100,2048000,6400,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.875,0.9375
+100,2048000,6400,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+100,2048000,6400,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+100,2048000,6400,out_of_domain,group_B,put 7up can on newspaper,default,16,0.875,1.0,1.0
+100,2048000,6400,out_of_domain,group_B,put 7up can on carpet,default,16,0.75,0.9375,0.9375
+100,2048000,6400,out_of_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.8125,0.8125
+100,2048000,6400,out_of_domain,group_C,put carrot on flat bowl,default,16,0.8125,0.9375,0.9375
+100,2048000,6400,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.8125
+100,2048000,6400,out_of_domain,group_C,put banana on flat bowl,default,16,0.8125,0.8125,0.875
+100,2048000,6400,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+100,2048000,6400,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+100,2048000,6400,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.8125,0.8125
+100,2048000,6400,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.875
+104,2129920,6656,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.875,0.875
+104,2129920,6656,in_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.8125,0.9375
+104,2129920,6656,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.75,0.75
+104,2129920,6656,in_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.8125,0.9375
+104,2129920,6656,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+104,2129920,6656,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+104,2129920,6656,in_domain,group_B,put 7up can on newspaper,default,16,0.625,0.875,0.9375
+104,2129920,6656,in_domain,group_B,put 7up can on carpet,default,16,0.75,0.9375,0.9375
+104,2129920,6656,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.75,0.75
+104,2129920,6656,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.875,0.875
+104,2129920,6656,in_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.875
+104,2129920,6656,in_domain,group_C,put banana on flat bowl,default,16,0.9375,0.9375,0.9375
+104,2129920,6656,in_domain,group_D,put hamburger on frying pan,default,16,0.8125,1.0,1.0
+104,2129920,6656,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+104,2129920,6656,in_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.75,0.75
+104,2129920,6656,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.8125
+104,2129920,6656,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+104,2129920,6656,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.875,0.875
+104,2129920,6656,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.6875,0.875,0.875
+104,2129920,6656,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5625,0.6875,0.6875
+104,2129920,6656,out_of_domain,group_B,put bread on newspaper,default,16,0.75,1.0,1.0
+104,2129920,6656,out_of_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+104,2129920,6656,out_of_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+104,2129920,6656,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.875,1.0
+104,2129920,6656,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.8125,0.875
+104,2129920,6656,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.6875,0.6875
+104,2129920,6656,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.9375,1.0
+104,2129920,6656,out_of_domain,group_C,put banana on flat bowl,default,16,0.8125,0.9375,1.0
+104,2129920,6656,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+104,2129920,6656,out_of_domain,group_D,put hamburger on cutting board,default,16,0.75,1.0,1.0
+104,2129920,6656,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.6875,0.75
+104,2129920,6656,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.6875,0.6875
+108,2211840,6912,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+108,2211840,6912,in_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.875,0.875
+108,2211840,6912,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.875,0.875
+108,2211840,6912,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,1.0,1.0
+108,2211840,6912,in_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+108,2211840,6912,in_domain,group_B,put bread on carpet,default,16,0.875,1.0,1.0
+108,2211840,6912,in_domain,group_B,put 7up can on newspaper,default,16,0.625,0.8125,1.0
+108,2211840,6912,in_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+108,2211840,6912,in_domain,group_C,put carrot on sheet metal,default,16,0.625,0.8125,0.875
+108,2211840,6912,in_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.6875,0.75
+108,2211840,6912,in_domain,group_C,put banana on sheet metal,default,16,0.625,0.75,0.8125
+108,2211840,6912,in_domain,group_C,put banana on flat bowl,default,16,0.75,0.875,0.875
+108,2211840,6912,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+108,2211840,6912,in_domain,group_D,put hamburger on cutting board,default,16,0.875,0.9375,1.0
+108,2211840,6912,in_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.875,0.9375
+108,2211840,6912,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.75,0.8125
+108,2211840,6912,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,1.0,1.0
+108,2211840,6912,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.75,0.75
+108,2211840,6912,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.75,0.8125
+108,2211840,6912,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.8125,0.875
+108,2211840,6912,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+108,2211840,6912,out_of_domain,group_B,put bread on carpet,default,16,0.875,1.0,1.0
+108,2211840,6912,out_of_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+108,2211840,6912,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.9375,0.9375
+108,2211840,6912,out_of_domain,group_C,put carrot on sheet metal,default,16,0.1875,0.5,0.5625
+108,2211840,6912,out_of_domain,group_C,put carrot on flat bowl,default,16,0.375,0.625,0.75
+108,2211840,6912,out_of_domain,group_C,put banana on sheet metal,default,16,0.6875,0.875,0.875
+108,2211840,6912,out_of_domain,group_C,put banana on flat bowl,default,16,0.625,0.8125,0.875
+108,2211840,6912,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+108,2211840,6912,out_of_domain,group_D,put hamburger on cutting board,default,16,0.6875,1.0,1.0
+108,2211840,6912,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.75,0.875
+108,2211840,6912,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.6875,0.75
+112,2293760,7168,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.9375,1.0
+112,2293760,7168,in_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.8125,0.9375
+112,2293760,7168,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.8125,0.875
+112,2293760,7168,in_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.875,0.9375
+112,2293760,7168,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+112,2293760,7168,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+112,2293760,7168,in_domain,group_B,put 7up can on newspaper,default,16,0.625,0.875,0.9375
+112,2293760,7168,in_domain,group_B,put 7up can on carpet,default,16,0.9375,1.0,1.0
+112,2293760,7168,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.6875,0.75
+112,2293760,7168,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.75,0.75
+112,2293760,7168,in_domain,group_C,put banana on sheet metal,default,16,0.75,0.875,0.875
+112,2293760,7168,in_domain,group_C,put banana on flat bowl,default,16,0.625,0.875,1.0
+112,2293760,7168,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+112,2293760,7168,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+112,2293760,7168,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.8125,0.8125
+112,2293760,7168,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,1.0,1.0
+112,2293760,7168,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.875,1.0
+112,2293760,7168,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.875,0.875
+112,2293760,7168,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,1.0,1.0
+112,2293760,7168,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.9375,0.9375,1.0
+112,2293760,7168,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+112,2293760,7168,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+112,2293760,7168,out_of_domain,group_B,put 7up can on newspaper,default,16,0.875,1.0,1.0
+112,2293760,7168,out_of_domain,group_B,put 7up can on carpet,default,16,0.75,1.0,1.0
+112,2293760,7168,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.75,0.8125
+112,2293760,7168,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.75,0.75
+112,2293760,7168,out_of_domain,group_C,put banana on sheet metal,default,16,0.75,0.875,1.0
+112,2293760,7168,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.875,0.875
+112,2293760,7168,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,0.9375,0.9375
+112,2293760,7168,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+112,2293760,7168,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.75,0.8125
+112,2293760,7168,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.8125,0.875
+116,2375680,7424,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.9375,0.9375
+116,2375680,7424,in_domain,group_A,put ketchup bottle on cloth,default,16,0.9375,1.0,1.0
+116,2375680,7424,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,1.0,1.0
+116,2375680,7424,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,0.9375,1.0
+116,2375680,7424,in_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+116,2375680,7424,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+116,2375680,7424,in_domain,group_B,put 7up can on newspaper,default,16,0.6875,0.9375,1.0
+116,2375680,7424,in_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+116,2375680,7424,in_domain,group_C,put carrot on sheet metal,default,16,0.875,0.875,0.9375
+116,2375680,7424,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.875,0.9375
+116,2375680,7424,in_domain,group_C,put banana on sheet metal,default,16,0.875,1.0,1.0
+116,2375680,7424,in_domain,group_C,put banana on flat bowl,default,16,0.875,0.9375,0.9375
+116,2375680,7424,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+116,2375680,7424,in_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+116,2375680,7424,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.6875,0.6875
+116,2375680,7424,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.75
+116,2375680,7424,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.875
+116,2375680,7424,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.8125,0.875
+116,2375680,7424,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.875,1.0,1.0
+116,2375680,7424,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.875,0.9375
+116,2375680,7424,out_of_domain,group_B,put bread on newspaper,default,16,0.6875,0.9375,0.9375
+116,2375680,7424,out_of_domain,group_B,put bread on carpet,default,16,0.8125,0.9375,0.9375
+116,2375680,7424,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.875,0.9375
+116,2375680,7424,out_of_domain,group_B,put 7up can on carpet,default,16,0.625,0.9375,0.9375
+116,2375680,7424,out_of_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.8125,0.8125
+116,2375680,7424,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.8125
+116,2375680,7424,out_of_domain,group_C,put banana on sheet metal,default,16,0.625,0.625,0.75
+116,2375680,7424,out_of_domain,group_C,put banana on flat bowl,default,16,0.5,0.625,0.625
+116,2375680,7424,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,0.875,0.9375
+116,2375680,7424,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+116,2375680,7424,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.6875,0.75
+116,2375680,7424,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.9375,1.0
+120,2457600,7680,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.75,0.875
+120,2457600,7680,in_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.8125,0.875
+120,2457600,7680,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.875,0.875
+120,2457600,7680,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,0.9375,0.9375
+120,2457600,7680,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+120,2457600,7680,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+120,2457600,7680,in_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.9375,1.0
+120,2457600,7680,in_domain,group_B,put 7up can on carpet,default,16,0.625,1.0,1.0
+120,2457600,7680,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.75,0.9375
+120,2457600,7680,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.8125,0.8125
+120,2457600,7680,in_domain,group_C,put banana on sheet metal,default,16,0.5625,0.625,0.6875
+120,2457600,7680,in_domain,group_C,put banana on flat bowl,default,16,0.5625,0.625,0.875
+120,2457600,7680,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+120,2457600,7680,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+120,2457600,7680,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.9375,0.9375
+120,2457600,7680,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,0.875,0.9375
+120,2457600,7680,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.875,0.875
+120,2457600,7680,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.875,0.875
+120,2457600,7680,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.875,0.875
+120,2457600,7680,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.6875,0.9375,0.9375
+120,2457600,7680,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+120,2457600,7680,out_of_domain,group_B,put bread on carpet,default,16,0.875,0.9375,0.9375
+120,2457600,7680,out_of_domain,group_B,put 7up can on newspaper,default,16,0.4375,0.875,1.0
+120,2457600,7680,out_of_domain,group_B,put 7up can on carpet,default,16,0.875,0.9375,1.0
+120,2457600,7680,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.625,0.75
+120,2457600,7680,out_of_domain,group_C,put carrot on flat bowl,default,16,0.8125,0.9375,0.9375
+120,2457600,7680,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.9375
+120,2457600,7680,out_of_domain,group_C,put banana on flat bowl,default,16,0.5625,0.5625,0.625
+120,2457600,7680,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+120,2457600,7680,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+120,2457600,7680,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.75,0.8125
+120,2457600,7680,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.875,1.0,1.0
+124,2539520,7936,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.8125,0.875
+124,2539520,7936,in_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.75,0.875
+124,2539520,7936,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.875,0.9375,0.9375
+124,2539520,7936,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.8125,1.0
+124,2539520,7936,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+124,2539520,7936,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+124,2539520,7936,in_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+124,2539520,7936,in_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+124,2539520,7936,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.875
+124,2539520,7936,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.875,0.875
+124,2539520,7936,in_domain,group_C,put banana on sheet metal,default,16,0.9375,1.0,1.0
+124,2539520,7936,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.6875,0.75
+124,2539520,7936,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+124,2539520,7936,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+124,2539520,7936,in_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.75,0.75
+124,2539520,7936,in_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.8125,0.8125
+124,2539520,7936,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.8125,0.875
+124,2539520,7936,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.8125,0.8125
+124,2539520,7936,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,1.0,1.0
+124,2539520,7936,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.75,1.0
+124,2539520,7936,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+124,2539520,7936,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+124,2539520,7936,out_of_domain,group_B,put 7up can on newspaper,default,16,0.6875,1.0,1.0
+124,2539520,7936,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.9375,1.0
+124,2539520,7936,out_of_domain,group_C,put carrot on sheet metal,default,16,0.75,0.8125,0.9375
+124,2539520,7936,out_of_domain,group_C,put carrot on flat bowl,default,16,0.75,0.8125,0.8125
+124,2539520,7936,out_of_domain,group_C,put banana on sheet metal,default,16,0.75,0.875,0.9375
+124,2539520,7936,out_of_domain,group_C,put banana on flat bowl,default,16,0.875,0.9375,1.0
+124,2539520,7936,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,0.9375,0.9375
+124,2539520,7936,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+124,2539520,7936,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.75,0.75
+124,2539520,7936,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.875,0.875
+128,2621440,8192,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+128,2621440,8192,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.875,0.9375
+128,2621440,8192,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,1.0,1.0
+128,2621440,8192,in_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.875,0.9375
+128,2621440,8192,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+128,2621440,8192,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+128,2621440,8192,in_domain,group_B,put 7up can on newspaper,default,16,0.625,0.9375,0.9375
+128,2621440,8192,in_domain,group_B,put 7up can on carpet,default,16,0.6875,1.0,1.0
+128,2621440,8192,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.6875,0.75
+128,2621440,8192,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.6875,0.8125
+128,2621440,8192,in_domain,group_C,put banana on sheet metal,default,16,0.875,0.9375,0.9375
+128,2621440,8192,in_domain,group_C,put banana on flat bowl,default,16,0.875,0.875,0.9375
+128,2621440,8192,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+128,2621440,8192,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+128,2621440,8192,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.9375,0.9375
+128,2621440,8192,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.75
+128,2621440,8192,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.875,0.9375
+128,2621440,8192,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.6875,0.875
+128,2621440,8192,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.875,0.875
+128,2621440,8192,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.875,0.875,0.9375
+128,2621440,8192,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+128,2621440,8192,out_of_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+128,2621440,8192,out_of_domain,group_B,put 7up can on newspaper,default,16,0.625,0.8125,0.9375
+128,2621440,8192,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,1.0,1.0
+128,2621440,8192,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.6875,0.875
+128,2621440,8192,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.875
+128,2621440,8192,out_of_domain,group_C,put banana on sheet metal,default,16,0.75,0.8125,0.875
+128,2621440,8192,out_of_domain,group_C,put banana on flat bowl,default,16,0.9375,1.0,1.0
+128,2621440,8192,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,0.9375,1.0
+128,2621440,8192,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+128,2621440,8192,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.875,0.9375,0.9375
+128,2621440,8192,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.6875,0.6875
+132,2703360,8448,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.875,1.0
+132,2703360,8448,in_domain,group_A,put ketchup bottle on cloth,default,16,0.9375,0.9375,1.0
+132,2703360,8448,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.8125,0.9375
+132,2703360,8448,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5625,0.8125,0.875
+132,2703360,8448,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+132,2703360,8448,in_domain,group_B,put bread on carpet,default,16,0.875,1.0,1.0
+132,2703360,8448,in_domain,group_B,put 7up can on newspaper,default,16,0.625,1.0,1.0
+132,2703360,8448,in_domain,group_B,put 7up can on carpet,default,16,0.6875,0.875,0.9375
+132,2703360,8448,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.8125
+132,2703360,8448,in_domain,group_C,put carrot on flat bowl,default,16,0.5,0.6875,0.75
+132,2703360,8448,in_domain,group_C,put banana on sheet metal,default,16,0.9375,0.9375,0.9375
+132,2703360,8448,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.75,0.8125
+132,2703360,8448,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+132,2703360,8448,in_domain,group_D,put hamburger on cutting board,default,16,1.0,0.9375,1.0
+132,2703360,8448,in_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.875,0.875
+132,2703360,8448,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.8125,0.9375
+132,2703360,8448,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.8125,0.9375
+132,2703360,8448,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.875,1.0
+132,2703360,8448,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5,0.9375,1.0
+132,2703360,8448,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.6875,0.8125,1.0
+132,2703360,8448,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+132,2703360,8448,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+132,2703360,8448,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5625,1.0,1.0
+132,2703360,8448,out_of_domain,group_B,put 7up can on carpet,default,16,0.9375,0.9375,1.0
+132,2703360,8448,out_of_domain,group_C,put carrot on sheet metal,default,16,0.75,0.875,0.875
+132,2703360,8448,out_of_domain,group_C,put carrot on flat bowl,default,16,0.875,0.8125,0.9375
+132,2703360,8448,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.875,0.9375
+132,2703360,8448,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.875,0.9375
+132,2703360,8448,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+132,2703360,8448,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+132,2703360,8448,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.8125,0.8125
+132,2703360,8448,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.5,0.75
+136,2785280,8704,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.8125
+136,2785280,8704,in_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.75,0.875
+136,2785280,8704,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.875,0.9375
+136,2785280,8704,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.8125,0.9375
+136,2785280,8704,in_domain,group_B,put bread on newspaper,default,16,0.9375,0.9375,1.0
+136,2785280,8704,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+136,2785280,8704,in_domain,group_B,put 7up can on newspaper,default,16,0.75,0.9375,1.0
+136,2785280,8704,in_domain,group_B,put 7up can on carpet,default,16,0.875,0.9375,1.0
+136,2785280,8704,in_domain,group_C,put carrot on sheet metal,default,16,0.75,0.75,0.875
+136,2785280,8704,in_domain,group_C,put carrot on flat bowl,default,16,0.375,0.375,0.625
+136,2785280,8704,in_domain,group_C,put banana on sheet metal,default,16,0.3125,0.3125,0.4375
+136,2785280,8704,in_domain,group_C,put banana on flat bowl,default,16,0.375,0.5,0.6875
+136,2785280,8704,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+136,2785280,8704,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+136,2785280,8704,in_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.875,0.875
+136,2785280,8704,in_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.6875,0.75
+136,2785280,8704,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.75,0.75
+136,2785280,8704,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.8125,0.9375
+136,2785280,8704,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.6875,0.875
+136,2785280,8704,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.875,0.9375
+136,2785280,8704,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+136,2785280,8704,out_of_domain,group_B,put bread on carpet,default,16,0.875,1.0,1.0
+136,2785280,8704,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.9375,1.0
+136,2785280,8704,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.875,1.0
+136,2785280,8704,out_of_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.875
+136,2785280,8704,out_of_domain,group_C,put carrot on flat bowl,default,16,0.375,0.625,0.75
+136,2785280,8704,out_of_domain,group_C,put banana on sheet metal,default,16,0.25,0.3125,0.5
+136,2785280,8704,out_of_domain,group_C,put banana on flat bowl,default,16,0.125,0.125,0.4375
+136,2785280,8704,out_of_domain,group_D,put hamburger on frying pan,default,16,0.8125,0.9375,0.9375
+136,2785280,8704,out_of_domain,group_D,put hamburger on cutting board,default,16,0.8125,0.9375,0.9375
+136,2785280,8704,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.5625,0.8125
+136,2785280,8704,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.75,0.8125
+140,2867200,8960,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.8125,0.8125
+140,2867200,8960,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.5625,0.75
+140,2867200,8960,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.8125,0.875
+140,2867200,8960,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.875,0.875
+140,2867200,8960,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+140,2867200,8960,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+140,2867200,8960,in_domain,group_B,put 7up can on newspaper,default,16,0.75,1.0,1.0
+140,2867200,8960,in_domain,group_B,put 7up can on carpet,default,16,0.5625,0.9375,1.0
+140,2867200,8960,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.625,0.75
+140,2867200,8960,in_domain,group_C,put carrot on flat bowl,default,16,0.5,0.5,0.5625
+140,2867200,8960,in_domain,group_C,put banana on sheet metal,default,16,0.375,0.4375,0.6875
+140,2867200,8960,in_domain,group_C,put banana on flat bowl,default,16,0.5625,0.5625,0.75
+140,2867200,8960,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+140,2867200,8960,in_domain,group_D,put hamburger on cutting board,default,16,0.75,0.9375,1.0
+140,2867200,8960,in_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.8125,0.8125
+140,2867200,8960,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.75,0.8125
+140,2867200,8960,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.5625,0.75
+140,2867200,8960,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.875,0.875
+140,2867200,8960,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.375,0.75
+140,2867200,8960,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.4375,0.875,0.875
+140,2867200,8960,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+140,2867200,8960,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+140,2867200,8960,out_of_domain,group_B,put 7up can on newspaper,default,16,0.75,1.0,1.0
+140,2867200,8960,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,1.0,1.0
+140,2867200,8960,out_of_domain,group_C,put carrot on sheet metal,default,16,0.375,0.4375,0.75
+140,2867200,8960,out_of_domain,group_C,put carrot on flat bowl,default,16,0.375,0.5,0.75
+140,2867200,8960,out_of_domain,group_C,put banana on sheet metal,default,16,0.5,0.5625,0.625
+140,2867200,8960,out_of_domain,group_C,put banana on flat bowl,default,16,0.375,0.375,0.625
+140,2867200,8960,out_of_domain,group_D,put hamburger on frying pan,default,16,0.8125,0.875,0.9375
+140,2867200,8960,out_of_domain,group_D,put hamburger on cutting board,default,16,0.75,0.875,0.875
+140,2867200,8960,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.6875,0.75
+140,2867200,8960,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.625,0.8125
+144,2949120,9216,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,1.0,1.0
+144,2949120,9216,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.875,0.9375
+144,2949120,9216,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.9375,0.9375
+144,2949120,9216,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5625,0.875,0.9375
+144,2949120,9216,in_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+144,2949120,9216,in_domain,group_B,put bread on carpet,default,16,0.8125,1.0,1.0
+144,2949120,9216,in_domain,group_B,put 7up can on newspaper,default,16,0.875,1.0,1.0
+144,2949120,9216,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.9375,1.0
+144,2949120,9216,in_domain,group_C,put carrot on sheet metal,default,16,0.5,0.8125,0.8125
+144,2949120,9216,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.8125,0.875
+144,2949120,9216,in_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.8125
+144,2949120,9216,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.9375,0.9375
+144,2949120,9216,in_domain,group_D,put hamburger on frying pan,default,16,0.6875,1.0,1.0
+144,2949120,9216,in_domain,group_D,put hamburger on cutting board,default,16,0.875,0.9375,1.0
+144,2949120,9216,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.8125,0.875
+144,2949120,9216,in_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.9375,0.9375
+144,2949120,9216,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,1.0,1.0
+144,2949120,9216,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.75,0.75
+144,2949120,9216,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.8125,0.9375
+144,2949120,9216,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.875,1.0
+144,2949120,9216,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+144,2949120,9216,out_of_domain,group_B,put bread on carpet,default,16,0.8125,1.0,1.0
+144,2949120,9216,out_of_domain,group_B,put 7up can on newspaper,default,16,0.8125,0.9375,0.9375
+144,2949120,9216,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.875,1.0
+144,2949120,9216,out_of_domain,group_C,put carrot on sheet metal,default,16,0.3125,0.625,0.6875
+144,2949120,9216,out_of_domain,group_C,put carrot on flat bowl,default,16,0.375,0.75,0.8125
+144,2949120,9216,out_of_domain,group_C,put banana on sheet metal,default,16,0.5,0.625,0.75
+144,2949120,9216,out_of_domain,group_C,put banana on flat bowl,default,16,0.625,0.6875,0.75
+144,2949120,9216,out_of_domain,group_D,put hamburger on frying pan,default,16,0.4375,0.9375,0.9375
+144,2949120,9216,out_of_domain,group_D,put hamburger on cutting board,default,16,0.75,0.8125,0.9375
+144,2949120,9216,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.6875,0.75
+144,2949120,9216,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.75,0.8125

