| { |
| "config": { |
| "dataset_root": "/mnt/t_41/linzhanhui/lerobot_dataset/dataset_ver5", |
| "output_dir": "/mnt/t_41/linzhanhui/lerobot_dataset/dataset_ver5_split", |
| "test_ratio": 0.1, |
| "seen_ratio": 0.5, |
| "seed": 42, |
| "seen_caps": { |
| "good": 3, |
| "mix": 2, |
| "bad": 2 |
| }, |
| "unseen_caps": { |
| "good": 1, |
| "mix": 1, |
| "bad": 1 |
| }, |
| "seen_expertise_task_caps": { |
| "expert": 1, |
| "nonexpert": 1 |
| }, |
| "unseen_expertise_task_caps": { |
| "expert": 1, |
| "nonexpert": 1 |
| }, |
| "rules": [ |
| "seen/unseen 按 semantic_task_id 隔离", |
| "expert=good, nonexpert=mix+bad", |
| "ARX-data/droid_lerobot 在 seen/unseen 中保持 good/mix/bad 比例近似一致", |
| "libero/VLABench_5 在 seen/unseen 中保持 good vs mixbad 比例近似一致", |
| "libero_zty50 全部进 train", |
| "四个 test bucket 都尽量每个 task 只取 1 条", |
| "同时尽量平衡 source_camera/action_category/long_horizon" |
| ] |
| }, |
| "totals": { |
| "all_records": 35230, |
| "split_candidate_records": 35180, |
| "forced_train_records": 50, |
| "train_records": 24652, |
| "seen_records": 1756, |
| "unseen_records": 1759, |
| "unseen_task_count": 1210 |
| }, |
| "stratum_targets": { |
| "requested_seen": { |
| "ARX-data|bad": 137, |
| "ARX-data|good": 356, |
| "ARX-data|mix": 403, |
| "VLABench_5|good": 25, |
| "VLABench_5|mixbad": 4, |
| "droid_lerobot|bad": 54, |
| "droid_lerobot|good": 641, |
| "droid_lerobot|mix": 114, |
| "libero|good": 21, |
| "libero|mixbad": 4 |
| }, |
| "requested_unseen": { |
| "ARX-data|bad": 137, |
| "ARX-data|good": 356, |
| "ARX-data|mix": 403, |
| "VLABench_5|good": 25, |
| "VLABench_5|mixbad": 4, |
| "droid_lerobot|bad": 54, |
| "droid_lerobot|good": 641, |
| "droid_lerobot|mix": 114, |
| "libero|good": 21, |
| "libero|mixbad": 4 |
| }, |
| "final_seen": { |
| "ARX-data|bad": 137, |
| "ARX-data|good": 356, |
| "ARX-data|mix": 403, |
| "VLABench_5|good": 25, |
| "VLABench_5|mixbad": 4, |
| "droid_lerobot|bad": 54, |
| "droid_lerobot|good": 641, |
| "droid_lerobot|mix": 114, |
| "libero|good": 21, |
| "libero|mixbad": 4 |
| } |
| }, |
| "actual_strata": { |
| "seen": { |
| "ARX-data|bad": 137, |
| "ARX-data|good": 356, |
| "ARX-data|mix": 403, |
| "droid_lerobot|mix": 114, |
| "droid_lerobot|good": 641, |
| "droid_lerobot|bad": 51, |
| "VLABench_5|good": 25, |
| "VLABench_5|mixbad": 4, |
| "libero|good": 21, |
| "libero|mixbad": 4 |
| }, |
| "unseen": { |
| "ARX-data|good": 356, |
| "ARX-data|mix": 403, |
| "ARX-data|bad": 137, |
| "droid_lerobot|good": 641, |
| "droid_lerobot|mix": 114, |
| "libero|good": 21, |
| "libero|mixbad": 4, |
| "droid_lerobot|bad": 54, |
| "VLABench_5|good": 25, |
| "VLABench_5|mixbad": 4 |
| } |
| }, |
| "train": { |
| "count": 24652, |
| "source_breakdown": { |
| "ARX-data": 10357, |
| "droid_lerobot": 13457, |
| "VLABench_5": 417, |
| "libero": 371, |
| "libero_zty50": 50 |
| }, |
| "quality_breakdown": { |
| "good": 15467, |
| "bad": 2718, |
| "mix": 6467 |
| }, |
