Publish Phoenix-MWA evaluation resources (verified batch)

Explicit evaluation-only release; no training states, raw visual data or credentials.

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+package/package.json filter=lfs diff=lfs merge=lfs -text

metadata/gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA/meta/tasks.jsonl

@@ -0,0 +1,11 @@
+{"task_index": 0, "task": ""}
+{"task_index": 1, "task": "unlocked_waist: pick the tomato from the tray and place it in the cardboard box"}
+{"task_index": 2, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the cardboard box"}
+{"task_index": 3, "task": "unlocked_waist: pick the can from the tray and place it in the cardboard box"}
+{"task_index": 4, "task": "unlocked_waist: pick the eggplant from the tray and place it in the cardboard box"}
+{"task_index": 5, "task": "unlocked_waist: pick the squash from the tray and place it in the cardboard box"}
+{"task_index": 6, "task": "unlocked_waist: pick the lemon from the tray and place it in the cardboard box"}
+{"task_index": 7, "task": "unlocked_waist: pick the croissant from the tray and place it in the cardboard box"}
+{"task_index": 8, "task": "unlocked_waist: pick the cupcake from the tray and place it in the cardboard box"}
+{"task_index": 9, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the cardboard box"}
+{"task_index": 10, "task": "unlocked_waist: pick the pear from the tray and place it in the cardboard box"}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA/meta/modality.json

@@ -0,0 +1,359 @@
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+}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA/meta/tasks.jsonl

@@ -0,0 +1,11 @@
+{"task_index": 0, "task": ""}
+{"task_index": 1, "task": "unlocked_waist: pick the pear from the tray and place it in the plate"}
+{"task_index": 2, "task": "unlocked_waist: pick the tomato from the tray and place it in the plate"}
+{"task_index": 3, "task": "unlocked_waist: pick the squash from the tray and place it in the plate"}
+{"task_index": 4, "task": "unlocked_waist: pick the cupcake from the tray and place it in the plate"}
+{"task_index": 5, "task": "unlocked_waist: pick the can from the tray and place it in the plate"}
+{"task_index": 6, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the plate"}
+{"task_index": 7, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the plate"}
+{"task_index": 8, "task": "unlocked_waist: pick the lemon from the tray and place it in the plate"}
+{"task_index": 9, "task": "unlocked_waist: pick the croissant from the tray and place it in the plate"}
+{"task_index": 10, "task": "unlocked_waist: pick the eggplant from the tray and place it in the plate"}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToPotSplitA/meta/modality.json

@@ -0,0 +1,359 @@
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+}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToPotSplitA/meta/tasks.jsonl

@@ -0,0 +1,11 @@
+{"task_index": 0, "task": ""}
+{"task_index": 1, "task": "unlocked_waist: pick the lemon from the tray and place it in the pot"}
+{"task_index": 2, "task": "unlocked_waist: pick the tomato from the tray and place it in the pot"}
+{"task_index": 3, "task": "unlocked_waist: pick the squash from the tray and place it in the pot"}
+{"task_index": 4, "task": "unlocked_waist: pick the cupcake from the tray and place it in the pot"}
+{"task_index": 5, "task": "unlocked_waist: pick the eggplant from the tray and place it in the pot"}
+{"task_index": 6, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the pot"}
+{"task_index": 7, "task": "unlocked_waist: pick the croissant from the tray and place it in the pot"}
+{"task_index": 8, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the pot"}
+{"task_index": 9, "task": "unlocked_waist: pick the pear from the tray and place it in the pot"}
+{"task_index": 10, "task": "unlocked_waist: pick the can from the tray and place it in the pot"}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToTieredbasketSplitA/meta/modality.json

@@ -0,0 +1,359 @@
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+}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToTieredbasketSplitA/meta/tasks.jsonl

@@ -0,0 +1,11 @@
+{"task_index": 0, "task": ""}
+{"task_index": 1, "task": "unlocked_waist: pick the eggplant from the tray and place it in the tiered basket"}
+{"task_index": 2, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the tiered basket"}
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+{"task_index": 4, "task": "unlocked_waist: pick the lemon from the tray and place it in the tiered basket"}
+{"task_index": 5, "task": "unlocked_waist: pick the can from the tray and place it in the tiered basket"}
+{"task_index": 6, "task": "unlocked_waist: pick the pear from the tray and place it in the tiered basket"}
+{"task_index": 7, "task": "unlocked_waist: pick the croissant from the tray and place it in the tiered basket"}
+{"task_index": 8, "task": "unlocked_waist: pick the tomato from the tray and place it in the tiered basket"}
+{"task_index": 9, "task": "unlocked_waist: pick the squash from the tray and place it in the tiered basket"}
+{"task_index": 10, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the tiered basket"}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToTieredshelfSplitA/meta/modality.json

@@ -0,0 +1,359 @@
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+}

metadata/gr1_unified.PosttrainPnPNovelFromTrayToTieredshelfSplitA/meta/tasks.jsonl

@@ -0,0 +1,11 @@
+{"task_index": 0, "task": ""}
+{"task_index": 1, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the tiered shelf"}
+{"task_index": 2, "task": "unlocked_waist: pick the squash from the tray and place it in the tiered shelf"}
+{"task_index": 3, "task": "unlocked_waist: pick the cupcake from the tray and place it in the tiered shelf"}
+{"task_index": 4, "task": "unlocked_waist: pick the lemon from the tray and place it in the tiered shelf"}
+{"task_index": 5, "task": "unlocked_waist: pick the tomato from the tray and place it in the tiered shelf"}
+{"task_index": 6, "task": "unlocked_waist: pick the can from the tray and place it in the tiered shelf"}
+{"task_index": 7, "task": "unlocked_waist: pick the pear from the tray and place it in the tiered shelf"}
+{"task_index": 8, "task": "unlocked_waist: pick the croissant from the tray and place it in the tiered shelf"}
+{"task_index": 9, "task": "unlocked_waist: pick the eggplant from the tray and place it in the tiered shelf"}
+{"task_index": 10, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the tiered shelf"}

package/norm.json

@@ -0,0 +1,514 @@
+{
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+    "world_axes": "source_world_A_identity",
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+    "translation": "action_xyz[t]-state_xyz[t]",
+    "rotation": "Log(state_R[t].T@action_R[t])",
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