T320/s0__p2/run_config.json

@@ -0,0 +1,80 @@
+{
+  "name": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0",
+  "seed": 0,
+  "resume_episode": 0,
+  "env_id": "PickPlaceNxM-v1",
+  "env_n": 2,
+  "env_m": 2,
+  "num_envs": 64,
+  "obj_set": "rand",
+  "obj1_index": 7,
+  "obj2_index": 2,
+  "obj3_index": 10,
+  "plate1_index": 1,
+  "plate2_index": 2,
+  "plate3_index": 3,
+  "scene": "",
+  "segment_len": 80,
+  "episode_len": 320,
+  "task_len": 80,
+  "ppo_update_len": 160,
+  "max_episodes": 80,
+  "max_steps": 0,
+  "max_reset": 5120,
+  "config_path": "configs/four_group_sequential_2x2.yaml",
+  "task_order": "sequential",
+  "task_filter": "",
+  "reset_mode": "per_episode",
+  "reset_robot": true,
+  "reset_unsuitable": false,
+  "unsuitable_detector": "low_z",
+  "hsr_reset_scope": "per_env",
+  "record_segment_pose": true,
+  "segment_pose_phase": "both",
+  "record_end_of_segment_xyz": false,
+  "enable_backward": false,
+  "backward_interval": 1,
+  "backward_goal": "table",
+  "backward_recep_prob": 0.5,
+  "num_groups": 0,
+  "alg_name": "ppo",
+  "alg_grpo_fix": true,
+  "grpo_group_scope": "batch",
+  "grpo_std_scope": "group",
+  "alg_ppo_epoch": 1,
+  "alg_gradient_accum": 20,
+  "alg_entropy_coef": 0.0,
+  "buffer_gamma": 0.99,
+  "buffer_lambda": 0.95,
+  "buffer_minibatch": 8,
+  "buffer_inferbatch": 32,
+  "policy": "spatialvla",
+  "vla_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "vla_load_path": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0/wandb/run-20260917_184230-akww3qbe/glob/episode_0064",
+  "vla_unnorm_key": "bridge_orig/1.0.0",
+  "vla_lora_rank": 32,
+  "vla_lr": 0.0001,
+  "vla_vhlr": 0.003,
+  "vla_grad_norm": 10.0,
+  "vla_optim_beta1": 0.9,
+  "vla_optim_beta2": 0.999,
+  "vla_temperature": 1.0,
+  "vla_temperature_eval": 0.0,
+  "eval_interval": 4,
+  "num_eval_episode": 4,
+  "eval_at_start": false,
+  "eval_single": false,
+  "eval_sequential": false,
+  "eval_sequences": 5,
+  "vla_checkpoint_interval": 8,
+  "resume_from": "",
+  "wandb": true,
+  "wandb_dir": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed0",
+  "record_video": true,
+  "ppo_log": "ppo_log.txt",
+  "eval_report": "eval_report.txt",
+  "log_file": "run.log",
+  "start_time": "2026-09-19T04:06:47.473460Z",
+  "cronos_version": "V0.93",
+  "git_rev": "4b8c508677330e79d7edc6c58b01f3cb948b110c"
+}

T320/s0__p2/segment_pose.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e87e15403b50ef127d0b513b1a245d1b621aa21005755d6782c63182e97252bd
+size 28717689

T320/s1__p0/counters.json

@@ -0,0 +1,6 @@
+{
+  "episode": 32,
+  "total_steps": 655360,
+  "total_resets": 2048,
+  "timestamp": "2026-08-19T07:07:25.556935Z"
+}