| "expertise_breakdown": { |
| "expert": 15467, |
| "nonexpert": 9185 |
| }, |
| "ratio_stratum_breakdown": { |
| "ARX-data|good": 4172, |
| "ARX-data|bad": 1684, |
| "ARX-data|mix": 4501, |
| "droid_lerobot|good": 10610, |
| "droid_lerobot|mix": 1935, |
| "droid_lerobot|bad": 912, |
| "VLABench_5|good": 359, |
| "VLABench_5|mixbad": 58, |
| "libero|good": 313, |
| "libero|mixbad": 58, |
| "libero_zty50|good": 13, |
| "libero_zty50|bad": 37 |
| }, |
| "source_camera_breakdown": { |
| "ARX-data|observation.images.front": 2949, |
| "ARX-data|observation.images.wrist": 2149, |
| "ARX-data|observation.images.head": 1128, |
| "ARX-data|observation.images.bird": 1994, |
| "ARX-data|observation.images.right": 1045, |
| "ARX-data|observation.images.left": 1092, |
| "droid_lerobot|observation.images.exterior_image_1_left": 5291, |
| "droid_lerobot|observation.images.exterior_image_2_left": 5381, |
| "droid_lerobot|observation.images.wrist_image_left": 2785, |
| "VLABench_5|observation.images.image": 384, |
| "VLABench_5|observation.images.wrist_image": 33, |
| "libero|observation.images.image": 310, |
| "libero|observation.images.wrist_image": 61, |
| "libero_zty50|observation.images.Failure1769505651.311186": 1, |
| "libero_zty50|observation.images.Failure1769506349.9984796": 1, |
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| "libero_zty50|observation.images.Success1769503613.9948597": 1, |
| "libero_zty50|observation.images.Success1769504515.6364486": 1, |
| "libero_zty50|observation.images.Success1769504406.9398727": 1, |
| "libero_zty50|observation.images.Success1769504445.4434211": 1, |
| "libero_zty50|observation.images.Success1769502706.9620764": 1, |
| "libero_zty50|observation.images.Success1769504665.876111": 1, |
| "libero_zty50|observation.images.Success1769504365.3602133": 1, |
| "libero_zty50|observation.images.Success1769503842.1906989": 1, |
| "libero_zty50|observation.images.Success1769506827.6415775": 1, |
| "libero_zty50|observation.images.Success1769504904.0319445": 1, |
| "libero_zty50|observation.images.Success1769506238.727691": 1, |
| "libero_zty50|observation.images.Success1769504874.2593927": 1, |
| "libero_zty50|observation.images.Success1769506551.531523": 1, |
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| "libero_zty50|observation.images.Success1769506118.58876": 1, |
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| "libero_zty50|observation.images.Success1769505849.4300506": 1 |
| }, |
| "action_category_breakdown": { |
| "pick_place": 15853, |
| "deformable_object": 1682, |
| "multi_step_long_horizon": 1537, |
| "tool_use": 1012, |
| "other": 2337, |
| "articulated_object": 1520, |
| "move_reorient": 711 |
| }, |
| "long_horizon_breakdown": { |
| "single_step": 23115, |
| "long_horizon": 1537 |
| }, |
| "task_count": 13996, |
| "top_tasks": [ |
| [ |
| "抓取试管硅胶塞到试管里", |
| 159 |
| ], |
| [ |
| "放置抓取胶头滴管放入容器中", |
| 101 |
| ], |
| [ |
