Add benchmark_json/split_summary.json
Browse files- benchmark_json/split_summary.json +1150 -0
benchmark_json/split_summary.json
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|
| 1 |
+
{
|
| 2 |
+
"config": {
|
| 3 |
+
"dataset_root": "/mnt/t_41/linzhanhui/lerobot_dataset/dataset_ver5",
|
| 4 |
+
"output_dir": "/mnt/t_41/linzhanhui/lerobot_dataset/dataset_ver5_split",
|
| 5 |
+
"test_ratio": 0.1,
|
| 6 |
+
"seen_ratio": 0.5,
|
| 7 |
+
"seed": 42,
|
| 8 |
+
"seen_caps": {
|
| 9 |
+
"good": 3,
|
| 10 |
+
"mix": 2,
|
| 11 |
+
"bad": 2
|
| 12 |
+
},
|
| 13 |
+
"unseen_caps": {
|
| 14 |
+
"good": 1,
|
| 15 |
+
"mix": 1,
|
| 16 |
+
"bad": 1
|
| 17 |
+
},
|
| 18 |
+
"seen_expertise_task_caps": {
|
| 19 |
+
"expert": 1,
|
| 20 |
+
"nonexpert": 1
|
| 21 |
+
},
|
| 22 |
+
"unseen_expertise_task_caps": {
|
| 23 |
+
"expert": 1,
|
| 24 |
+
"nonexpert": 1
|
| 25 |
+
},
|
| 26 |
+
"rules": [
|
| 27 |
+
"seen/unseen 按 semantic_task_id 隔离",
|
| 28 |
+
"expert=good, nonexpert=mix+bad",
|
| 29 |
+
"ARX-data/droid_lerobot 在 seen/unseen 中保持 good/mix/bad 比例近似一致",
|
| 30 |
+
"libero/VLABench_5 在 seen/unseen 中保持 good vs mixbad 比例近似一致",
|
| 31 |
+
"libero_zty50 全部进 train",
|
| 32 |
+
"四个 test bucket 都尽量每个 task 只取 1 条",
|
| 33 |
+
"同时尽量平衡 source_camera/action_category/long_horizon"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"totals": {
|
| 37 |
+
"all_records": 35230,
|
| 38 |
+
"split_candidate_records": 35180,
|
| 39 |
+
"forced_train_records": 50,
|
| 40 |
+
"train_records": 24652,
|
| 41 |
+
"seen_records": 1756,
|
| 42 |
+
"unseen_records": 1759,
|
| 43 |
+
"unseen_task_count": 1210
|
| 44 |
+
},
|
| 45 |
+
"stratum_targets": {
|
| 46 |
+
"requested_seen": {
|
| 47 |
+
"ARX-data|bad": 137,
|
| 48 |
+
"ARX-data|good": 356,
|
| 49 |
+
"ARX-data|mix": 403,
|
| 50 |
+
"VLABench_5|good": 25,
|
| 51 |
+
"VLABench_5|mixbad": 4,
|
| 52 |
+
"droid_lerobot|bad": 54,
|
| 53 |
+
"droid_lerobot|good": 641,
|
| 54 |
+
"droid_lerobot|mix": 114,
|
| 55 |
+
"libero|good": 21,
|
| 56 |
+
"libero|mixbad": 4
|
| 57 |
+
},
|
| 58 |
+
"requested_unseen": {
|
| 59 |
+
"ARX-data|bad": 137,
|
| 60 |
+
"ARX-data|good": 356,
|
| 61 |
+
"ARX-data|mix": 403,
|
| 62 |
+
"VLABench_5|good": 25,
|
| 63 |
+
"VLABench_5|mixbad": 4,
|
| 64 |
+
"droid_lerobot|bad": 54,
|
| 65 |
+
"droid_lerobot|good": 641,
|
| 66 |
+
"droid_lerobot|mix": 114,
|
| 67 |
+
"libero|good": 21,
|
| 68 |
+
"libero|mixbad": 4
|
| 69 |
+
},
|
| 70 |
+
"final_seen": {
|
| 71 |
+
"ARX-data|bad": 137,
|
| 72 |
+
"ARX-data|good": 356,
|
| 73 |
+
"ARX-data|mix": 403,
|
| 74 |
+
"VLABench_5|good": 25,
|
| 75 |
+
"VLABench_5|mixbad": 4,
|
| 76 |
+
"droid_lerobot|bad": 54,
|
| 77 |
+
"droid_lerobot|good": 641,
|
| 78 |
+
"droid_lerobot|mix": 114,
|
| 79 |
+
"libero|good": 21,
|
| 80 |
+
"libero|mixbad": 4
|
| 81 |
+
}
|
| 82 |
+
},
|
| 83 |
+
"actual_strata": {
|
| 84 |
+
"seen": {
|
| 85 |
+
"ARX-data|bad": 137,
|
| 86 |
+
"ARX-data|good": 356,
|
| 87 |
+
"ARX-data|mix": 403,
|
| 88 |
+
"droid_lerobot|mix": 114,
|
| 89 |
+
"droid_lerobot|good": 641,
|
| 90 |
+
"droid_lerobot|bad": 51,
|
| 91 |
+
"VLABench_5|good": 25,
|
| 92 |
+
"VLABench_5|mixbad": 4,
|