T320/s1__p0/eval_success.csv

@@ -0,0 +1,257 @@
+episode,total_steps,total_resets,eval_kind,group,task,scene,n_envs,success,grasp,obj_grasped
+4,81920,256,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.875
+4,81920,256,in_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.6875,0.75
+4,81920,256,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.375,0.375
+4,81920,256,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.1875,0.4375
+4,81920,256,in_domain,group_B,put bread on newspaper,default,16,0.0,0.1875,0.3125
+4,81920,256,in_domain,group_B,put bread on carpet,default,16,0.0625,0.125,0.3125
+4,81920,256,in_domain,group_B,put 7up can on newspaper,default,16,0.125,0.625,0.6875
+4,81920,256,in_domain,group_B,put 7up can on carpet,default,16,0.1875,0.5625,0.6875
+4,81920,256,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0625,0.125
+4,81920,256,in_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+4,81920,256,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+4,81920,256,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+4,81920,256,in_domain,group_D,put hamburger on frying pan,default,16,0.125,0.375,0.4375
+4,81920,256,in_domain,group_D,put hamburger on cutting board,default,16,0.1875,0.4375,0.5
+4,81920,256,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.375,0.5
+4,81920,256,in_domain,group_D,put plastic bottle on cutting board,default,16,0.25,0.5,0.5625
+4,81920,256,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.3125,0.4375,0.625
+4,81920,256,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.0625,0.4375,0.5625
+4,81920,256,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.125,0.25
+4,81920,256,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.0625,0.125
+4,81920,256,out_of_domain,group_B,put bread on newspaper,default,16,0.0,0.1875,0.1875
+4,81920,256,out_of_domain,group_B,put bread on carpet,default,16,0.125,0.25,0.3125
+4,81920,256,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0,0.3125,0.5
+4,81920,256,out_of_domain,group_B,put 7up can on carpet,default,16,0.0625,0.5,0.5
+4,81920,256,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0625
+4,81920,256,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0625,0.0625
+4,81920,256,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.0625
+4,81920,256,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+4,81920,256,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0,0.1875,0.1875
+4,81920,256,out_of_domain,group_D,put hamburger on cutting board,default,16,0.125,0.4375,0.5625
+4,81920,256,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.3125,0.375
+4,81920,256,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.25,0.375,0.5
+8,163840,512,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.5625,0.5625
+8,163840,512,in_domain,group_A,put ketchup bottle on cloth,default,16,0.1875,0.4375,0.5
+8,163840,512,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.1875,0.375
+8,163840,512,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.125,0.3125
+8,163840,512,in_domain,group_B,put bread on newspaper,default,16,0.0625,0.375,0.5625
+8,163840,512,in_domain,group_B,put bread on carpet,default,16,0.4375,0.625,0.625
+8,163840,512,in_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.5625,0.625
+8,163840,512,in_domain,group_B,put 7up can on carpet,default,16,0.125,0.4375,0.4375
+8,163840,512,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,in_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0625,0.1875
+8,163840,512,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+8,163840,512,in_domain,group_D,put hamburger on frying pan,default,16,0.0,0.1875,0.1875
+8,163840,512,in_domain,group_D,put hamburger on cutting board,default,16,0.125,0.3125,0.375
+8,163840,512,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.25,0.25
+8,163840,512,in_domain,group_D,put plastic bottle on cutting board,default,16,0.125,0.5,0.625
+8,163840,512,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.25,0.5,0.5
+8,163840,512,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.3125,0.4375
+8,163840,512,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.1875,0.4375
+8,163840,512,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.375,0.4375
+8,163840,512,out_of_domain,group_B,put bread on newspaper,default,16,0.125,0.375,0.5
+8,163840,512,out_of_domain,group_B,put bread on carpet,default,16,0.125,0.4375,0.5625
+8,163840,512,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0,0.125,0.1875
+8,163840,512,out_of_domain,group_B,put 7up can on carpet,default,16,0.125,0.5,0.5
+8,163840,512,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+8,163840,512,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0,0.125,0.125
+8,163840,512,out_of_domain,group_D,put hamburger on cutting board,default,16,0.125,0.375,0.5
+8,163840,512,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.1875,0.25
+8,163840,512,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.0,0.125,0.25
+12,245760,768,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.5625,0.6875
+12,245760,768,in_domain,group_A,put ketchup bottle on cloth,default,16,0.0,0.4375,0.6875
+12,245760,768,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.1875,0.375
+12,245760,768,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.375,0.4375
+12,245760,768,in_domain,group_B,put bread on newspaper,default,16,0.25,0.5625,0.625
+12,245760,768,in_domain,group_B,put bread on carpet,default,16,0.3125,0.375,0.5625
+12,245760,768,in_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.625,0.625
+12,245760,768,in_domain,group_B,put 7up can on carpet,default,16,0.25,0.625,0.6875
+12,245760,768,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.125,0.125
+12,245760,768,in_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.0625,0.1875
+12,245760,768,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+12,245760,768,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0625,0.0625
+12,245760,768,in_domain,group_D,put hamburger on frying pan,default,16,0.1875,0.625,0.75
+12,245760,768,in_domain,group_D,put hamburger on cutting board,default,16,0.375,0.625,0.625
+12,245760,768,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0625,0.3125,0.4375
+12,245760,768,in_domain,group_D,put plastic bottle on cutting board,default,16,0.0625,0.1875,0.1875
+12,245760,768,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.375,0.5625,0.625
+12,245760,768,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.0,0.4375,0.5
+12,245760,768,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.3125,0.3125
+12,245760,768,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.25,0.375
+12,245760,768,out_of_domain,group_B,put bread on newspaper,default,16,0.1875,0.375,0.375
+12,245760,768,out_of_domain,group_B,put bread on carpet,default,16,0.0625,0.375,0.4375
+12,245760,768,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.4375,0.5
+12,245760,768,out_of_domain,group_B,put 7up can on carpet,default,16,0.375,0.5625,0.5625
+12,245760,768,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0,0.0
+12,245760,768,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.0625,0.125
+12,245760,768,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+12,245760,768,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+12,245760,768,out_of_domain,group_D,put hamburger on frying pan,default,16,0.125,0.375,0.375
+12,245760,768,out_of_domain,group_D,put hamburger on cutting board,default,16,0.0625,0.4375,0.4375
+12,245760,768,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0625,0.25,0.3125
+12,245760,768,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.0,0.125,0.125
+16,327680,1024,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.9375,0.9375
+16,327680,1024,in_domain,group_A,put ketchup bottle on cloth,default,16,0.0,0.75,0.75
+16,327680,1024,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.125,0.3125
+16,327680,1024,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.0625,0.1875
+16,327680,1024,in_domain,group_B,put bread on newspaper,default,16,0.125,0.5625,0.6875
+16,327680,1024,in_domain,group_B,put bread on carpet,default,16,0.375,0.5,0.5
+16,327680,1024,in_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.4375,0.5
+16,327680,1024,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.75,0.75
+16,327680,1024,in_domain,group_C,put carrot on sheet metal,default,16,0.0625,0.125,0.3125
+16,327680,1024,in_domain,group_C,put carrot on flat bowl,default,16,0.125,0.125,0.375
+16,327680,1024,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+16,327680,1024,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+16,327680,1024,in_domain,group_D,put hamburger on frying pan,default,16,0.1875,0.625,0.8125
+16,327680,1024,in_domain,group_D,put hamburger on cutting board,default,16,0.5,0.6875,0.75
+16,327680,1024,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.3125,0.375
+16,327680,1024,in_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.5625,0.625
+16,327680,1024,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,0.75,0.9375
+16,327680,1024,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.0625,0.6875,0.75
+16,327680,1024,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.25,0.375
+16,327680,1024,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.0625,0.25
+16,327680,1024,out_of_domain,group_B,put bread on newspaper,default,16,0.0625,0.375,0.5
+16,327680,1024,out_of_domain,group_B,put bread on carpet,default,16,0.25,0.25,0.3125
+16,327680,1024,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0,0.1875,0.25
+16,327680,1024,out_of_domain,group_B,put 7up can on carpet,default,16,0.1875,0.5625,0.625
+16,327680,1024,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.1875,0.1875
+16,327680,1024,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+16,327680,1024,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+16,327680,1024,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0625
+16,327680,1024,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0625,0.4375,0.4375
+16,327680,1024,out_of_domain,group_D,put hamburger on cutting board,default,16,0.3125,0.5625,0.5625
+16,327680,1024,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0625,0.125,0.1875
+16,327680,1024,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.0625,0.125,0.25
+20,409600,1280,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.8125,0.8125
+20,409600,1280,in_domain,group_A,put ketchup bottle on cloth,default,16,0.1875,0.8125,0.875
+20,409600,1280,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.3125,0.375
+20,409600,1280,in_domain,group_A,put kitchen shovel on cloth,default,16,0.1875,0.375,0.375
+20,409600,1280,in_domain,group_B,put bread on newspaper,default,16,0.125,0.625,0.6875
+20,409600,1280,in_domain,group_B,put bread on carpet,default,16,0.4375,0.5625,0.625
+20,409600,1280,in_domain,group_B,put 7up can on newspaper,default,16,0.25,0.625,0.625
+20,409600,1280,in_domain,group_B,put 7up can on carpet,default,16,0.1875,0.5625,0.5625
+20,409600,1280,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.125,0.1875
+20,409600,1280,in_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.1875,0.3125
+20,409600,1280,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0625
+20,409600,1280,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+20,409600,1280,in_domain,group_D,put hamburger on frying pan,default,16,0.25,0.625,0.6875
+20,409600,1280,in_domain,group_D,put hamburger on cutting board,default,16,0.625,0.875,0.9375
+20,409600,1280,in_domain,group_D,put plastic bottle on frying pan,default,16,0.3125,0.375,0.4375
+20,409600,1280,in_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.4375,0.5
+20,409600,1280,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.875,1.0
+20,409600,1280,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.6875,0.8125
+20,409600,1280,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.3125,0.3125
+20,409600,1280,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.375,0.375
+20,409600,1280,out_of_domain,group_B,put bread on newspaper,default,16,0.125,0.5625,0.625
+20,409600,1280,out_of_domain,group_B,put bread on carpet,default,16,0.4375,0.5625,0.5625
+20,409600,1280,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.4375,0.5625
+20,409600,1280,out_of_domain,group_B,put 7up can on carpet,default,16,0.1875,0.5,0.6875
+20,409600,1280,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0625,0.125
+20,409600,1280,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0625,0.125
+20,409600,1280,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+20,409600,1280,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0625,0.0625
+20,409600,1280,out_of_domain,group_D,put hamburger on frying pan,default,16,0.0625,0.25,0.3125
+20,409600,1280,out_of_domain,group_D,put hamburger on cutting board,default,16,0.25,0.4375,0.5
+20,409600,1280,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.1875,0.3125
+20,409600,1280,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.25,0.5,0.5625
+24,491520,1536,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+24,491520,1536,in_domain,group_A,put ketchup bottle on cloth,default,16,0.1875,0.875,0.875
+24,491520,1536,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.3125,0.4375
+24,491520,1536,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.0625,0.25
+24,491520,1536,in_domain,group_B,put bread on newspaper,default,16,0.125,0.75,1.0
+24,491520,1536,in_domain,group_B,put bread on carpet,default,16,0.375,0.75,0.9375
+24,491520,1536,in_domain,group_B,put 7up can on newspaper,default,16,0.125,0.6875,0.75
+24,491520,1536,in_domain,group_B,put 7up can on carpet,default,16,0.3125,0.6875,0.6875
+24,491520,1536,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.25,0.375
+24,491520,1536,in_domain,group_C,put carrot on flat bowl,default,16,0.1875,0.4375,0.5625
+24,491520,1536,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.125
+24,491520,1536,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+24,491520,1536,in_domain,group_D,put hamburger on frying pan,default,16,0.6875,1.0,1.0
+24,491520,1536,in_domain,group_D,put hamburger on cutting board,default,16,0.6875,0.875,0.875
+24,491520,1536,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.125,0.1875
+24,491520,1536,in_domain,group_D,put plastic bottle on cutting board,default,16,0.0625,0.25,0.25
+24,491520,1536,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.8125,0.8125
+24,491520,1536,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.625,0.75
+24,491520,1536,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.375,0.4375
+24,491520,1536,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.3125,0.375
+24,491520,1536,out_of_domain,group_B,put bread on newspaper,default,16,0.1875,0.4375,0.625
+24,491520,1536,out_of_domain,group_B,put bread on carpet,default,16,0.3125,0.375,0.375
+24,491520,1536,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.5625,0.6875
+24,491520,1536,out_of_domain,group_B,put 7up can on carpet,default,16,0.1875,0.4375,0.5
+24,491520,1536,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0625,0.0625
+24,491520,1536,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0,0.0,0.0
+24,491520,1536,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.0625
+24,491520,1536,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0625
+24,491520,1536,out_of_domain,group_D,put hamburger on frying pan,default,16,0.25,0.625,0.625
+24,491520,1536,out_of_domain,group_D,put hamburger on cutting board,default,16,0.5,0.8125,0.9375
+24,491520,1536,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.4375,0.4375
+24,491520,1536,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.125,0.375,0.375
+28,573440,1792,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.8125,0.8125
+28,573440,1792,in_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.6875,0.8125
+28,573440,1792,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.125,0.375
+28,573440,1792,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.1875,0.3125
+28,573440,1792,in_domain,group_B,put bread on newspaper,default,16,0.125,0.6875,0.8125
+28,573440,1792,in_domain,group_B,put bread on carpet,default,16,0.5,0.6875,0.8125
+28,573440,1792,in_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.375,0.4375
+28,573440,1792,in_domain,group_B,put 7up can on carpet,default,16,0.3125,0.75,0.75
+28,573440,1792,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0625,0.1875
+28,573440,1792,in_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.125,0.375
+28,573440,1792,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0625
+28,573440,1792,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+28,573440,1792,in_domain,group_D,put hamburger on frying pan,default,16,0.625,0.875,0.9375
+28,573440,1792,in_domain,group_D,put hamburger on cutting board,default,16,0.8125,0.9375,0.9375
+28,573440,1792,in_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.1875,0.1875
+28,573440,1792,in_domain,group_D,put plastic bottle on cutting board,default,16,0.0625,0.25,0.3125
+28,573440,1792,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.5625,0.6875
+28,573440,1792,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.4375,0.4375
+28,573440,1792,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.125,0.125
+28,573440,1792,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.0625,0.1875
+28,573440,1792,out_of_domain,group_B,put bread on newspaper,default,16,0.1875,0.375,0.5625
+28,573440,1792,out_of_domain,group_B,put bread on carpet,default,16,0.0625,0.375,0.5625
+28,573440,1792,out_of_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.3125,0.3125
+28,573440,1792,out_of_domain,group_B,put 7up can on carpet,default,16,0.25,0.5625,0.625
+28,573440,1792,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0625,0.1875
+28,573440,1792,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.125,0.1875
+28,573440,1792,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+28,573440,1792,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+28,573440,1792,out_of_domain,group_D,put hamburger on frying pan,default,16,0.25,0.5625,0.5625
+28,573440,1792,out_of_domain,group_D,put hamburger on cutting board,default,16,0.1875,0.375,0.625
+28,573440,1792,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.0,0.3125,0.375
+28,573440,1792,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.0,0.25,0.25
+32,655360,2048,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.8125,0.8125
+32,655360,2048,in_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.9375,0.9375
+32,655360,2048,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.0625,0.125
+32,655360,2048,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.0625,0.125
+32,655360,2048,in_domain,group_B,put bread on newspaper,default,16,0.3125,0.875,0.9375
+32,655360,2048,in_domain,group_B,put bread on carpet,default,16,0.25,0.5,0.625
+32,655360,2048,in_domain,group_B,put 7up can on newspaper,default,16,0.5,0.6875,0.6875
+32,655360,2048,in_domain,group_B,put 7up can on carpet,default,16,0.25,0.75,0.8125
+32,655360,2048,in_domain,group_C,put carrot on sheet metal,default,16,0.0625,0.125,0.1875
+32,655360,2048,in_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.125,0.1875
+32,655360,2048,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0625
+32,655360,2048,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+32,655360,2048,in_domain,group_D,put hamburger on frying pan,default,16,0.625,1.0,1.0
+32,655360,2048,in_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+32,655360,2048,in_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.3125,0.3125
+32,655360,2048,in_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.375,0.375
+32,655360,2048,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.375,0.4375,0.5625
+32,655360,2048,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.25,0.75,0.8125
+32,655360,2048,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.3125,0.375
+32,655360,2048,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.1875,0.1875
+32,655360,2048,out_of_domain,group_B,put bread on newspaper,default,16,0.125,0.4375,0.5625
+32,655360,2048,out_of_domain,group_B,put bread on carpet,default,16,0.125,0.375,0.5625
+32,655360,2048,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.5,0.625
+32,655360,2048,out_of_domain,group_B,put 7up can on carpet,default,16,0.125,0.5625,0.6875
+32,655360,2048,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0625,0.25,0.25
+32,655360,2048,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.1875,0.1875
+32,655360,2048,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0,0.0
+32,655360,2048,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0
+32,655360,2048,out_of_domain,group_D,put hamburger on frying pan,default,16,0.1875,0.375,0.5
+32,655360,2048,out_of_domain,group_D,put hamburger on cutting board,default,16,0.3125,0.5,0.6875
+32,655360,2048,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.3125,0.4375
+32,655360,2048,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.125,0.4375,0.4375