| "放置抓取辣椒放入盘中", |
| 95 |
| ], |
| [ |
| "放置抓取胶头滴管放入玻璃滴管瓶中", |
| 92 |
| ], |
| [ |
| "放置抓取茄子放入盘中", |
| 85 |
| ], |
| [ |
| "放置抓取笔放入杯子中", |
| 78 |
| ], |
| [ |
| "抓取笔从杯子中拿出", |
| 64 |
| ], |
| [ |
| "放置抓取菱形盘子将放入微波炉中", |
| 55 |
| ], |
| [ |
| "放置抓取锅盖放入锅上", |
| 55 |
| ], |
| [ |
| "放置抓取笔 将放入桌面上", |
| 51 |
| ], |
| [ |
| "放置抓取胡萝卜放入盘子里", |
| 50 |
| ], |
| [ |
| "放置抓取桌子中央灰色的碗放入盘子上", |
| 50 |
| ], |
| [ |
| "放置抓取黄瓜 将放入浅蓝色塑料碗中", |
| 49 |
| ], |
| [ |
| "放置抓取黄瓜 将放入白色塑料筐中", |
| 49 |
| ], |
| [ |
| "放置抓取胡萝卜放入盘子上", |
| 48 |
| ], |
| [ |
| "放置玻璃棒放入装有紫色溶液的玻璃烧杯中搅拌", |
| 45 |
| ], |
| [ |
| "放置抓取面包片放入平底锅上", |
| 42 |
| ], |
| [ |
| "倒入滴管中的黄色液体加入试管中", |
| 42 |
| ], |
| [ |
| "测量用温度计测量试管中的蓝色溶液", |
| 42 |
| ], |
| [ |
| "关闭柜门", |
| 42 |
| ] |
| ] |
| }, |
| "eval_overall": { |
| "count": 3515, |
| "source_breakdown": { |
| "ARX-data": 1792, |
| "droid_lerobot": 1615, |
| "VLABench_5": 58, |
| "libero": 50 |
| }, |
| "quality_breakdown": { |
| "bad": 390, |
| "mix": 1039, |
| "good": 2086 |
| }, |
| "expertise_breakdown": { |
| "nonexpert": 1429, |
| "expert": 2086 |
| }, |
| "ratio_stratum_breakdown": { |
| "ARX-data|bad": 274, |
| "ARX-data|mix": 806, |
| "droid_lerobot|mix": 228, |
| "droid_lerobot|bad": 105, |
| "VLABench_5|mixbad": 8, |
| "libero|mixbad": 8, |
| "ARX-data|good": 712, |
| "droid_lerobot|good": 1282, |
| "VLABench_5|good": 50, |
| "libero|good": 42 |
| }, |
| "source_camera_breakdown": { |
| "ARX-data|observation.images.front": 456, |
| "ARX-data|observation.images.head": 190, |
| "ARX-data|observation.images.wrist": 394, |
| "ARX-data|observation.images.bird": 354, |
| "ARX-data|observation.images.right": 196, |
| "ARX-data|observation.images.left": 202, |
| "droid_lerobot|observation.images.exterior_image_2_left": 642, |
| "droid_lerobot|observation.images.wrist_image_left": 335, |
| "droid_lerobot|observation.images.exterior_image_1_left": 638, |
| "VLABench_5|observation.images.image": 47, |
| "libero|observation.images.image": 42, |
| "libero|observation.images.wrist_image": 8, |
| "VLABench_5|observation.images.wrist_image": 11 |
| }, |
| "action_category_breakdown": { |
| "pick_place": 2374, |
| "multi_step_long_horizon": 159, |
| "deformable_object": 203, |
| "tool_use": 134, |
| "articulated_object": 251, |
| "other": 309, |
| "move_reorient": 85 |
| }, |
| "long_horizon_breakdown": { |
| "single_step": 3356, |
| "long_horizon": 159 |
| }, |
| "task_count": 2573, |
| "top_tasks": [ |
| [ |
| "放置抓取黄色方块放入纸盒中", |
| 2 |
| ], |
| [ |
| "放置抓取黄色方块放入塑料盆中", |
| 2 |
| ], |
| [ |
| "放置抓取黄色方块放入饭锅中", |
| 2 |
| ], |
| [ |
| "放置抓取蓝色方块放入空的快递箱里", |
| 2 |
| ], |
| [ |
| "放置抓取药瓶放入白色托盘里", |
| 2 |
| ], |
| [ |
| "放置鼠标放入白色盆中", |
| 2 |
| ], |
| [ |
| "放置抓取锤子 把它放入白色托盘里", |
| 2 |
| ], |
| [ |
| "放置玉米放入盘子上", |
| 2 |
| ], |
| [ |
| "放置玉米放入碗里", |
| 2 |
| ], |
| [ |
| "放置抓取蓝色方块放入铁盒里", |
| 2 |
| ], |
| [ |
| "放置抓取盘子放入烤箱里", |
| 2 |
| ], |
| [ |
| "放置抓取绿色长方体放入铁盒里", |
| 2 |
| ], |
| [ |
| "抓取三脚架 -> 放置放入盘子里", |
