| {
|
| "protocol": "where_frozen_v1",
|
| "definition": "Ten fixed Where factors; pretrained predictions and explicitly specified experimental partitions, not ground-truth segmentation.",
|
| "methods": {
|
| "position": {
|
| "implementation": "retained_original",
|
| "method": "seeded PCG64 random connected radial blob",
|
| "area_fraction": 0.25,
|
| "regions": [
|
| "random"
|
| ]
|
| },
|
| "eccentricity": {
|
| "implementation": "retained_original",
|
| "method": "elliptically normalized image-center radius",
|
| "thresholds": [
|
| 0.4,
|
| 0.8
|
| ],
|
| "regions": [
|
| "center",
|
| "middle",
|
| "periphery"
|
| ]
|
| },
|
| "thing_stuff": {
|
| "implementation": "OneFormer panoptic inference",
|
| "model": "shi-labs/oneformer_ade20k_swin_large",
|
| "revision": "4a5bac8e64f82681a12db2e151a4c2f4ce6092b2",
|
| "definition": "official ADE20K isthing IDs; void belongs to neither; tables/cabinets may be things",
|
| "regions": [
|
| "thing",
|
| "stuff"
|
| ]
|
| },
|
| "background": {
|
| "implementation": "OneFormer semantic inference",
|
| "model": "shi-labs/oneformer_ade20k_swin_large",
|
| "revision": "4a5bac8e64f82681a12db2e151a4c2f4ce6092b2",
|
| "classes": [
|
| "wall",
|
| "ceiling",
|
| "windowpane",
|
| "door",
|
| "curtain",
|
| "blind",
|
| "building",
|
| "house",
|
| "skyscraper",
|
| "sky",
|
| "mountain",
|
| "hill"
|
| ],
|
| "definition": "benchmark backdrop mapping over official ADE20K semantic labels; exclude table, desk, counter and floor; not a universal binary background label",
|
| "regions": [
|
| "background",
|
| "non_background"
|
| ]
|
| },
|
| "boundary": {
|
| "implementation": "retained_original",
|
| "method": "inner erosion of original Mask2Former semantic + GroundingDINO/SAM instance regions",
|
| "erosion_iterations": "max(1, round(2 * min(H,W)/256))",
|
| "regions": [
|
| "boundary",
|
| "interior"
|
| ]
|
| },
|
| "embodiment": {
|
| "implementation": "RobotSeg independent one-frame inference",
|
| "model": "showlab/RobotSeg",
|
| "revision": "dafb8c0d507276e2f96d2b07ac3661a7b3a41a5f",
|
| "category": "robot",
|
| "threshold": "mask logits > 0",
|
| "distance_band": "max(1, round(24 * min(H,W)/256))",
|
| "regions": [
|
| "embodiment",
|
| "near_embodiment",
|
| "environment"
|
| ]
|
| },
|
| "focal": {
|
| "implementation": "Sa2VA-8B referring segmentation",
|
| "model": "ByteDance/Sa2VA-8B",
|
| "revision": "902b049acb12eb68454abf4e51ab1e23d1bc9efa",
|
| "input": "full episode instruction, never current subtask",
|
| "definition": "visible directly manipulated object(s)/part(s); exclude robot and destinations/supports unless manipulated",
|
| "distance_band": "max(1, round(24 * min(H,W)/256))",
|
| "empty_prediction": "explicit missing entry; no fallback",
|
| "regions": [
|
| "focal",
|
| "near_focal",
|
| "far_focal"
|
| ]
|
| },
|
| "density": {
|
| "implementation": "retained_original",
|
| "method": "spatial_density_objects",
|
| "formula": "D(x)=sum_j exp(-distance(x, M_j)^2/(2*sigma^2))",
|
| "sigma": "32 * min(H,W)/256",
|
| "instances": "original grounded object masks; robot excluded; require at least two objects",
|
| "cuts": [
|
| 0.3333333333333333,
|
| 0.6666666666666666
|
| ],
|
| "regions": [
|
| "sparse",
|
| "intermediate",
|
| "dense"
|
| ]
|
| },
|
| "saliency": {
|
| "implementation": "DeepGaze IIE",
|
| "model": "matthias-k/DeepGaze",
|
| "revision": "c7db17e2d1d7ea6468ffdee2cfaddf141095dcff",
|
| "definition": "image-conditioned visual fixation log density with uniform center-bias input",
|
| "cuts": [
|
| 0.3333333333333333,
|
| 0.6666666666666666
|
| ],
|
| "regions": [
|
| "low",
|
| "medium",
|
| "high"
|
| ]
|
| },
|
| "depth": {
|
| "implementation": "retained_original",
|
| "model": "depth-anything/Depth-Anything-V2-Small-hf",
|
| "definition": "relative inverse depth, larger means nearer",
|
| "cuts": [
|
| 0.3333333333333333,
|
| 0.6666666666666666
|
| ],
|
| "regions": [
|
| "far",
|
| "mid",
|
| "near"
|
| ]
|
| }
|
| },
|
| "composition": {
|
| "baseline": "GaussianBlur(I, sigma=16.64*min(H,W)/256)",
|
| "alpha_sigma": "max(1, min(H,W)/256)",
|
| "alpha_kernel": "2*ceil(3*alpha_sigma)+1",
|
| "alpha": "Gaussian feathered binary mask, rounded to uint8",
|
| "removal": "(1-alpha)*I + alpha*baseline",
|
| "retain": "alpha*I + (1-alpha)*baseline",
|
| "note": "alpha in equations is saved uint8 / 255; exact integer blending; no inpainting"
|
| },
|
| "invalid_policy": "Preserve old skips; retain and flag new empty/full region masks; no invented masks. Missing concepts and degenerate regions are counted in validation.json.",
|
| "preserved_concepts": [
|
| "position",
|
| "eccentricity",
|
| "boundary",
|
| "density",
|
| "depth"
|
| ]
|
| } |