T320/s1__p0/run_config.json

@@ -0,0 +1,73 @@
+{
+  "name": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1",
+  "seed": 1,
+  "resume_episode": 0,
+  "env_id": "PickPlaceNxM-v1",
+  "env_n": 2,
+  "env_m": 2,
+  "num_envs": 64,
+  "obj_set": "rand",
+  "obj1_index": 7,
+  "obj2_index": 2,
+  "obj3_index": 10,
+  "plate1_index": 1,
+  "plate2_index": 2,
+  "plate3_index": 3,
+  "scene": "",
+  "segment_len": 80,
+  "episode_len": 320,
+  "task_len": 80,
+  "ppo_update_len": 160,
+  "max_episodes": 32,
+  "max_steps": 0,
+  "max_reset": 2048,
+  "config_path": "configs/four_group_sequential_2x2.yaml",
+  "task_order": "sequential",
+  "task_filter": "",
+  "reset_mode": "per_episode",
+  "reset_robot": true,
+  "reset_unsuitable": false,
+  "unsuitable_detector": "low_z",
+  "hsr_reset_scope": "per_env",
+  "record_segment_pose": true,
+  "record_end_of_segment_xyz": false,
+  "enable_backward": false,
+  "backward_interval": 1,
+  "num_groups": 0,
+  "alg_ppo_epoch": 1,
+  "alg_gradient_accum": 20,
+  "alg_entropy_coef": 0.0,
+  "buffer_gamma": 0.99,
+  "buffer_lambda": 0.95,
+  "buffer_minibatch": 8,
+  "buffer_inferbatch": 32,
+  "policy": "spatialvla",
+  "vla_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "vla_load_path": "",
+  "vla_unnorm_key": "bridge_orig/1.0.0",
+  "vla_lora_rank": 32,
+  "vla_lr": 0.0001,
+  "vla_vhlr": 0.003,
+  "vla_grad_norm": 10.0,
+  "vla_optim_beta1": 0.9,
+  "vla_optim_beta2": 0.999,
+  "vla_temperature": 1.0,
+  "vla_temperature_eval": 0.0,
+  "eval_interval": 4,
+  "num_eval_episode": 4,
+  "eval_at_start": false,
+  "eval_single": false,
+  "eval_sequential": false,
+  "eval_sequences": 5,
+  "vla_checkpoint_interval": 8,
+  "resume_from": "",
+  "wandb": true,
+  "wandb_dir": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1",
+  "record_video": true,
+  "ppo_log": "ppo_log.txt",
+  "eval_report": "eval_report.txt",
+  "log_file": "run.log",
+  "start_time": "2026-08-18T02:11:50.374412Z",
+  "cronos_version": "V0.3",
+  "git_rev": "e45cdb86f5cb717413258a1713bab07820fc9ea0"
+}

T320/s1__p1/counters.json

@@ -0,0 +1,6 @@
+{
+  "episode": 64,
+  "total_steps": 1310720,
+  "total_resets": 4096,
+  "timestamp": "2026-09-18T21:34:58.149404Z"
+}

T320/s1__p1/eval_success.csv

@@ -0,0 +1,257 @@
+episode,total_steps,total_resets,eval_kind,group,task,scene,n_envs,success,grasp,obj_grasped
+36,737280,2304,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.8125,0.8125
+36,737280,2304,in_domain,group_A,put ketchup bottle on cloth,default,16,0.25,0.75,0.8125
+36,737280,2304,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.3125,0.4375
+36,737280,2304,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.125,0.125
+36,737280,2304,in_domain,group_B,put bread on newspaper,default,16,0.3125,0.8125,0.8125
+36,737280,2304,in_domain,group_B,put bread on carpet,default,16,0.1875,0.875,0.875
+36,737280,2304,in_domain,group_B,put 7up can on newspaper,default,16,0.25,0.6875,0.75
+36,737280,2304,in_domain,group_B,put 7up can on carpet,default,16,0.3125,0.875,0.9375
+36,737280,2304,in_domain,group_C,put carrot on sheet metal,default,16,0.0,0.1875,0.3125
+36,737280,2304,in_domain,group_C,put carrot on flat bowl,default,16,0.3125,0.3125,0.3125
+36,737280,2304,in_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.0625
+36,737280,2304,in_domain,group_C,put banana on flat bowl,default,16,0.125,0.1875,0.3125
+36,737280,2304,in_domain,group_D,put hamburger on frying pan,default,16,0.3125,0.9375,0.9375
+36,737280,2304,in_domain,group_D,put hamburger on cutting board,default,16,0.375,1.0,1.0
+36,737280,2304,in_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.4375,0.5
+36,737280,2304,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.75,0.75
+36,737280,2304,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,1.0,1.0
+36,737280,2304,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.0625,0.75,0.8125
+36,737280,2304,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.3125,0.4375
+36,737280,2304,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0625,0.4375,0.5
+36,737280,2304,out_of_domain,group_B,put bread on newspaper,default,16,0.125,0.375,0.375
+36,737280,2304,out_of_domain,group_B,put bread on carpet,default,16,0.3125,0.5,0.5
+36,737280,2304,out_of_domain,group_B,put 7up can on newspaper,default,16,0.0625,0.4375,0.4375
+36,737280,2304,out_of_domain,group_B,put 7up can on carpet,default,16,0.125,0.3125,0.3125
+36,737280,2304,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.0625,0.1875
+36,737280,2304,out_of_domain,group_C,put carrot on flat bowl,default,16,0.125,0.3125,0.3125
+36,737280,2304,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.1875
+36,737280,2304,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0625,0.0625
+36,737280,2304,out_of_domain,group_D,put hamburger on frying pan,default,16,0.3125,0.5625,0.5625
+36,737280,2304,out_of_domain,group_D,put hamburger on cutting board,default,16,0.375,0.75,0.75
+36,737280,2304,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.375,0.375
+36,737280,2304,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.5625,0.625
+40,819200,2560,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.875,0.875
+40,819200,2560,in_domain,group_A,put ketchup bottle on cloth,default,16,0.1875,0.75,0.75
+40,819200,2560,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.375,0.375
+40,819200,2560,in_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.1875,0.1875
+40,819200,2560,in_domain,group_B,put bread on newspaper,default,16,0.375,0.625,0.625
+40,819200,2560,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+40,819200,2560,in_domain,group_B,put 7up can on newspaper,default,16,0.4375,0.625,0.6875
+40,819200,2560,in_domain,group_B,put 7up can on carpet,default,16,0.625,0.8125,0.8125
+40,819200,2560,in_domain,group_C,put carrot on sheet metal,default,16,0.125,0.375,0.375
+40,819200,2560,in_domain,group_C,put carrot on flat bowl,default,16,0.1875,0.375,0.4375
+40,819200,2560,in_domain,group_C,put banana on sheet metal,default,16,0.0625,0.125,0.125
+40,819200,2560,in_domain,group_C,put banana on flat bowl,default,16,0.0,0.0625,0.0625
+40,819200,2560,in_domain,group_D,put hamburger on frying pan,default,16,0.625,0.875,0.875
+40,819200,2560,in_domain,group_D,put hamburger on cutting board,default,16,0.5625,0.8125,0.8125
+40,819200,2560,in_domain,group_D,put plastic bottle on frying pan,default,16,0.25,0.5625,0.5625
+40,819200,2560,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.625,0.625
+40,819200,2560,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.375,0.5625,0.625
+40,819200,2560,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.75,0.9375
+40,819200,2560,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.0625,0.0625
+40,819200,2560,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.0,0.3125,0.3125
+40,819200,2560,out_of_domain,group_B,put bread on newspaper,default,16,0.3125,0.625,0.625
+40,819200,2560,out_of_domain,group_B,put bread on carpet,default,16,0.4375,0.625,0.625
+40,819200,2560,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.6875,0.8125
+40,819200,2560,out_of_domain,group_B,put 7up can on carpet,default,16,0.3125,0.375,0.375
+40,819200,2560,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.3125,0.375
+40,819200,2560,out_of_domain,group_C,put carrot on flat bowl,default,16,0.0625,0.125,0.3125
+40,819200,2560,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.0625,0.1875
+40,819200,2560,out_of_domain,group_C,put banana on flat bowl,default,16,0.0625,0.125,0.1875
+40,819200,2560,out_of_domain,group_D,put hamburger on frying pan,default,16,0.375,0.6875,0.6875
+40,819200,2560,out_of_domain,group_D,put hamburger on cutting board,default,16,0.5,0.5,0.5
+40,819200,2560,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.25,0.6875,0.6875
+40,819200,2560,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.4375,0.5
+44,901120,2816,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.875,0.875
+44,901120,2816,in_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.875,0.875
+44,901120,2816,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.125,0.125
+44,901120,2816,in_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.3125,0.4375
+44,901120,2816,in_domain,group_B,put bread on newspaper,default,16,0.3125,0.9375,0.9375
+44,901120,2816,in_domain,group_B,put bread on carpet,default,16,0.4375,0.9375,0.9375
+44,901120,2816,in_domain,group_B,put 7up can on newspaper,default,16,0.25,0.875,0.875
+44,901120,2816,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.6875,0.6875
+44,901120,2816,in_domain,group_C,put carrot on sheet metal,default,16,0.125,0.375,0.4375
+44,901120,2816,in_domain,group_C,put carrot on flat bowl,default,16,0.375,0.625,0.625
+44,901120,2816,in_domain,group_C,put banana on sheet metal,default,16,0.25,0.3125,0.375
+44,901120,2816,in_domain,group_C,put banana on flat bowl,default,16,0.25,0.375,0.4375
+44,901120,2816,in_domain,group_D,put hamburger on frying pan,default,16,0.75,1.0,1.0
+44,901120,2816,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+44,901120,2816,in_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.5,0.5625
+44,901120,2816,in_domain,group_D,put plastic bottle on cutting board,default,16,0.25,0.5625,0.625
+44,901120,2816,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.75
+44,901120,2816,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.3125,0.875,0.875
+44,901120,2816,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.25,0.3125
+44,901120,2816,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.375,0.375
+44,901120,2816,out_of_domain,group_B,put bread on newspaper,default,16,0.1875,0.5,0.5
+44,901120,2816,out_of_domain,group_B,put bread on carpet,default,16,0.5,0.6875,0.6875
+44,901120,2816,out_of_domain,group_B,put 7up can on newspaper,default,16,0.125,0.625,0.6875
+44,901120,2816,out_of_domain,group_B,put 7up can on carpet,default,16,0.3125,0.6875,0.6875
+44,901120,2816,out_of_domain,group_C,put carrot on sheet metal,default,16,0.0,0.3125,0.4375
+44,901120,2816,out_of_domain,group_C,put carrot on flat bowl,default,16,0.25,0.3125,0.5
+44,901120,2816,out_of_domain,group_C,put banana on sheet metal,default,16,0.0,0.125,0.125
+44,901120,2816,out_of_domain,group_C,put banana on flat bowl,default,16,0.0,0.0,0.0625
+44,901120,2816,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5625,0.8125,0.8125
+44,901120,2816,out_of_domain,group_D,put hamburger on cutting board,default,16,0.75,0.9375,0.9375
+44,901120,2816,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.8125,0.8125
+44,901120,2816,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.5,0.5
+48,983040,3072,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.75,0.8125
+48,983040,3072,in_domain,group_A,put ketchup bottle on cloth,default,16,0.375,0.6875,0.75
+48,983040,3072,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0,0.1875,0.1875
+48,983040,3072,in_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.3125,0.375
+48,983040,3072,in_domain,group_B,put bread on newspaper,default,16,0.625,1.0,1.0
+48,983040,3072,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+48,983040,3072,in_domain,group_B,put 7up can on newspaper,default,16,0.375,0.6875,0.6875
+48,983040,3072,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.8125,0.8125
+48,983040,3072,in_domain,group_C,put carrot on sheet metal,default,16,0.125,0.25,0.375
+48,983040,3072,in_domain,group_C,put carrot on flat bowl,default,16,0.1875,0.25,0.375
+48,983040,3072,in_domain,group_C,put banana on sheet metal,default,16,0.1875,0.25,0.25
+48,983040,3072,in_domain,group_C,put banana on flat bowl,default,16,0.3125,0.3125,0.3125
+48,983040,3072,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+48,983040,3072,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+48,983040,3072,in_domain,group_D,put plastic bottle on frying pan,default,16,0.25,0.5,0.5
+48,983040,3072,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.75,0.75
+48,983040,3072,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.8125,0.8125
+48,983040,3072,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.375,0.625,0.75
+48,983040,3072,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.0625,0.25,0.25
+48,983040,3072,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.3125,0.4375
+48,983040,3072,out_of_domain,group_B,put bread on newspaper,default,16,0.8125,0.9375,0.9375
+48,983040,3072,out_of_domain,group_B,put bread on carpet,default,16,0.6875,0.75,0.75
+48,983040,3072,out_of_domain,group_B,put 7up can on newspaper,default,16,0.125,0.4375,0.4375
+48,983040,3072,out_of_domain,group_B,put 7up can on carpet,default,16,0.5,0.625,0.6875
+48,983040,3072,out_of_domain,group_C,put carrot on sheet metal,default,16,0.125,0.1875,0.3125
+48,983040,3072,out_of_domain,group_C,put carrot on flat bowl,default,16,0.375,0.4375,0.4375
+48,983040,3072,out_of_domain,group_C,put banana on sheet metal,default,16,0.125,0.1875,0.25
+48,983040,3072,out_of_domain,group_C,put banana on flat bowl,default,16,0.125,0.125,0.25
+48,983040,3072,out_of_domain,group_D,put hamburger on frying pan,default,16,0.6875,0.9375,0.9375
+48,983040,3072,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+48,983040,3072,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.4375,0.5
+48,983040,3072,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.6875,0.75
+52,1064960,3328,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.875,0.875
+52,1064960,3328,in_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.75,0.8125
+52,1064960,3328,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.3125,0.5625,0.6875
+52,1064960,3328,in_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.4375,0.5
+52,1064960,3328,in_domain,group_B,put bread on newspaper,default,16,0.75,1.0,1.0
+52,1064960,3328,in_domain,group_B,put bread on carpet,default,16,0.6875,1.0,1.0
+52,1064960,3328,in_domain,group_B,put 7up can on newspaper,default,16,0.375,0.9375,0.9375
+52,1064960,3328,in_domain,group_B,put 7up can on carpet,default,16,0.25,0.9375,0.9375
+52,1064960,3328,in_domain,group_C,put carrot on sheet metal,default,16,0.125,0.25,0.25
+52,1064960,3328,in_domain,group_C,put carrot on flat bowl,default,16,0.375,0.5,0.5
+52,1064960,3328,in_domain,group_C,put banana on sheet metal,default,16,0.25,0.25,0.375
+52,1064960,3328,in_domain,group_C,put banana on flat bowl,default,16,0.3125,0.3125,0.3125
+52,1064960,3328,in_domain,group_D,put hamburger on frying pan,default,16,0.625,1.0,1.0
+52,1064960,3328,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+52,1064960,3328,in_domain,group_D,put plastic bottle on frying pan,default,16,0.3125,0.5,0.5625
+52,1064960,3328,in_domain,group_D,put plastic bottle on cutting board,default,16,0.3125,0.5,0.5
+52,1064960,3328,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.8125,0.875
+52,1064960,3328,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.875,0.875
+52,1064960,3328,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.5,0.625
+52,1064960,3328,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.4375,0.5625
+52,1064960,3328,out_of_domain,group_B,put bread on newspaper,default,16,0.5,0.875,0.9375
+52,1064960,3328,out_of_domain,group_B,put bread on carpet,default,16,0.5,0.875,0.9375
+52,1064960,3328,out_of_domain,group_B,put 7up can on newspaper,default,16,0.1875,0.625,0.625
+52,1064960,3328,out_of_domain,group_B,put 7up can on carpet,default,16,0.1875,0.75,0.75
+52,1064960,3328,out_of_domain,group_C,put carrot on sheet metal,default,16,0.125,0.4375,0.5
+52,1064960,3328,out_of_domain,group_C,put carrot on flat bowl,default,16,0.125,0.25,0.3125
+52,1064960,3328,out_of_domain,group_C,put banana on sheet metal,default,16,0.0625,0.1875,0.25
+52,1064960,3328,out_of_domain,group_C,put banana on flat bowl,default,16,0.1875,0.25,0.3125
+52,1064960,3328,out_of_domain,group_D,put hamburger on frying pan,default,16,0.8125,1.0,1.0
+52,1064960,3328,out_of_domain,group_D,put hamburger on cutting board,default,16,0.8125,0.9375,1.0
+52,1064960,3328,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.125,0.5,0.6875
+52,1064960,3328,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.5,0.5
+56,1146880,3584,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,0.9375,0.9375
+56,1146880,3584,in_domain,group_A,put ketchup bottle on cloth,default,16,0.375,0.9375,0.9375
+56,1146880,3584,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5,0.5625,0.625
+56,1146880,3584,in_domain,group_A,put kitchen shovel on cloth,default,16,0.3125,0.5625,0.5625
+56,1146880,3584,in_domain,group_B,put bread on newspaper,default,16,0.8125,1.0,1.0
+56,1146880,3584,in_domain,group_B,put bread on carpet,default,16,0.625,1.0,1.0
+56,1146880,3584,in_domain,group_B,put 7up can on newspaper,default,16,0.25,0.9375,1.0
+56,1146880,3584,in_domain,group_B,put 7up can on carpet,default,16,0.5,1.0,1.0
+56,1146880,3584,in_domain,group_C,put carrot on sheet metal,default,16,0.3125,0.5,0.625
+56,1146880,3584,in_domain,group_C,put carrot on flat bowl,default,16,0.1875,0.375,0.5
+56,1146880,3584,in_domain,group_C,put banana on sheet metal,default,16,0.25,0.25,0.375
+56,1146880,3584,in_domain,group_C,put banana on flat bowl,default,16,0.3125,0.375,0.375
+56,1146880,3584,in_domain,group_D,put hamburger on frying pan,default,16,0.375,1.0,1.0
+56,1146880,3584,in_domain,group_D,put hamburger on cutting board,default,16,0.3125,0.9375,0.9375
+56,1146880,3584,in_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.875,0.9375
+56,1146880,3584,in_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.625,0.625
+56,1146880,3584,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.9375,1.0
+56,1146880,3584,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.125,0.875,1.0
+56,1146880,3584,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.375,0.5
+56,1146880,3584,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.5625,0.625
+56,1146880,3584,out_of_domain,group_B,put bread on newspaper,default,16,0.375,0.9375,1.0
+56,1146880,3584,out_of_domain,group_B,put bread on carpet,default,16,0.375,0.9375,1.0
+56,1146880,3584,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.9375,0.9375
+56,1146880,3584,out_of_domain,group_B,put 7up can on carpet,default,16,0.5,0.8125,0.875
+56,1146880,3584,out_of_domain,group_C,put carrot on sheet metal,default,16,0.25,0.5625,0.625
+56,1146880,3584,out_of_domain,group_C,put carrot on flat bowl,default,16,0.1875,0.375,0.375
+56,1146880,3584,out_of_domain,group_C,put banana on sheet metal,default,16,0.0625,0.125,0.1875
+56,1146880,3584,out_of_domain,group_C,put banana on flat bowl,default,16,0.125,0.1875,0.3125
+56,1146880,3584,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5625,1.0,1.0
+56,1146880,3584,out_of_domain,group_D,put hamburger on cutting board,default,16,0.5625,1.0,1.0
+56,1146880,3584,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.3125,0.9375,0.9375
+56,1146880,3584,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.0625,0.625,0.625
+60,1228800,3840,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.8125,0.8125
+60,1228800,3840,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.8125,0.8125
+60,1228800,3840,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.3125,0.3125
+60,1228800,3840,in_domain,group_A,put kitchen shovel on cloth,default,16,0.4375,0.5625,0.625
+60,1228800,3840,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+60,1228800,3840,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+60,1228800,3840,in_domain,group_B,put 7up can on newspaper,default,16,0.375,0.75,0.8125
+60,1228800,3840,in_domain,group_B,put 7up can on carpet,default,16,0.4375,0.9375,0.9375
+60,1228800,3840,in_domain,group_C,put carrot on sheet metal,default,16,0.25,0.625,0.75
+60,1228800,3840,in_domain,group_C,put carrot on flat bowl,default,16,0.4375,0.625,0.625
+60,1228800,3840,in_domain,group_C,put banana on sheet metal,default,16,0.3125,0.4375,0.4375
+60,1228800,3840,in_domain,group_C,put banana on flat bowl,default,16,0.3125,0.3125,0.4375
+60,1228800,3840,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+60,1228800,3840,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+60,1228800,3840,in_domain,group_D,put plastic bottle on frying pan,default,16,0.3125,0.6875,0.75
+60,1228800,3840,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.6875,0.8125
+60,1228800,3840,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.875,0.875
+60,1228800,3840,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.9375,0.9375
+60,1228800,3840,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.4375,0.4375
+60,1228800,3840,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.625,0.625
+60,1228800,3840,out_of_domain,group_B,put bread on newspaper,default,16,0.875,1.0,1.0
+60,1228800,3840,out_of_domain,group_B,put bread on carpet,default,16,0.875,1.0,1.0
+60,1228800,3840,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.8125,0.8125
+60,1228800,3840,out_of_domain,group_B,put 7up can on carpet,default,16,0.5,0.8125,0.875
+60,1228800,3840,out_of_domain,group_C,put carrot on sheet metal,default,16,0.375,0.625,0.6875
+60,1228800,3840,out_of_domain,group_C,put carrot on flat bowl,default,16,0.4375,0.5625,0.75
+60,1228800,3840,out_of_domain,group_C,put banana on sheet metal,default,16,0.375,0.625,0.625
+60,1228800,3840,out_of_domain,group_C,put banana on flat bowl,default,16,0.125,0.25,0.3125
+60,1228800,3840,out_of_domain,group_D,put hamburger on frying pan,default,16,0.6875,1.0,1.0
+60,1228800,3840,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+60,1228800,3840,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.1875,0.6875,0.6875
+60,1228800,3840,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.5625,0.625
+64,1310720,4096,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,0.625,0.75
+64,1310720,4096,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.875,0.9375
+64,1310720,4096,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.8125,0.8125
+64,1310720,4096,in_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.5625,0.6875
+64,1310720,4096,in_domain,group_B,put bread on newspaper,default,16,0.875,0.9375,1.0
+64,1310720,4096,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+64,1310720,4096,in_domain,group_B,put 7up can on newspaper,default,16,0.4375,0.875,0.875
+64,1310720,4096,in_domain,group_B,put 7up can on carpet,default,16,0.4375,0.8125,0.8125
+64,1310720,4096,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.6875,0.8125
+64,1310720,4096,in_domain,group_C,put carrot on flat bowl,default,16,0.4375,0.5,0.625
+64,1310720,4096,in_domain,group_C,put banana on sheet metal,default,16,0.625,0.6875,0.6875
+64,1310720,4096,in_domain,group_C,put banana on flat bowl,default,16,0.4375,0.5625,0.5625
+64,1310720,4096,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+64,1310720,4096,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+64,1310720,4096,in_domain,group_D,put plastic bottle on frying pan,default,16,0.375,0.75,0.75
+64,1310720,4096,in_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.5625,0.5625
+64,1310720,4096,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.8125,0.8125
+64,1310720,4096,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.8125,0.8125
+64,1310720,4096,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.125,0.5,0.5
+64,1310720,4096,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.6875,0.8125
+64,1310720,4096,out_of_domain,group_B,put bread on newspaper,default,16,0.8125,0.8125,1.0
+64,1310720,4096,out_of_domain,group_B,put bread on carpet,default,16,0.8125,0.8125,0.875
+64,1310720,4096,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.6875,0.6875
+64,1310720,4096,out_of_domain,group_B,put 7up can on carpet,default,16,0.5,0.6875,0.8125
+64,1310720,4096,out_of_domain,group_C,put carrot on sheet metal,default,16,0.4375,0.6875,0.875
+64,1310720,4096,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.8125,0.8125
+64,1310720,4096,out_of_domain,group_C,put banana on sheet metal,default,16,0.5,0.75,0.75
+64,1310720,4096,out_of_domain,group_C,put banana on flat bowl,default,16,0.5,0.8125,0.8125
+64,1310720,4096,out_of_domain,group_D,put hamburger on frying pan,default,16,0.75,0.9375,0.9375
+64,1310720,4096,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,0.875,1.0
+64,1310720,4096,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.25,0.75,0.8125
+64,1310720,4096,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.875,0.875