| 2 |
| ], |
| [ |
| "抓取三脚架 -> 放置放入塑料容器中", |
| 2 |
| ], |
| [ |
| "抓取三脚架 -> 放置放入电饭煲的内锅中", |
| 2 |
| ], |
| [ |
| "抓取三脚架 -> 放置放入快递箱中", |
| 2 |
| ], |
| [ |
| "放置充电器放入电饭煲的内锅中", |
| 2 |
| ], |
| [ |
| "放置抓取散热器 将放入快递箱中", |
| 2 |
| ], |
| [ |
| "放置抓取散热器 将放入电饭煲的内锅中", |
| 2 |
| ], |
| [ |
| "放置香蕉皮放入木质托盘里", |
| 2 |
| ] |
| ] |
| }, |
| "buckets": { |
| "test_expert_seen": { |
| "count": 1043, |
| "source_breakdown": { |
| "ARX-data": 356, |
| "droid_lerobot": 641, |
| "VLABench_5": 25, |
| "libero": 21 |
| }, |
| "quality_breakdown": { |
| "good": 1043 |
| }, |
| "expertise_breakdown": { |
| "expert": 1043 |
| }, |
| "ratio_stratum_breakdown": { |
| "ARX-data|good": 356, |
| "droid_lerobot|good": 641, |
| "VLABench_5|good": 25, |
| "libero|good": 21 |
| }, |
| "source_camera_breakdown": { |
| "ARX-data|observation.images.front": 85, |
| "ARX-data|observation.images.wrist": 81, |
| "ARX-data|observation.images.head": 38, |
| "ARX-data|observation.images.bird": 71, |
| "ARX-data|observation.images.left": 41, |
| "ARX-data|observation.images.right": 40, |
| "droid_lerobot|observation.images.exterior_image_1_left": 251, |
| "droid_lerobot|observation.images.exterior_image_2_left": 254, |
| "droid_lerobot|observation.images.wrist_image_left": 136, |
| "VLABench_5|observation.images.image": 20, |
| "VLABench_5|observation.images.wrist_image": 5, |
| "libero|observation.images.image": 18, |
| "libero|observation.images.wrist_image": 3 |
| }, |
| "action_category_breakdown": { |
| "pick_place": 668, |
| "tool_use": 36, |
| "multi_step_long_horizon": 45, |
| "deformable_object": 71, |
| "other": 102, |
| "articulated_object": 86, |
| "move_reorient": 35 |
| }, |
| "long_horizon_breakdown": { |
| "single_step": 998, |
| "long_horizon": 45 |
| }, |
| "task_count": 1043, |
| "top_tasks": [ |
| [ |
| "放置抓取黄色方块放入纸盒中", |
| 1 |
| ], |
| [ |
| "放置抓取红色方块放入饭锅中", |
| 1 |
| ], |
| [ |
| "放置抓取红色方块放入塑料盆中", |
| 1 |
| ], |
| [ |
| "放置抓取黄色方块放入饭锅中", |
| 1 |
| ], |
| [ |
| "放置抓取插座放入纸盒中", |
| 1 |
| ], |
| [ |
| "放置抓取黄色方块放入塑料盆中", |
| 1 |
| ], |
| [ |
| "放置抓取蓝色方块放入空的快递箱里", |
| 1 |
| ], |
| [ |
| "放置抓取蓝色方块放入白色托盘里", |
| 1 |
| ], |
| [ |
| "放置鼠标放入白色盆中", |
| 1 |
| ], |
| [ |
| "放置鼠标放入电饭锅内胆中", |
| 1 |
| ], |
| [ |
| "放置白色文件夹放入棕色箱子", |
| 1 |
| ], |
| [ |
| "放置抓取白色勺子放入透明盆里", |
| 1 |
| ], |
| [ |
| "放置玉米放入电饭煲的内锅里", |
| 1 |
| ], |
| [ |
| "放置玉米放入盘子上", |
| 1 |
| ], |
| [ |
| "放置玉米放入碗里", |
| 1 |
| ], |
| [ |
| "放置抓取锤子 把它放入白色托盘里", |
| 1 |
| ], |
| [ |
| "放置抓取蓝色方块放入铁盒里", |
| 1 |
| ], |
| [ |
| "放置抓取黄色圆柱放入铁盒里", |
| 1 |
| ], |
| [ |
| "放置抓取绿色长方体放入铁盒里", |
| 1 |
| ], |
| [ |
| "放置抓取盘子放入烤箱里", |
| 1 |
| ] |
| ] |
| }, |
| "test_expert_unseen": { |
| "count": 1043, |
| "source_breakdown": { |
| "ARX-data": 356, |
| "droid_lerobot": 641, |
| "libero": 21, |
| "VLABench_5": 25 |
| }, |
| "quality_breakdown": { |
| "good": 1043 |
| }, |
| "expertise_breakdown": { |
| "expert": 1043 |
| }, |
| "ratio_stratum_breakdown": { |