| 93 |
+
"libero|good": 21,
|
| 94 |
+
"libero|mixbad": 4
|
| 95 |
+
},
|
| 96 |
+
"unseen": {
|
| 97 |
+
"ARX-data|good": 356,
|
| 98 |
+
"ARX-data|mix": 403,
|
| 99 |
+
"ARX-data|bad": 137,
|
| 100 |
+
"droid_lerobot|good": 641,
|
| 101 |
+
"droid_lerobot|mix": 114,
|
| 102 |
+
"libero|good": 21,
|
| 103 |
+
"libero|mixbad": 4,
|
| 104 |
+
"droid_lerobot|bad": 54,
|
| 105 |
+
"VLABench_5|good": 25,
|
| 106 |
+
"VLABench_5|mixbad": 4
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"train": {
|
| 110 |
+
"count": 24652,
|
| 111 |
+
"source_breakdown": {
|
| 112 |
+
"ARX-data": 10357,
|
| 113 |
+
"droid_lerobot": 13457,
|
| 114 |
+
"VLABench_5": 417,
|
| 115 |
+
"libero": 371,
|
| 116 |
+
"libero_zty50": 50
|
| 117 |
+
},
|
| 118 |
+
"quality_breakdown": {
|
| 119 |
+
"good": 15467,
|
| 120 |
+
"bad": 2718,
|
| 121 |
+
"mix": 6467
|
| 122 |
+
},
|
| 123 |
+
"expertise_breakdown": {
|
| 124 |
+
"expert": 15467,
|
| 125 |
+
"nonexpert": 9185
|
| 126 |
+
},
|
| 127 |
+
"ratio_stratum_breakdown": {
|
| 128 |
+
"ARX-data|good": 4172,
|
| 129 |
+
"ARX-data|bad": 1684,
|
| 130 |
+
"ARX-data|mix": 4501,
|
| 131 |
+
"droid_lerobot|good": 10610,
|
| 132 |
+
"droid_lerobot|mix": 1935,
|
| 133 |
+
"droid_lerobot|bad": 912,
|
| 134 |
+
"VLABench_5|good": 359,
|
| 135 |
+
"VLABench_5|mixbad": 58,
|
| 136 |
+
"libero|good": 313,
|
| 137 |
+
"libero|mixbad": 58,
|
| 138 |
+
"libero_zty50|good": 13,
|
| 139 |
+
"libero_zty50|bad": 37
|
| 140 |
+
},
|
| 141 |
+
"source_camera_breakdown": {
|
| 142 |
+
"ARX-data|observation.images.front": 2949,
|
| 143 |
+
"ARX-data|observation.images.wrist": 2149,
|
| 144 |
+
"ARX-data|observation.images.head": 1128,
|
| 145 |
+
"ARX-data|observation.images.bird": 1994,
|
| 146 |
+
"ARX-data|observation.images.right": 1045,
|
| 147 |
+
"ARX-data|observation.images.left": 1092,
|
| 148 |
+
"droid_lerobot|observation.images.exterior_image_1_left": 5291,
|
| 149 |
+
"droid_lerobot|observation.images.exterior_image_2_left": 5381,
|
| 150 |
+
"droid_lerobot|observation.images.wrist_image_left": 2785,
|
| 151 |
+
"VLABench_5|observation.images.image": 384,
|
| 152 |
+
"VLABench_5|observation.images.wrist_image": 33,
|
| 153 |
+
"libero|observation.images.image": 310,
|
| 154 |
+
"libero|observation.images.wrist_image": 61,
|
| 155 |
+
"libero_zty50|observation.images.Failure1769505651.311186": 1,
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
+
"libero_zty50|observation.images.Success1769503842.1906989": 1,
|
| 195 |
+
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|
| 196 |
+
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|
| 197 |
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|
| 198 |
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|
| 199 |
+
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|
| 200 |
+
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|
| 201 |
+
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|
| 202 |
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|
| 203 |
+
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|
| 204 |
+
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|
| 205 |
+
},
|
| 206 |