T320/s1__p1/run_config.json

@@ -0,0 +1,80 @@
+{
+  "name": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1",
+  "seed": 1,
+  "resume_episode": 0,
+  "env_id": "PickPlaceNxM-v1",
+  "env_n": 2,
+  "env_m": 2,
+  "num_envs": 64,
+  "obj_set": "rand",
+  "obj1_index": 7,
+  "obj2_index": 2,
+  "obj3_index": 10,
+  "plate1_index": 1,
+  "plate2_index": 2,
+  "plate3_index": 3,
+  "scene": "",
+  "segment_len": 80,
+  "episode_len": 320,
+  "task_len": 80,
+  "ppo_update_len": 160,
+  "max_episodes": 32,
+  "max_steps": 0,
+  "max_reset": 2048,
+  "config_path": "configs/four_group_sequential_2x2.yaml",
+  "task_order": "sequential",
+  "task_filter": "",
+  "reset_mode": "per_episode",
+  "reset_robot": true,
+  "reset_unsuitable": false,
+  "unsuitable_detector": "low_z",
+  "hsr_reset_scope": "per_env",
+  "record_segment_pose": true,
+  "segment_pose_phase": "both",
+  "record_end_of_segment_xyz": false,
+  "enable_backward": false,
+  "backward_interval": 1,
+  "backward_goal": "table",
+  "backward_recep_prob": 0.5,
+  "num_groups": 0,
+  "alg_name": "ppo",
+  "alg_grpo_fix": true,
+  "grpo_group_scope": "batch",
+  "grpo_std_scope": "group",
+  "alg_ppo_epoch": 1,
+  "alg_gradient_accum": 20,
+  "alg_entropy_coef": 0.0,
+  "buffer_gamma": 0.99,
+  "buffer_lambda": 0.95,
+  "buffer_minibatch": 8,
+  "buffer_inferbatch": 32,
+  "policy": "spatialvla",
+  "vla_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "vla_load_path": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1/wandb/run-20260818_021149-432cijo1/glob/episode_0032",
+  "vla_unnorm_key": "bridge_orig/1.0.0",
+  "vla_lora_rank": 32,
+  "vla_lr": 0.0001,
+  "vla_vhlr": 0.003,
+  "vla_grad_norm": 10.0,
+  "vla_optim_beta1": 0.9,
+  "vla_optim_beta2": 0.999,
+  "vla_temperature": 1.0,
+  "vla_temperature_eval": 0.0,
+  "eval_interval": 4,
+  "num_eval_episode": 4,
+  "eval_at_start": false,
+  "eval_single": false,
+  "eval_sequential": false,
+  "eval_sequences": 5,
+  "vla_checkpoint_interval": 8,
+  "resume_from": "",
+  "wandb": true,
+  "wandb_dir": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1",
+  "record_video": true,
+  "ppo_log": "ppo_log.txt",
+  "eval_report": "eval_report.txt",
+  "log_file": "run.log",
+  "start_time": "2026-09-17T18:45:14.211431Z",
+  "cronos_version": "V0.93",
+  "git_rev": "4b8c508677330e79d7edc6c58b01f3cb948b110c"
+}

T320/s1__p1/segment_pose.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de0026662647674155d15ea2ac43fba040009913b0f88118df09e0d02f8cbaa6
+size 11402269

T320/s1__p2/counters.json

@@ -0,0 +1,6 @@
+{
+  "episode": 144,
+  "total_steps": 2949120,
+  "total_resets": 9216,
+  "timestamp": "2026-09-21T19:13:29.158610Z"
+}