| "ARX-data|good": 356, |
| "droid_lerobot|good": 641, |
| "libero|good": 21, |
| "VLABench_5|good": 25 |
| }, |
| "source_camera_breakdown": { |
| "ARX-data|observation.images.front": 85, |
| "ARX-data|observation.images.right": 40, |
| "droid_lerobot|observation.images.exterior_image_2_left": 254, |
| "ARX-data|observation.images.bird": 71, |
| "droid_lerobot|observation.images.exterior_image_1_left": 251, |
| "ARX-data|observation.images.left": 41, |
| "ARX-data|observation.images.wrist": 81, |
| "ARX-data|observation.images.head": 38, |
| "libero|observation.images.image": 18, |
| "droid_lerobot|observation.images.wrist_image_left": 136, |
| "libero|observation.images.wrist_image": 3, |
| "VLABench_5|observation.images.image": 20, |
| "VLABench_5|observation.images.wrist_image": 5 |
| }, |
| "action_category_breakdown": { |
| "pick_place": 650, |
| "tool_use": 38, |
| "deformable_object": 72, |
| "articulated_object": 82, |
| "other": 105, |
| "multi_step_long_horizon": 61, |
| "move_reorient": 35 |
| }, |
| "long_horizon_breakdown": { |
| "single_step": 982, |
| "long_horizon": 61 |
| }, |
| "task_count": 1043, |
| "top_tasks": [ |
| [ |
| "放置抓取透明胶带放入白箱", |
| 1 |
| ], |
| [ |
| "倒入橡胶头滴管中的溶液滴入最高的细长型玻璃量杯中", |
| 1 |
| ], |
| [ |
| "放置抓取记号笔 把它放入碗里", |
| 1 |
| ], |
| [ |
| "放置抓取玉米放入碗中", |
| 1 |
| ], |
| [ |
| "放置黄色正方体放入盒子里", |
| 1 |
| ], |
| [ |
| "放置玉米放入白色盒子里", |
| 1 |
| ], |
| [ |
| "放置抓取银色物体放入纸箱子中", |
| 1 |
| ], |
| [ |
| "放置抓取勺子放入碗中", |
| 1 |
| ], |
| [ |
| "放置抓取电脑风扇放入黑色黑子里", |
| 1 |
| ], |
| [ |
| "放置抓取量杯放放入纸盒上", |
| 1 |
| ], |
| [ |
| "放置抓取红椒放入电饭锅内胆中", |
| 1 |
| ], |
| [ |
| "放置抓取广口瓶瓶盖 将放入广口瓶上", |
| 1 |
| ], |
| [ |
| "放置抓取土豆放入蓝色盘子中", |
| 1 |
| ], |
| [ |
| "放置抓取鼠标放入箱子中", |
| 1 |
| ], |
| [ |
| "放置抓取海绵将纸团放入桌下垃圾桶", |
| 1 |
| ], |
| [ |
| "放置抓取杯子放入桌子前方", |
| 1 |
| ], |
| [ |
| "倒入滴管中的红色液体加入试管中", |
| 1 |
| ], |
| [ |
| "放置抓取蓝色试管放入木制试管架上", |
| 1 |
| ], |
| [ |
| "倒入溶液从橡胶头滴管滴入玻璃量杯中", |
| 1 |
| ], |
| [ |
| "放置抓取白布放入黑色架子上", |
| 1 |
| ] |
| ] |
| }, |
| "test_nonexpert_seen": { |
| "count": 713, |
| "source_breakdown": { |
| "ARX-data": 540, |
| "droid_lerobot": 165, |
| "VLABench_5": 4, |
| "libero": 4 |
| }, |
| "quality_breakdown": { |
| "bad": 194, |
| "mix": 519 |
| }, |
| "expertise_breakdown": { |
| "nonexpert": 713 |
| }, |
| "ratio_stratum_breakdown": { |
| "ARX-data|bad": 137, |
| "ARX-data|mix": 403, |
| "droid_lerobot|mix": 114, |
| "droid_lerobot|bad": 51, |
| "VLABench_5|mixbad": 4, |
| "libero|mixbad": 4 |
| }, |
| "source_camera_breakdown": { |
| "ARX-data|observation.images.front": 143, |
| "ARX-data|observation.images.head": 57, |
| "ARX-data|observation.images.wrist": 116, |
| "ARX-data|observation.images.bird": 106, |
| "ARX-data|observation.images.right": 58, |
| "ARX-data|observation.images.left": 60, |
| "droid_lerobot|observation.images.exterior_image_2_left": 65, |
| "droid_lerobot|observation.images.wrist_image_left": 30, |
| "droid_lerobot|observation.images.exterior_image_1_left": 70, |
| "VLABench_5|observation.images.image": 4, |
| "libero|observation.images.image": 3, |
| "libero|observation.images.wrist_image": 1 |
| }, |
| "action_category_breakdown": { |
| "pick_place": 531, |
| "multi_step_long_horizon": 20, |
| "deformable_object": 29, |
| "tool_use": 27, |
| "articulated_object": 50, |
| "other": 47, |
| "move_reorient": 9 |
| }, |
| "long_horizon_breakdown": { |
| "single_step": 693, |
| "long_horizon": 20 |
| }, |
| "task_count": 713, |
| "top_tasks": [ |
| [ |
| "放置抓取黄色方块放入纸盒中", |
| 1 |
| ], |
| [ |
| "放置药瓶放入白色托盘里", |
| 1 |
| ], |
| [ |
| "放置塑料瓶放入塑料盆里", |
| 1 |
| ], |
| [ |
| "放置红色立方体放入蓝色立方体上 -> 放置黄色立方体放入红色立方体上", |
| 1 |
| ], |
| [ |
| "放置抓取插座放入白色托盘中", |
| 1 |
| ], |
| [ |
| "放置抓取黄色方块放入塑料盆中", |
| 1 |
| ], |
| [ |
| "放置抓取黄色方块放入饭锅中", |
| 1 |
| ], |
| [ |
| "放置抓取蓝色方块放入空的快递箱里", |
| 1 |
| ], |
| [ |
| "放置抓取插座放入快递箱里", |
| 1 |
| ], |
| [ |
| "放置抓取红色方块放入白色托盘里", |
| 1 |
| ], |
| [ |
| "放置抓取药瓶放入白色托盘里", |
| 1 |
| ], |
| [ |
| "放置鼠标放入棕色箱子", |
| 1 |
| ], |
| [ |
| "放置鼠标放入白色盆中", |
| 1 |
| ], |
| [ |
| "放置鼠标放入透明盆里", |
| 1 |
| ], |
| [ |
| "放置鼠标放入电饭锅内胆里", |
| 1 |
| ], |
| [ |
| "放置带着透明袋子的蓝色桌布放入电饭锅内胆里", |
| 1 |
| ], |
| [ |
| "放置抓取白色勺子放入电饭煲内胆里", |
| 1 |
| ], |
| [ |
| "放置抓取洋葱放入电饭煲内胆里", |
| 1 |
| ], |
| [ |
| "放置抓取白色勺子放入纸箱里", |
| 1 |
| ], |
| [ |
| "放置抓取洋葱放入纸箱里", |
| 1 |
| ] |
| ] |
| }, |
| "test_nonexpert_unseen": { |
| "count": 716, |
| "source_breakdown": { |
| "ARX-data": 540, |
| "droid_lerobot": 168, |
| "libero": 4, |
| "VLABench_5": 4 |
| }, |
| "quality_breakdown": { |
| "mix": 520, |
| "bad": 196 |
| }, |
| "expertise_breakdown": { |
| "nonexpert": 716 |
| }, |
| "ratio_stratum_breakdown": { |
| "ARX-data|mix": 403, |
| "ARX-data|bad": 137, |
| "droid_lerobot|mix": 114, |
| "libero|mixbad": 4, |
| "droid_lerobot|bad": 54, |
| "VLABench_5|mixbad": 4 |
| }, |
| "source_camera_breakdown": { |
| "ARX-data|observation.images.front": 143, |
| "ARX-data|observation.images.left": 60, |
| "droid_lerobot|observation.images.exterior_image_2_left": 69, |
| "ARX-data|observation.images.right": 58, |
| "ARX-data|observation.images.bird": 106, |
| "ARX-data|observation.images.wrist": 116, |
| "ARX-data|observation.images.head": 57, |
| "droid_lerobot|observation.images.exterior_image_1_left": 66, |
| "libero|observation.images.image": 3, |
| "libero|observation.images.wrist_image": 1, |
| "droid_lerobot|observation.images.wrist_image_left": 33, |
| "VLABench_5|observation.images.image": 3, |
| "VLABench_5|observation.images.wrist_image": 1 |
| }, |
| "action_category_breakdown": { |
| "pick_place": 525, |
| "tool_use": 33, |
| "deformable_object": 31, |
| "articulated_object": 33, |
| "other": 55, |
| "multi_step_long_horizon": 33, |
| "move_reorient": 6 |
| }, |
| "long_horizon_breakdown": { |
| "single_step": 683, |
| "long_horizon": 33 |
| }, |
| "task_count": 716, |
| "top_tasks": [ |
| [ |
| "放置抓取透明胶带放入白箱", |
| 1 |
| ], |
| [ |