T320/s1__p2/eval_success.csv

@@ -0,0 +1,641 @@
+episode,total_steps,total_resets,eval_kind,group,task,scene,n_envs,success,grasp,obj_grasped
+68,1392640,4352,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.8125,0.8125
+68,1392640,4352,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.9375,0.9375
+68,1392640,4352,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.6875,0.75
+68,1392640,4352,in_domain,group_A,put kitchen shovel on cloth,default,16,0.4375,0.8125,0.875
+68,1392640,4352,in_domain,group_B,put bread on newspaper,default,16,0.9375,0.9375,1.0
+68,1392640,4352,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+68,1392640,4352,in_domain,group_B,put 7up can on newspaper,default,16,0.625,1.0,1.0
+68,1392640,4352,in_domain,group_B,put 7up can on carpet,default,16,0.75,1.0,1.0
+68,1392640,4352,in_domain,group_C,put carrot on sheet metal,default,16,0.5,0.5625,0.625
+68,1392640,4352,in_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.6875,0.75
+68,1392640,4352,in_domain,group_C,put banana on sheet metal,default,16,0.5625,0.625,0.75
+68,1392640,4352,in_domain,group_C,put banana on flat bowl,default,16,0.875,0.9375,0.9375
+68,1392640,4352,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+68,1392640,4352,in_domain,group_D,put hamburger on cutting board,default,16,0.625,1.0,1.0
+68,1392640,4352,in_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.875,0.875
+68,1392640,4352,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.8125,0.8125
+68,1392640,4352,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.8125,0.9375
+68,1392640,4352,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.6875,0.75
+68,1392640,4352,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.875,1.0
+68,1392640,4352,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.875,0.875
+68,1392640,4352,out_of_domain,group_B,put bread on newspaper,default,16,0.875,0.875,0.875
+68,1392640,4352,out_of_domain,group_B,put bread on carpet,default,16,0.75,0.75,0.75
+68,1392640,4352,out_of_domain,group_B,put 7up can on newspaper,default,16,0.375,0.75,0.875
+68,1392640,4352,out_of_domain,group_B,put 7up can on carpet,default,16,0.625,0.875,0.9375
+68,1392640,4352,out_of_domain,group_C,put carrot on sheet metal,default,16,0.375,0.5625,0.5625
+68,1392640,4352,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5,0.5625,0.5625
+68,1392640,4352,out_of_domain,group_C,put banana on sheet metal,default,16,0.5625,0.5625,0.625
+68,1392640,4352,out_of_domain,group_C,put banana on flat bowl,default,16,0.375,0.5,0.625
+68,1392640,4352,out_of_domain,group_D,put hamburger on frying pan,default,16,0.75,0.875,1.0
+68,1392640,4352,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+68,1392640,4352,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.6875,0.8125
+68,1392640,4352,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.75,0.75
+72,1474560,4608,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+72,1474560,4608,in_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.8125,0.875
+72,1474560,4608,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.875,0.9375
+72,1474560,4608,in_domain,group_A,put kitchen shovel on cloth,default,16,0.1875,0.5625,0.75
+72,1474560,4608,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+72,1474560,4608,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+72,1474560,4608,in_domain,group_B,put 7up can on newspaper,default,16,0.625,1.0,1.0
+72,1474560,4608,in_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+72,1474560,4608,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.5625,0.5625
+72,1474560,4608,in_domain,group_C,put carrot on flat bowl,default,16,0.875,0.875,0.875
+72,1474560,4608,in_domain,group_C,put banana on sheet metal,default,16,0.4375,0.6875,0.875
+72,1474560,4608,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.75,0.8125
+72,1474560,4608,in_domain,group_D,put hamburger on frying pan,default,16,0.75,1.0,1.0
+72,1474560,4608,in_domain,group_D,put hamburger on cutting board,default,16,0.75,1.0,1.0
+72,1474560,4608,in_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.8125,0.8125
+72,1474560,4608,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.9375,0.9375
+72,1474560,4608,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5,0.6875,0.75
+72,1474560,4608,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.5625,0.6875
+72,1474560,4608,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.25,0.6875,0.75
+72,1474560,4608,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.125,0.75,0.8125
+72,1474560,4608,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,0.9375,1.0
+72,1474560,4608,out_of_domain,group_B,put bread on carpet,default,16,0.875,0.9375,1.0
+72,1474560,4608,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.75,0.75
+72,1474560,4608,out_of_domain,group_B,put 7up can on carpet,default,16,0.625,0.75,0.875
+72,1474560,4608,out_of_domain,group_C,put carrot on sheet metal,default,16,0.75,0.875,0.875
+72,1474560,4608,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.8125,0.9375
+72,1474560,4608,out_of_domain,group_C,put banana on sheet metal,default,16,0.6875,0.75,0.75
+72,1474560,4608,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.75,0.8125
+72,1474560,4608,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+72,1474560,4608,out_of_domain,group_D,put hamburger on cutting board,default,16,0.75,1.0,1.0
+72,1474560,4608,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.8125,0.8125
+72,1474560,4608,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.4375,0.6875,0.6875
+76,1556480,4864,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.875,0.9375
+76,1556480,4864,in_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.8125,0.8125
+76,1556480,4864,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5,0.75,0.8125
+76,1556480,4864,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.8125,0.875
+76,1556480,4864,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+76,1556480,4864,in_domain,group_B,put bread on carpet,default,16,0.875,1.0,1.0
+76,1556480,4864,in_domain,group_B,put 7up can on newspaper,default,16,0.75,0.9375,1.0
+76,1556480,4864,in_domain,group_B,put 7up can on carpet,default,16,0.8125,0.9375,0.9375
+76,1556480,4864,in_domain,group_C,put carrot on sheet metal,default,16,0.625,0.6875,0.8125
+76,1556480,4864,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.625,0.6875
+76,1556480,4864,in_domain,group_C,put banana on sheet metal,default,16,0.625,0.625,0.625
+76,1556480,4864,in_domain,group_C,put banana on flat bowl,default,16,0.625,0.625,0.6875
+76,1556480,4864,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+76,1556480,4864,in_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+76,1556480,4864,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.75,0.75
+76,1556480,4864,in_domain,group_D,put plastic bottle on cutting board,default,16,0.375,0.6875,0.75
+76,1556480,4864,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.6875
+76,1556480,4864,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.8125,0.875
+76,1556480,4864,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.1875,0.6875,0.6875
+76,1556480,4864,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.25,0.75,0.875
+76,1556480,4864,out_of_domain,group_B,put bread on newspaper,default,16,0.75,0.8125,1.0
+76,1556480,4864,out_of_domain,group_B,put bread on carpet,default,16,0.8125,0.8125,0.8125
+76,1556480,4864,out_of_domain,group_B,put 7up can on newspaper,default,16,0.375,0.6875,0.8125
+76,1556480,4864,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.75,0.875
+76,1556480,4864,out_of_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.8125
+76,1556480,4864,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.8125,0.9375
+76,1556480,4864,out_of_domain,group_C,put banana on sheet metal,default,16,0.5625,0.5625,0.6875
+76,1556480,4864,out_of_domain,group_C,put banana on flat bowl,default,16,0.5625,0.625,0.75
+76,1556480,4864,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,0.9375,0.9375
+76,1556480,4864,out_of_domain,group_D,put hamburger on cutting board,default,16,0.75,1.0,1.0
+76,1556480,4864,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.75,0.75
+76,1556480,4864,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5,0.6875,0.6875
+80,1638400,5120,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.8125,0.9375
+80,1638400,5120,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.875,0.9375
+80,1638400,5120,in_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.9375,0.9375
+80,1638400,5120,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+80,1638400,5120,in_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+80,1638400,5120,in_domain,group_B,put 7up can on carpet,default,16,0.8125,0.9375,1.0
+80,1638400,5120,in_domain,group_C,put carrot on sheet metal,default,16,0.4375,0.5625,0.8125
+80,1638400,5120,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.625,0.6875
+80,1638400,5120,in_domain,group_C,put banana on sheet metal,default,16,0.6875,0.75,0.75
+80,1638400,5120,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.75,0.9375
+80,1638400,5120,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+80,1638400,5120,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5625,0.75,0.75
+80,1638400,5120,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,0.8125,0.875
+80,1638400,5120,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.9375,0.9375
+80,1638400,5120,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.6875,0.75
+80,1638400,5120,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.375,0.8125,0.875
+80,1638400,5120,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.875,0.875
+80,1638400,5120,out_of_domain,group_B,put bread on newspaper,default,16,0.8125,0.9375,1.0
+80,1638400,5120,out_of_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+80,1638400,5120,out_of_domain,group_B,put 7up can on newspaper,default,16,0.75,0.8125,0.875
+80,1638400,5120,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.9375,1.0
+80,1638400,5120,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5,0.625,0.875
+80,1638400,5120,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.625,0.75
+80,1638400,5120,out_of_domain,group_C,put banana on sheet metal,default,16,0.75,0.8125,0.8125
+80,1638400,5120,out_of_domain,group_C,put banana on flat bowl,default,16,0.5625,0.6875,0.6875
+80,1638400,5120,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+80,1638400,5120,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+80,1638400,5120,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.625,0.6875
+80,1638400,5120,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.8125,0.875
+84,1720320,5376,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.75,0.8125
+84,1720320,5376,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.875,0.875
+84,1720320,5376,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.875,0.9375
+84,1720320,5376,in_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.9375,0.9375
+84,1720320,5376,in_domain,group_B,put bread on newspaper,default,16,0.9375,1.0,1.0
+84,1720320,5376,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+84,1720320,5376,in_domain,group_B,put 7up can on newspaper,default,16,0.875,1.0,1.0
+84,1720320,5376,in_domain,group_B,put 7up can on carpet,default,16,0.875,0.875,0.9375
+84,1720320,5376,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.8125
+84,1720320,5376,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.75,0.9375
+84,1720320,5376,in_domain,group_C,put banana on sheet metal,default,16,0.875,0.875,1.0
+84,1720320,5376,in_domain,group_C,put banana on flat bowl,default,16,0.75,0.8125,0.9375
+84,1720320,5376,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+84,1720320,5376,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+84,1720320,5376,in_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.8125,0.8125
+84,1720320,5376,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.6875
+84,1720320,5376,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.75,0.75
+84,1720320,5376,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.8125,0.8125
+84,1720320,5376,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.875,0.875
+84,1720320,5376,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5625,0.875,1.0
+84,1720320,5376,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+84,1720320,5376,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+84,1720320,5376,out_of_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+84,1720320,5376,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.9375,1.0
+84,1720320,5376,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5,0.6875,0.75
+84,1720320,5376,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.8125,0.875
+84,1720320,5376,out_of_domain,group_C,put banana on sheet metal,default,16,0.9375,0.9375,0.9375
+84,1720320,5376,out_of_domain,group_C,put banana on flat bowl,default,16,0.875,1.0,1.0
+84,1720320,5376,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+84,1720320,5376,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+84,1720320,5376,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.8125,0.8125
+84,1720320,5376,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.625,0.625
+88,1802240,5632,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+88,1802240,5632,in_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.875,0.875
+88,1802240,5632,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.875,1.0,1.0
+88,1802240,5632,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,0.8125,1.0
+88,1802240,5632,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+88,1802240,5632,in_domain,group_B,put bread on carpet,default,16,0.9375,0.9375,0.9375
+88,1802240,5632,in_domain,group_B,put 7up can on newspaper,default,16,0.5,0.8125,0.875
+88,1802240,5632,in_domain,group_B,put 7up can on carpet,default,16,0.8125,0.9375,0.9375
+88,1802240,5632,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.875,0.875
+88,1802240,5632,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.9375,1.0
+88,1802240,5632,in_domain,group_C,put banana on sheet metal,default,16,0.8125,0.875,0.9375
+88,1802240,5632,in_domain,group_C,put banana on flat bowl,default,16,0.875,0.9375,1.0
+88,1802240,5632,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+88,1802240,5632,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+88,1802240,5632,in_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.8125,0.8125
+88,1802240,5632,in_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.9375,1.0
+88,1802240,5632,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.875,0.875
+88,1802240,5632,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.875,0.875
+88,1802240,5632,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.6875,0.8125
+88,1802240,5632,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.8125,0.875
+88,1802240,5632,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+88,1802240,5632,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+88,1802240,5632,out_of_domain,group_B,put 7up can on newspaper,default,16,0.875,0.875,1.0
+88,1802240,5632,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+88,1802240,5632,out_of_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.875
+88,1802240,5632,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.75
+88,1802240,5632,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.8125
+88,1802240,5632,out_of_domain,group_C,put banana on flat bowl,default,16,0.625,0.75,0.9375
+88,1802240,5632,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+88,1802240,5632,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+88,1802240,5632,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.875,0.9375,1.0
+88,1802240,5632,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.75
+92,1884160,5888,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.9375,1.0
+92,1884160,5888,in_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.75,0.8125
+92,1884160,5888,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.75,0.875
+92,1884160,5888,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,0.9375,0.9375
+92,1884160,5888,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+92,1884160,5888,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+92,1884160,5888,in_domain,group_B,put 7up can on newspaper,default,16,0.6875,1.0,1.0
+92,1884160,5888,in_domain,group_B,put 7up can on carpet,default,16,0.5625,1.0,1.0
+92,1884160,5888,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.875
+92,1884160,5888,in_domain,group_C,put carrot on flat bowl,default,16,0.875,0.875,0.875
+92,1884160,5888,in_domain,group_C,put banana on sheet metal,default,16,0.75,0.8125,0.9375
+92,1884160,5888,in_domain,group_C,put banana on flat bowl,default,16,0.75,0.8125,0.8125
+92,1884160,5888,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+92,1884160,5888,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+92,1884160,5888,in_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.75,0.9375
+92,1884160,5888,in_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.75,0.875
+92,1884160,5888,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,1.0
+92,1884160,5888,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,0.8125,0.875
+92,1884160,5888,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.75,0.9375
+92,1884160,5888,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.875,0.9375
+92,1884160,5888,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+92,1884160,5888,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+92,1884160,5888,out_of_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+92,1884160,5888,out_of_domain,group_B,put 7up can on carpet,default,16,0.75,1.0,1.0
+92,1884160,5888,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.6875,0.75
+92,1884160,5888,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.8125
+92,1884160,5888,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.9375
+92,1884160,5888,out_of_domain,group_C,put banana on flat bowl,default,16,0.9375,0.9375,1.0
+92,1884160,5888,out_of_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+92,1884160,5888,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+92,1884160,5888,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.8125,0.8125
+92,1884160,5888,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.8125
+96,1966080,6144,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.875,0.9375
+96,1966080,6144,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.875,0.9375
+96,1966080,6144,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.9375,0.9375
+96,1966080,6144,in_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.8125,0.9375
+96,1966080,6144,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+96,1966080,6144,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+96,1966080,6144,in_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+96,1966080,6144,in_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+96,1966080,6144,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.9375
+96,1966080,6144,in_domain,group_C,put carrot on flat bowl,default,16,0.625,0.6875,0.6875
+96,1966080,6144,in_domain,group_C,put banana on sheet metal,default,16,0.75,0.75,0.875
+96,1966080,6144,in_domain,group_C,put banana on flat bowl,default,16,0.9375,0.9375,1.0
+96,1966080,6144,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+96,1966080,6144,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+96,1966080,6144,in_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.875,0.875
+96,1966080,6144,in_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.75,0.8125
+96,1966080,6144,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.8125,0.875
+96,1966080,6144,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.8125,0.8125
+96,1966080,6144,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.875,0.875,0.9375
+96,1966080,6144,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.875,0.9375
+96,1966080,6144,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+96,1966080,6144,out_of_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+96,1966080,6144,out_of_domain,group_B,put 7up can on newspaper,default,16,0.6875,0.9375,0.9375
+96,1966080,6144,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.9375,1.0
+96,1966080,6144,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.625,0.75
+96,1966080,6144,out_of_domain,group_C,put carrot on flat bowl,default,16,0.75,0.8125,0.8125
+96,1966080,6144,out_of_domain,group_C,put banana on sheet metal,default,16,0.875,0.9375,1.0
+96,1966080,6144,out_of_domain,group_C,put banana on flat bowl,default,16,0.9375,0.9375,0.9375
+96,1966080,6144,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+96,1966080,6144,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+96,1966080,6144,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.875,0.875
+96,1966080,6144,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,1.0,1.0
+100,2048000,6400,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+100,2048000,6400,in_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.9375,0.9375
+100,2048000,6400,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,1.0,1.0,1.0
+100,2048000,6400,in_domain,group_A,put kitchen shovel on cloth,default,16,0.875,0.9375,1.0
+100,2048000,6400,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+100,2048000,6400,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_B,put 7up can on newspaper,default,16,0.75,1.0,1.0
+100,2048000,6400,in_domain,group_B,put 7up can on carpet,default,16,0.6875,1.0,1.0
+100,2048000,6400,in_domain,group_C,put carrot on sheet metal,default,16,0.875,0.875,0.875
+100,2048000,6400,in_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.625,0.625
+100,2048000,6400,in_domain,group_C,put banana on sheet metal,default,16,1.0,1.0,1.0
+100,2048000,6400,in_domain,group_C,put banana on flat bowl,default,16,0.9375,0.9375,0.9375
+100,2048000,6400,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+100,2048000,6400,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+100,2048000,6400,in_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.75,0.8125
+100,2048000,6400,in_domain,group_D,put plastic bottle on cutting board,default,16,0.875,0.9375,0.9375
+100,2048000,6400,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+100,2048000,6400,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.875,0.9375
+100,2048000,6400,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.9375,0.9375
+100,2048000,6400,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.9375,0.9375,1.0
+100,2048000,6400,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+100,2048000,6400,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+100,2048000,6400,out_of_domain,group_B,put 7up can on newspaper,default,16,0.6875,0.9375,0.9375
+100,2048000,6400,out_of_domain,group_B,put 7up can on carpet,default,16,0.6875,0.9375,1.0
+100,2048000,6400,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.875,0.875
+100,2048000,6400,out_of_domain,group_C,put carrot on flat bowl,default,16,0.75,0.875,0.875
+100,2048000,6400,out_of_domain,group_C,put banana on sheet metal,default,16,0.9375,0.9375,1.0
+100,2048000,6400,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.875,0.875
+100,2048000,6400,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+100,2048000,6400,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+100,2048000,6400,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.875,1.0,1.0
+100,2048000,6400,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.6875,0.75
+104,2129920,6656,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+104,2129920,6656,in_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.875,1.0
+104,2129920,6656,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.8125,0.8125
+104,2129920,6656,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.9375,1.0
+104,2129920,6656,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+104,2129920,6656,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+104,2129920,6656,in_domain,group_B,put 7up can on newspaper,default,16,0.5,0.75,0.875
+104,2129920,6656,in_domain,group_B,put 7up can on carpet,default,16,0.6875,0.9375,0.9375
+104,2129920,6656,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.8125,0.8125
+104,2129920,6656,in_domain,group_C,put carrot on flat bowl,default,16,0.75,0.8125,0.875
+104,2129920,6656,in_domain,group_C,put banana on sheet metal,default,16,1.0,1.0,1.0
+104,2129920,6656,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.875
+104,2129920,6656,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+104,2129920,6656,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+104,2129920,6656,in_domain,group_D,put plastic bottle on frying pan,default,16,0.9375,1.0,1.0
+104,2129920,6656,in_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.875,0.9375
+104,2129920,6656,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.9375,0.9375
+104,2129920,6656,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.875,0.9375
+104,2129920,6656,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5,0.6875,0.8125
+104,2129920,6656,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.9375,1.0
+104,2129920,6656,out_of_domain,group_B,put bread on newspaper,default,16,0.875,1.0,1.0
+104,2129920,6656,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+104,2129920,6656,out_of_domain,group_B,put 7up can on newspaper,default,16,0.6875,0.875,1.0
+104,2129920,6656,out_of_domain,group_B,put 7up can on carpet,default,16,0.375,0.5,0.6875
+104,2129920,6656,out_of_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.875,0.875
+104,2129920,6656,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.8125
+104,2129920,6656,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.8125
+104,2129920,6656,out_of_domain,group_C,put banana on flat bowl,default,16,0.8125,0.9375,1.0
+104,2129920,6656,out_of_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+104,2129920,6656,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,0.875,0.9375
+104,2129920,6656,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.9375,0.9375,0.9375
+104,2129920,6656,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.8125,0.8125
+108,2211840,6912,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,1.0
+108,2211840,6912,in_domain,group_A,put ketchup bottle on cloth,default,16,0.9375,0.9375,1.0
+108,2211840,6912,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.6875,0.8125,0.9375
+108,2211840,6912,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.75,0.875
+108,2211840,6912,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+108,2211840,6912,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+108,2211840,6912,in_domain,group_B,put 7up can on newspaper,default,16,0.875,1.0,1.0