| "倒入橡胶头滴管中的溶液滴入最高的细长型玻璃量杯中", |
| 1 |
| ], |
| [ |
| "放置抓取记号笔 把它放入碗里", |
| 1 |
| ], |
| [ |
| "放置抓取玉米放入碗中", |
| 1 |
| ], |
| [ |
| "放置黄色正方体放入盒子里", |
| 1 |
| ], |
| [ |
| "放置玉米放入白色盒子里", |
| 1 |
| ], |
| [ |
| "放置抓取银色物体放入纸箱子中", |
| 1 |
| ], |
| [ |
| "放置抓取勺子放入碗中", |
| 1 |
| ], |
| [ |
| "放置抓取电脑风扇放入黑色黑子里", |
| 1 |
| ], |
| [ |
| "放置抓取量杯放放入纸盒上", |
| 1 |
| ], |
| [ |
| "放置抓取红椒放入电饭锅内胆中", |
| 1 |
| ], |
| [ |
| "放置抓取广口瓶瓶盖 将放入广口瓶上", |
| 1 |
| ], |
| [ |
| "放置抓取土豆放入蓝色盘子中", |
| 1 |
| ], |
| [ |
| "放置抓取鼠标放入箱子中", |
| 1 |
| ], |
| [ |
| "放置抓取海绵将纸团放入桌下垃圾桶", |
| 1 |
| ], |
| [ |
| "放置抓取杯子放入桌子前方", |
| 1 |
| ], |
| [ |
| "倒入滴管中的红色液体加入试管中", |
| 1 |
| ], |
| [ |
| "放置抓取蓝色试管放入木制试管架上", |
| 1 |
| ], |
| [ |
| "倒入溶液从橡胶头滴管滴入玻璃量杯中", |
| 1 |
| ], |
| [ |
| "放置抓取白布放入黑色架子上", |
| 1 |
| ] |
| ] |
| } |
| }, |
| "seen_unseen_integrity": { |
| "test_expert_seen": { |
| "tasks_missing_from_train": 0 |
| }, |
| "test_expert_unseen": { |
| "tasks_overlapping_train": 0 |
| }, |
| "test_nonexpert_seen": { |
| "tasks_missing_from_train": 0 |
| }, |
| "test_nonexpert_unseen": { |
| "tasks_overlapping_train": 0 |
| } |
| }, |
| "target_strata": { |
| "seen": { |
| "ARX-data|bad": 137, |
| "ARX-data|good": 356, |
| "ARX-data|mix": 403, |
| "VLABench_5|good": 25, |
| "VLABench_5|mixbad": 4, |
| "droid_lerobot|bad": 54, |
| "droid_lerobot|good": 641, |
| "droid_lerobot|mix": 114, |
| "libero|good": 21, |
| "libero|mixbad": 4 |
| }, |
| "unseen": { |
| "ARX-data|bad": 137, |
| "ARX-data|good": 356, |
| "ARX-data|mix": 403, |
| "VLABench_5|good": 25, |
| "VLABench_5|mixbad": 4, |
| "droid_lerobot|bad": 54, |
| "droid_lerobot|good": 641, |
| "droid_lerobot|mix": 114, |
| "libero|good": 21, |
| "libero|mixbad": 4 |
| } |
| }, |
| "target_metrics": { |
| "seen": { |
| "expert": { |
| "source_camera": { |
| "ARX-data|observation.images.bird": 71, |
| "ARX-data|observation.images.front": 85, |
| "ARX-data|observation.images.head": 38, |
| "ARX-data|observation.images.left": 41, |
| "ARX-data|observation.images.right": 40, |
| "ARX-data|observation.images.wrist": 81, |
| "VLABench_5|observation.images.image": 20, |
| "VLABench_5|observation.images.wrist_image": 5, |
| "droid_lerobot|observation.images.exterior_image_1_left": 251, |
| "droid_lerobot|observation.images.exterior_image_2_left": 254, |
| "droid_lerobot|observation.images.wrist_image_left": 136, |
| "libero|observation.images.image": 18, |
| "libero|observation.images.wrist_image": 3 |
| }, |
| "action_category": { |
| "articulated_object": 86, |
| "deformable_object": 71, |
| "move_reorient": 35, |
| "multi_step_long_horizon": 62, |
| "other": 105, |
| "pick_place": 646, |
| "tool_use": 38 |
| }, |
| "long_horizon": { |
| "long_horizon": 62, |
| "single_step": 981 |
| } |
| }, |
| "nonexpert": { |
| "source_camera": { |
| "ARX-data|observation.images.bird": 106, |
| "ARX-data|observation.images.front": 143, |
| "ARX-data|observation.images.head": 57, |