+108,2211840,6912,in_domain,group_B,put 7up can on carpet,default,16,0.875,1.0,1.0
+108,2211840,6912,in_domain,group_C,put carrot on sheet metal,default,16,0.9375,1.0,1.0
+108,2211840,6912,in_domain,group_C,put carrot on flat bowl,default,16,0.8125,0.875,0.875
+108,2211840,6912,in_domain,group_C,put banana on sheet metal,default,16,1.0,1.0,1.0
+108,2211840,6912,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.8125,0.875
+108,2211840,6912,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+108,2211840,6912,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+108,2211840,6912,in_domain,group_D,put plastic bottle on frying pan,default,16,0.875,1.0,1.0
+108,2211840,6912,in_domain,group_D,put plastic bottle on cutting board,default,16,0.875,0.9375,0.9375
+108,2211840,6912,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+108,2211840,6912,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.875,0.9375,1.0
+108,2211840,6912,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.6875,0.9375,1.0
+108,2211840,6912,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.6875,0.75,0.875
+108,2211840,6912,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,0.9375,0.9375
+108,2211840,6912,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+108,2211840,6912,out_of_domain,group_B,put 7up can on newspaper,default,16,0.8125,1.0,1.0
+108,2211840,6912,out_of_domain,group_B,put 7up can on carpet,default,16,0.75,1.0,1.0
+108,2211840,6912,out_of_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.75
+108,2211840,6912,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.6875,0.75
+108,2211840,6912,out_of_domain,group_C,put banana on sheet metal,default,16,1.0,1.0,1.0
+108,2211840,6912,out_of_domain,group_C,put banana on flat bowl,default,16,0.875,0.9375,0.9375
+108,2211840,6912,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+108,2211840,6912,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+108,2211840,6912,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.9375,1.0,1.0
+108,2211840,6912,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.8125,0.875
+112,2293760,7168,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.8125,0.8125
+112,2293760,7168,in_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.625,0.6875
+112,2293760,7168,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.8125,0.8125
+112,2293760,7168,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.625,0.75
+112,2293760,7168,in_domain,group_B,put bread on newspaper,default,16,1.0,0.9375,1.0
+112,2293760,7168,in_domain,group_B,put bread on carpet,default,16,0.9375,0.9375,0.9375
+112,2293760,7168,in_domain,group_B,put 7up can on newspaper,default,16,0.75,0.9375,0.9375
+112,2293760,7168,in_domain,group_B,put 7up can on carpet,default,16,0.5,0.75,0.875
+112,2293760,7168,in_domain,group_C,put carrot on sheet metal,default,16,0.75,0.75,0.9375
+112,2293760,7168,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.8125
+112,2293760,7168,in_domain,group_C,put banana on sheet metal,default,16,0.6875,0.75,0.75
+112,2293760,7168,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.875
+112,2293760,7168,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+112,2293760,7168,in_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+112,2293760,7168,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.9375,0.9375
+112,2293760,7168,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,0.75,0.875
+112,2293760,7168,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.375,0.5,0.6875
+112,2293760,7168,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.625,0.625
+112,2293760,7168,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.3125,0.75,0.75
+112,2293760,7168,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.6875,0.875,0.875
+112,2293760,7168,out_of_domain,group_B,put bread on newspaper,default,16,0.875,0.875,0.9375
+112,2293760,7168,out_of_domain,group_B,put bread on carpet,default,16,0.8125,0.8125,0.8125
+112,2293760,7168,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.75,0.875
+112,2293760,7168,out_of_domain,group_B,put 7up can on carpet,default,16,0.3125,0.5,0.875
+112,2293760,7168,out_of_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.875
+112,2293760,7168,out_of_domain,group_C,put carrot on flat bowl,default,16,0.875,0.875,0.875
+112,2293760,7168,out_of_domain,group_C,put banana on sheet metal,default,16,0.625,0.6875,0.8125
+112,2293760,7168,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.8125,0.8125
+112,2293760,7168,out_of_domain,group_D,put hamburger on frying pan,default,16,0.8125,0.875,0.875
+112,2293760,7168,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+112,2293760,7168,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.75,0.75
+112,2293760,7168,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.75,0.875
+116,2375680,7424,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.875,0.9375
+116,2375680,7424,in_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.875,0.875
+116,2375680,7424,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.8125,0.9375
+116,2375680,7424,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.875,0.875
+116,2375680,7424,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+116,2375680,7424,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+116,2375680,7424,in_domain,group_B,put 7up can on newspaper,default,16,0.875,0.875,0.9375
+116,2375680,7424,in_domain,group_B,put 7up can on carpet,default,16,0.75,1.0,1.0
+116,2375680,7424,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.8125
+116,2375680,7424,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.6875,0.6875
+116,2375680,7424,in_domain,group_C,put banana on sheet metal,default,16,0.875,0.9375,0.9375
+116,2375680,7424,in_domain,group_C,put banana on flat bowl,default,16,0.75,0.75,0.75
+116,2375680,7424,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+116,2375680,7424,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+116,2375680,7424,in_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.6875,0.75
+116,2375680,7424,in_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.8125,0.8125
+116,2375680,7424,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.5625,0.625,0.75
+116,2375680,7424,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.75,0.875
+116,2375680,7424,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.6875,0.8125,0.9375
+116,2375680,7424,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.875,0.9375
+116,2375680,7424,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+116,2375680,7424,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+116,2375680,7424,out_of_domain,group_B,put 7up can on newspaper,default,16,0.75,0.8125,0.8125
+116,2375680,7424,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.8125,0.9375
+116,2375680,7424,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5,0.5,0.5625
+116,2375680,7424,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.75,0.8125
+116,2375680,7424,out_of_domain,group_C,put banana on sheet metal,default,16,0.9375,0.9375,0.9375
+116,2375680,7424,out_of_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.875
+116,2375680,7424,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+116,2375680,7424,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,0.9375,1.0
+116,2375680,7424,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.625,0.75
+116,2375680,7424,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.6875,0.8125
+120,2457600,7680,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.8125,0.9375
+120,2457600,7680,in_domain,group_A,put ketchup bottle on cloth,default,16,0.9375,0.875,0.9375
+120,2457600,7680,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.8125,0.875,0.9375
+120,2457600,7680,in_domain,group_A,put kitchen shovel on cloth,default,16,0.8125,0.9375,1.0
+120,2457600,7680,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+120,2457600,7680,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+120,2457600,7680,in_domain,group_B,put 7up can on newspaper,default,16,0.5625,0.875,0.9375
+120,2457600,7680,in_domain,group_B,put 7up can on carpet,default,16,0.5,1.0,1.0
+120,2457600,7680,in_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.6875,0.8125
+120,2457600,7680,in_domain,group_C,put carrot on flat bowl,default,16,0.875,0.9375,0.9375
+120,2457600,7680,in_domain,group_C,put banana on sheet metal,default,16,0.9375,1.0,1.0
+120,2457600,7680,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.9375,0.9375
+120,2457600,7680,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+120,2457600,7680,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+120,2457600,7680,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.8125,0.8125
+120,2457600,7680,in_domain,group_D,put plastic bottle on cutting board,default,16,0.5625,0.6875,0.6875
+120,2457600,7680,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.75,0.8125
+120,2457600,7680,out_of_domain,group_A,put ketchup bottle on cloth,default,16,1.0,1.0,1.0
+120,2457600,7680,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5625,0.6875,0.75
+120,2457600,7680,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.875,0.9375
+120,2457600,7680,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+120,2457600,7680,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+120,2457600,7680,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.9375,1.0
+120,2457600,7680,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.9375,0.9375
+120,2457600,7680,out_of_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.8125,0.8125
+120,2457600,7680,out_of_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.875
+120,2457600,7680,out_of_domain,group_C,put banana on sheet metal,default,16,0.9375,1.0,1.0
+120,2457600,7680,out_of_domain,group_C,put banana on flat bowl,default,16,0.875,0.9375,0.9375
+120,2457600,7680,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+120,2457600,7680,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+120,2457600,7680,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.875,0.875
+120,2457600,7680,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,1.0,1.0
+124,2539520,7936,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+124,2539520,7936,in_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.6875,0.75
+124,2539520,7936,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.6875,0.75,0.9375
+124,2539520,7936,in_domain,group_A,put kitchen shovel on cloth,default,16,0.5625,0.625,0.8125
+124,2539520,7936,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+124,2539520,7936,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+124,2539520,7936,in_domain,group_B,put 7up can on newspaper,default,16,0.5625,1.0,1.0
+124,2539520,7936,in_domain,group_B,put 7up can on carpet,default,16,0.5625,1.0,1.0
+124,2539520,7936,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.625,0.75
+124,2539520,7936,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.8125,0.8125
+124,2539520,7936,in_domain,group_C,put banana on sheet metal,default,16,0.875,0.875,0.9375
+124,2539520,7936,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.75,0.8125
+124,2539520,7936,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+124,2539520,7936,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+124,2539520,7936,in_domain,group_D,put plastic bottle on frying pan,default,16,0.9375,1.0,1.0
+124,2539520,7936,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,0.875,0.875
+124,2539520,7936,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.75
+124,2539520,7936,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.75,0.8125
+124,2539520,7936,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.75,0.9375
+124,2539520,7936,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.8125,0.8125
+124,2539520,7936,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+124,2539520,7936,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+124,2539520,7936,out_of_domain,group_B,put 7up can on newspaper,default,16,0.625,0.9375,0.9375
+124,2539520,7936,out_of_domain,group_B,put 7up can on carpet,default,16,0.625,0.9375,1.0
+124,2539520,7936,out_of_domain,group_C,put carrot on sheet metal,default,16,0.625,0.625,0.6875
+124,2539520,7936,out_of_domain,group_C,put carrot on flat bowl,default,16,0.8125,0.8125,0.875
+124,2539520,7936,out_of_domain,group_C,put banana on sheet metal,default,16,0.625,0.625,0.6875
+124,2539520,7936,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.75,0.8125
+124,2539520,7936,out_of_domain,group_D,put hamburger on frying pan,default,16,0.8125,0.9375,1.0
+124,2539520,7936,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+124,2539520,7936,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.9375,0.9375,0.9375
+124,2539520,7936,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.6875,0.75
+128,2621440,8192,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.8125,0.9375,1.0
+128,2621440,8192,in_domain,group_A,put ketchup bottle on cloth,default,16,0.5625,1.0,1.0
+128,2621440,8192,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.4375,0.625,0.8125
+128,2621440,8192,in_domain,group_A,put kitchen shovel on cloth,default,16,0.4375,0.5625,0.75
+128,2621440,8192,in_domain,group_B,put bread on newspaper,default,16,0.875,1.0,1.0
+128,2621440,8192,in_domain,group_B,put bread on carpet,default,16,0.8125,1.0,1.0
+128,2621440,8192,in_domain,group_B,put 7up can on newspaper,default,16,0.5,1.0,1.0
+128,2621440,8192,in_domain,group_B,put 7up can on carpet,default,16,0.6875,1.0,1.0
+128,2621440,8192,in_domain,group_C,put carrot on sheet metal,default,16,0.5,0.6875,0.6875
+128,2621440,8192,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.75
+128,2621440,8192,in_domain,group_C,put banana on sheet metal,default,16,0.375,0.6875,0.75
+128,2621440,8192,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.875
+128,2621440,8192,in_domain,group_D,put hamburger on frying pan,default,16,0.875,1.0,1.0
+128,2621440,8192,in_domain,group_D,put hamburger on cutting board,default,16,0.4375,1.0,1.0
+128,2621440,8192,in_domain,group_D,put plastic bottle on frying pan,default,16,0.625,1.0,1.0
+128,2621440,8192,in_domain,group_D,put plastic bottle on cutting board,default,16,0.1875,0.875,0.875
+128,2621440,8192,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.625,0.75,0.8125
+128,2621440,8192,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.5,0.6875,0.8125
+128,2621440,8192,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.6875,0.875
+128,2621440,8192,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.625,0.75
+128,2621440,8192,out_of_domain,group_B,put bread on newspaper,default,16,0.875,1.0,1.0
+128,2621440,8192,out_of_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+128,2621440,8192,out_of_domain,group_B,put 7up can on newspaper,default,16,0.3125,0.75,0.8125
+128,2621440,8192,out_of_domain,group_B,put 7up can on carpet,default,16,0.5625,0.9375,1.0
+128,2621440,8192,out_of_domain,group_C,put carrot on sheet metal,default,16,0.4375,0.5625,0.6875
+128,2621440,8192,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5625,0.625,0.6875
+128,2621440,8192,out_of_domain,group_C,put banana on sheet metal,default,16,0.4375,0.6875,0.75
+128,2621440,8192,out_of_domain,group_C,put banana on flat bowl,default,16,0.6875,0.8125,0.875
+128,2621440,8192,out_of_domain,group_D,put hamburger on frying pan,default,16,0.5625,1.0,1.0
+128,2621440,8192,out_of_domain,group_D,put hamburger on cutting board,default,16,0.6875,1.0,1.0
+128,2621440,8192,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.625,0.8125,0.8125
+128,2621440,8192,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.375,1.0,1.0
+132,2703360,8448,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.9375,0.9375
+132,2703360,8448,in_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.75,0.9375
+132,2703360,8448,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,1.0,0.9375,1.0
+132,2703360,8448,in_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.75,0.8125
+132,2703360,8448,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+132,2703360,8448,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+132,2703360,8448,in_domain,group_B,put 7up can on newspaper,default,16,0.6875,0.9375,1.0
+132,2703360,8448,in_domain,group_B,put 7up can on carpet,default,16,0.9375,1.0,1.0
+132,2703360,8448,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.875,0.9375
+132,2703360,8448,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.75,0.75
+132,2703360,8448,in_domain,group_C,put banana on sheet metal,default,16,0.9375,0.9375,1.0
+132,2703360,8448,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.8125,1.0
+132,2703360,8448,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+132,2703360,8448,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+132,2703360,8448,in_domain,group_D,put plastic bottle on frying pan,default,16,0.5,0.625,0.6875
+132,2703360,8448,in_domain,group_D,put plastic bottle on cutting board,default,16,0.9375,1.0,1.0
+132,2703360,8448,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.9375,0.875,1.0
+132,2703360,8448,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.75,0.8125
+132,2703360,8448,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.625,0.8125,0.875
+132,2703360,8448,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.8125,1.0
+132,2703360,8448,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+132,2703360,8448,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+132,2703360,8448,out_of_domain,group_B,put 7up can on newspaper,default,16,0.5,0.75,0.9375
+132,2703360,8448,out_of_domain,group_B,put 7up can on carpet,default,16,0.875,0.9375,1.0
+132,2703360,8448,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.625,0.75
+132,2703360,8448,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.6875,0.875
+132,2703360,8448,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.875,1.0
+132,2703360,8448,out_of_domain,group_C,put banana on flat bowl,default,16,0.8125,0.9375,1.0
+132,2703360,8448,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+132,2703360,8448,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+132,2703360,8448,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.75,0.875,0.9375
+132,2703360,8448,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.8125,0.875
+136,2785280,8704,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.6875,0.6875,0.6875
+136,2785280,8704,in_domain,group_A,put ketchup bottle on cloth,default,16,0.6875,0.875,1.0
+136,2785280,8704,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.9375,0.9375,0.9375
+136,2785280,8704,in_domain,group_A,put kitchen shovel on cloth,default,16,0.75,0.75,0.875
+136,2785280,8704,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+136,2785280,8704,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+136,2785280,8704,in_domain,group_B,put 7up can on newspaper,default,16,0.75,0.9375,0.9375
+136,2785280,8704,in_domain,group_B,put 7up can on carpet,default,16,0.625,1.0,1.0
+136,2785280,8704,in_domain,group_C,put carrot on sheet metal,default,16,0.8125,0.875,0.875
+136,2785280,8704,in_domain,group_C,put carrot on flat bowl,default,16,0.6875,0.6875,0.875
+136,2785280,8704,in_domain,group_C,put banana on sheet metal,default,16,0.6875,0.5625,0.625
+136,2785280,8704,in_domain,group_C,put banana on flat bowl,default,16,0.6875,0.8125,0.8125
+136,2785280,8704,in_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+136,2785280,8704,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+136,2785280,8704,in_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.75,0.75
+136,2785280,8704,in_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.75,0.75
+136,2785280,8704,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.4375,0.625,0.6875
+136,2785280,8704,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.4375,0.5625,0.8125
+136,2785280,8704,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.5,0.6875,0.875
+136,2785280,8704,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.4375,0.5625,0.5625
+136,2785280,8704,out_of_domain,group_B,put bread on newspaper,default,16,0.9375,0.9375,0.9375
+136,2785280,8704,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+136,2785280,8704,out_of_domain,group_B,put 7up can on newspaper,default,16,0.75,0.9375,0.9375
+136,2785280,8704,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.8125,0.9375
+136,2785280,8704,out_of_domain,group_C,put carrot on sheet metal,default,16,0.6875,0.75,0.875
+136,2785280,8704,out_of_domain,group_C,put carrot on flat bowl,default,16,0.75,0.875,0.875
+136,2785280,8704,out_of_domain,group_C,put banana on sheet metal,default,16,0.6875,0.75,0.875
+136,2785280,8704,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.75,0.875
+136,2785280,8704,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+136,2785280,8704,out_of_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+136,2785280,8704,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.6875,0.8125,0.8125
+136,2785280,8704,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.6875,0.875,0.875
+140,2867200,8960,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,1.0,1.0,1.0
+140,2867200,8960,in_domain,group_A,put ketchup bottle on cloth,default,16,0.8125,0.8125,0.875
+140,2867200,8960,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.6875,0.9375,0.9375
+140,2867200,8960,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.6875,0.75
+140,2867200,8960,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+140,2867200,8960,in_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+140,2867200,8960,in_domain,group_B,put 7up can on newspaper,default,16,0.5625,1.0,1.0
+140,2867200,8960,in_domain,group_B,put 7up can on carpet,default,16,0.8125,1.0,1.0
+140,2867200,8960,in_domain,group_C,put carrot on sheet metal,default,16,0.5625,0.5625,0.75
+140,2867200,8960,in_domain,group_C,put carrot on flat bowl,default,16,0.5,0.5,0.5625
+140,2867200,8960,in_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.8125
+140,2867200,8960,in_domain,group_C,put banana on flat bowl,default,16,0.875,0.875,0.875
+140,2867200,8960,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,1.0,1.0
+140,2867200,8960,in_domain,group_D,put hamburger on cutting board,default,16,1.0,1.0,1.0
+140,2867200,8960,in_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.8125,0.875
+140,2867200,8960,in_domain,group_D,put plastic bottle on cutting board,default,16,0.625,0.625,0.75
+140,2867200,8960,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.875,0.875
+140,2867200,8960,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.8125,0.875
+140,2867200,8960,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.875,0.875
+140,2867200,8960,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.375,0.5,0.625
+140,2867200,8960,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+140,2867200,8960,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+140,2867200,8960,out_of_domain,group_B,put 7up can on newspaper,default,16,0.6875,0.875,0.9375
+140,2867200,8960,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.8125,0.875
+140,2867200,8960,out_of_domain,group_C,put carrot on sheet metal,default,16,0.3125,0.4375,0.5625
+140,2867200,8960,out_of_domain,group_C,put carrot on flat bowl,default,16,0.5,0.5,0.5
+140,2867200,8960,out_of_domain,group_C,put banana on sheet metal,default,16,0.8125,0.8125,0.875
+140,2867200,8960,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.75,0.875
+140,2867200,8960,out_of_domain,group_D,put hamburger on frying pan,default,16,0.8125,0.875,0.9375
+140,2867200,8960,out_of_domain,group_D,put hamburger on cutting board,default,16,0.9375,0.9375,0.9375
+140,2867200,8960,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.9375,0.9375,0.9375
+140,2867200,8960,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.75,0.875
+144,2949120,9216,in_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.875,0.8125,0.9375
+144,2949120,9216,in_domain,group_A,put ketchup bottle on cloth,default,16,0.75,0.8125,0.875
+144,2949120,9216,in_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.8125,0.9375
+144,2949120,9216,in_domain,group_A,put kitchen shovel on cloth,default,16,0.625,0.625,0.8125
+144,2949120,9216,in_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+144,2949120,9216,in_domain,group_B,put bread on carpet,default,16,0.9375,1.0,1.0
+144,2949120,9216,in_domain,group_B,put 7up can on newspaper,default,16,0.75,0.9375,1.0
+144,2949120,9216,in_domain,group_B,put 7up can on carpet,default,16,0.75,0.9375,0.9375
+144,2949120,9216,in_domain,group_C,put carrot on sheet metal,default,16,0.75,0.875,0.875
+144,2949120,9216,in_domain,group_C,put carrot on flat bowl,default,16,0.875,0.9375,0.9375
+144,2949120,9216,in_domain,group_C,put banana on sheet metal,default,16,0.875,0.875,0.875
+144,2949120,9216,in_domain,group_C,put banana on flat bowl,default,16,0.8125,0.875,0.9375
+144,2949120,9216,in_domain,group_D,put hamburger on frying pan,default,16,0.9375,0.9375,1.0
+144,2949120,9216,in_domain,group_D,put hamburger on cutting board,default,16,0.9375,1.0,1.0
+144,2949120,9216,in_domain,group_D,put plastic bottle on frying pan,default,16,0.875,0.9375,0.9375
+144,2949120,9216,in_domain,group_D,put plastic bottle on cutting board,default,16,0.8125,0.8125,0.875
+144,2949120,9216,out_of_domain,group_A,put ketchup bottle on yellow_plate,default,16,0.75,0.75,0.875
+144,2949120,9216,out_of_domain,group_A,put ketchup bottle on cloth,default,16,0.625,0.8125,0.875
+144,2949120,9216,out_of_domain,group_A,put kitchen shovel on yellow_plate,default,16,0.75,0.8125,0.875
+144,2949120,9216,out_of_domain,group_A,put kitchen shovel on cloth,default,16,0.5,0.6875,0.6875
+144,2949120,9216,out_of_domain,group_B,put bread on newspaper,default,16,1.0,1.0,1.0
+144,2949120,9216,out_of_domain,group_B,put bread on carpet,default,16,1.0,1.0,1.0
+144,2949120,9216,out_of_domain,group_B,put 7up can on newspaper,default,16,0.625,0.8125,0.8125
+144,2949120,9216,out_of_domain,group_B,put 7up can on carpet,default,16,0.8125,0.875,0.9375
+144,2949120,9216,out_of_domain,group_C,put carrot on sheet metal,default,16,0.5,0.75,0.875
+144,2949120,9216,out_of_domain,group_C,put carrot on flat bowl,default,16,0.625,0.75,0.8125
+144,2949120,9216,out_of_domain,group_C,put banana on sheet metal,default,16,1.0,0.9375,1.0
+144,2949120,9216,out_of_domain,group_C,put banana on flat bowl,default,16,0.75,0.8125,0.8125
+144,2949120,9216,out_of_domain,group_D,put hamburger on frying pan,default,16,1.0,1.0,1.0
+144,2949120,9216,out_of_domain,group_D,put hamburger on cutting board,default,16,0.875,1.0,1.0
+144,2949120,9216,out_of_domain,group_D,put plastic bottle on frying pan,default,16,0.8125,0.8125,0.875
+144,2949120,9216,out_of_domain,group_D,put plastic bottle on cutting board,default,16,0.75,0.6875,0.875

T320/s1__p2/run_config.json

@@ -0,0 +1,80 @@
+{
+  "name": "CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1",
+  "seed": 1,
+  "resume_episode": 0,
+  "env_id": "PickPlaceNxM-v1",
+  "env_n": 2,
+  "env_m": 2,
+  "num_envs": 64,
+  "obj_set": "rand",
+  "obj1_index": 7,
+  "obj2_index": 2,
+  "obj3_index": 10,
+  "plate1_index": 1,
+  "plate2_index": 2,
+  "plate3_index": 3,
+  "scene": "",
+  "segment_len": 80,
+  "episode_len": 320,
+  "task_len": 80,
+  "ppo_update_len": 160,
+  "max_episodes": 80,
+  "max_steps": 0,
+  "max_reset": 5120,
+  "config_path": "configs/four_group_sequential_2x2.yaml",
+  "task_order": "sequential",
+  "task_filter": "",
+  "reset_mode": "per_episode",
+  "reset_robot": true,
+  "reset_unsuitable": false,
+  "unsuitable_detector": "low_z",
+  "hsr_reset_scope": "per_env",
+  "record_segment_pose": true,
+  "segment_pose_phase": "both",
+  "record_end_of_segment_xyz": false,
+  "enable_backward": false,
+  "backward_interval": 1,
+  "backward_goal": "table",
+  "backward_recep_prob": 0.5,
+  "num_groups": 0,
+  "alg_name": "ppo",
+  "alg_grpo_fix": true,
+  "grpo_group_scope": "batch",
+  "grpo_std_scope": "group",
+  "alg_ppo_epoch": 1,
+  "alg_gradient_accum": 20,
+  "alg_entropy_coef": 0.0,
+  "buffer_gamma": 0.99,
+  "buffer_lambda": 0.95,
+  "buffer_minibatch": 8,
+  "buffer_inferbatch": 32,
+  "policy": "spatialvla",
+  "vla_path": "IPEC-COMMUNITY/spatialvla-4b-224-sft-bridge",
+  "vla_load_path": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1/wandb/run-20260917_184230-h5ntcpr4/glob/episode_0064",
+  "vla_unnorm_key": "bridge_orig/1.0.0",
+  "vla_lora_rank": 32,
+  "vla_lr": 0.0001,
+  "vla_vhlr": 0.003,
+  "vla_grad_norm": 10.0,
+  "vla_optim_beta1": 0.9,
+  "vla_optim_beta2": 0.999,
+  "vla_temperature": 1.0,
+  "vla_temperature_eval": 0.0,
+  "eval_interval": 4,
+  "num_eval_episode": 4,
+  "eval_at_start": false,
+  "eval_single": false,
+  "eval_sequential": false,
+  "eval_sequences": 5,
+  "vla_checkpoint_interval": 8,
+  "resume_from": "",
+  "wandb": true,
+  "wandb_dir": "/weka/robots-default/poyiw/Autonomous_RL/CRONOS/CRONOS-spatialvla-four_group_sequential_2x2-T320-normal-seed1",
+  "record_video": true,
+  "ppo_log": "ppo_log.txt",
+  "eval_report": "eval_report.txt",
+  "log_file": "run.log",
+  "start_time": "2026-09-19T04:06:47.476762Z",
+  "cronos_version": "V0.93",
+  "git_rev": "4b8c508677330e79d7edc6c58b01f3cb948b110c"
+}

T320/s1__p2/segment_pose.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674704f9728515c0644c8093583019f9872909d6036bd9a29a54f80dcadc0a50
+size 28730559