| "ARX-data|observation.images.left": 60, |
| "ARX-data|observation.images.right": 58, |
| "ARX-data|observation.images.wrist": 117, |
| "VLABench_5|observation.images.image": 3, |
| "VLABench_5|observation.images.wrist_image": 0, |
| "droid_lerobot|observation.images.exterior_image_1_left": 66, |
| "droid_lerobot|observation.images.exterior_image_2_left": 69, |
| "droid_lerobot|observation.images.wrist_image_left": 33, |
| "libero|observation.images.image": 3, |
| "libero|observation.images.wrist_image": 1 |
| }, |
| "action_category": { |
| "articulated_object": 28, |
| "deformable_object": 31, |
| "move_reorient": 6, |
| "multi_step_long_horizon": 33, |
| "other": 55, |
| "pick_place": 530, |
| "tool_use": 33 |
| }, |
| "long_horizon": { |
| "long_horizon": 33, |
| "single_step": 683 |
| } |
| } |
| }, |
| "unseen": { |
| "expert": { |
| "source_camera": { |
| "ARX-data|observation.images.bird": 71, |
| "ARX-data|observation.images.front": 85, |
| "ARX-data|observation.images.head": 38, |
| "ARX-data|observation.images.left": 41, |
| "ARX-data|observation.images.right": 40, |
| "ARX-data|observation.images.wrist": 81, |
| "VLABench_5|observation.images.image": 20, |
| "VLABench_5|observation.images.wrist_image": 5, |
| "droid_lerobot|observation.images.exterior_image_1_left": 251, |
| "droid_lerobot|observation.images.exterior_image_2_left": 254, |
| "droid_lerobot|observation.images.wrist_image_left": 136, |
| "libero|observation.images.image": 18, |
| "libero|observation.images.wrist_image": 3 |
| }, |
| "action_category": { |
| "articulated_object": 86, |
| "deformable_object": 71, |
| "move_reorient": 35, |
| "multi_step_long_horizon": 62, |
| "other": 105, |
| "pick_place": 646, |
| "tool_use": 38 |
| }, |
| "long_horizon": { |
| "long_horizon": 62, |
| "single_step": 981 |
| } |
| }, |
| "nonexpert": { |
| "source_camera": { |
| "ARX-data|observation.images.bird": 106, |
| "ARX-data|observation.images.front": 143, |
| "ARX-data|observation.images.head": 57, |
| "ARX-data|observation.images.left": 60, |
| "ARX-data|observation.images.right": 58, |
| "ARX-data|observation.images.wrist": 117, |
| "VLABench_5|observation.images.image": 3, |
| "VLABench_5|observation.images.wrist_image": 0, |
| "droid_lerobot|observation.images.exterior_image_1_left": 66, |
| "droid_lerobot|observation.images.exterior_image_2_left": 69, |
| "droid_lerobot|observation.images.wrist_image_left": 33, |
| "libero|observation.images.image": 3, |
| "libero|observation.images.wrist_image": 1 |
| }, |
| "action_category": { |
| "articulated_object": 28, |
| "deformable_object": 31, |
| "move_reorient": 6, |
| "multi_step_long_horizon": 33, |
| "other": 55, |
| "pick_place": 530, |
| "tool_use": 33 |
| }, |
| "long_horizon": { |
| "long_horizon": 33, |
| "single_step": 683 |
| } |
| } |
| } |
| }, |
| "task_sets": { |
| "train_tasks": 13996, |
| "seen_tasks": 1363, |
| "unseen_tasks": 1210 |
| } |
| } |
|
|