+
"action_category_breakdown": {
|
| 207 |
+
"pick_place": 15853,
|
| 208 |
+
"deformable_object": 1682,
|
| 209 |
+
"multi_step_long_horizon": 1537,
|
| 210 |
+
"tool_use": 1012,
|
| 211 |
+
"other": 2337,
|
| 212 |
+
"articulated_object": 1520,
|
| 213 |
+
"move_reorient": 711
|
| 214 |
+
},
|
| 215 |
+
"long_horizon_breakdown": {
|
| 216 |
+
"single_step": 23115,
|
| 217 |
+
"long_horizon": 1537
|
| 218 |
+
},
|
| 219 |
+
"task_count": 13996,
|
| 220 |
+
"top_tasks": [
|
| 221 |
+
[
|
| 222 |
+
"抓取试管硅胶塞到试管里",
|
| 223 |
+
159
|
| 224 |
+
],
|
| 225 |
+
[
|
| 226 |
+
"放置抓取胶头滴管放入容器中",
|
| 227 |
+
101
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
"放置抓取辣椒放入盘中",
|
| 231 |
+
95
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
"放置抓取胶头滴管放入玻璃滴管瓶中",
|
| 235 |
+
92
|
| 236 |
+
],
|
| 237 |
+
[
|
| 238 |
+
"放置抓取茄子放入盘中",
|
| 239 |
+
85
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
"放置抓取笔放入杯子中",
|
| 243 |
+
78
|
| 244 |
+
],
|
| 245 |
+
[
|
| 246 |
+
"抓取笔从杯子中拿出",
|
| 247 |
+
64
|
| 248 |
+
],
|
| 249 |
+
[
|
| 250 |
+
"放置抓取菱形盘子将放入微波炉中",
|
| 251 |
+
55
|
| 252 |
+
],
|
| 253 |
+
[
|
| 254 |
+
"放置抓取锅盖放入锅上",
|
| 255 |
+
55
|
| 256 |
+
],
|
| 257 |
+
[
|
| 258 |
+
"放置抓取笔 将放入桌面上",
|
| 259 |
+
51
|
| 260 |
+
],
|
| 261 |
+
[
|
| 262 |
+
"放置抓取胡萝卜放入盘子里",
|
| 263 |
+
50
|
| 264 |
+
],
|
| 265 |
+
[
|
| 266 |
+
"放置抓取桌子中央灰色的碗放入盘子上",
|
| 267 |
+
50
|
| 268 |
+
],
|
| 269 |
+
[
|
| 270 |
+
"放置抓取黄瓜 将放入浅蓝色塑料碗中",
|
| 271 |
+
49
|
| 272 |
+
],
|
| 273 |
+
[
|
| 274 |
+
"放置抓取黄瓜 将放入白色塑料筐中",
|
| 275 |
+
49
|
| 276 |
+
],
|
| 277 |
+
[
|
| 278 |
+
"放置抓取胡萝卜放入盘子上",
|
| 279 |
+
48
|
| 280 |
+
],
|
| 281 |
+
[
|
| 282 |
+
"放置玻璃棒放入装有紫色溶液的玻璃烧杯中搅拌",
|
| 283 |
+
45
|
| 284 |
+
],
|
| 285 |
+
[
|
| 286 |
+
"放置抓取面包片放入平底锅上",
|
| 287 |
+
42
|
| 288 |
+
],
|
| 289 |
+
[
|
| 290 |
+
"倒入滴管中的黄色液体加入试管中",
|
| 291 |
+
42
|
| 292 |
+
],
|
| 293 |
+
[
|
| 294 |
+
"测量用温度计测量试管中的蓝色溶液",
|
| 295 |
+
42
|
| 296 |
+
],
|
| 297 |
+
[
|
| 298 |
+
"关闭柜门",
|
| 299 |
+
42
|
| 300 |
+
]
|
| 301 |
+
]
|
| 302 |
+
},
|
| 303 |
+
"eval_overall": {
|
| 304 |
+
"count": 3515,
|
| 305 |
+
"source_breakdown": {
|
| 306 |
+
"ARX-data": 1792,
|
| 307 |
+
"droid_lerobot": 1615,
|
| 308 |
+
"VLABench_5": 58,
|
| 309 |
+
"libero": 50
|
| 310 |
+
},
|
| 311 |
+
"quality_breakdown": {
|
| 312 |
+
"bad": 390,
|
| 313 |
+
"mix": 1039,
|
| 314 |
+
"good": 2086
|
| 315 |
+
},
|
| 316 |
+
"expertise_breakdown": {
|
| 317 |
+
"nonexpert": 1429,
|
| 318 |
+
"expert": 2086
|
| 319 |
+
},
|
| 320 |
+
"ratio_stratum_breakdown": {
|
| 321 |
+
"ARX-data|bad": 274,
|
| 322 |
+
"ARX-data|mix": 806,
|
| 323 |
+
"droid_lerobot|mix": 228,
|
| 324 |
+
"droid_lerobot|bad": 105,
|
| 325 |
+
"VLABench_5|mixbad": 8,
|
| 326 |
+
"libero|mixbad": 8,
|
| 327 |
+
"ARX-data|good": 712,
|
| 328 |
+
"droid_lerobot|good": 1282,
|
| 329 |
+
"VLABench_5|good": 50,
|
| 330 |
+
"libero|good": 42
|
| 331 |
+
},
|
| 332 |
+
"source_camera_breakdown": {
|
| 333 |
+
"ARX-data|observation.images.front": 456,
|
| 334 |
+
"ARX-data|observation.images.head": 190,
|
| 335 |
+
"ARX-data|observation.images.wrist": 394,
|
| 336 |
+
"ARX-data|observation.images.bird": 354,
|
| 337 |
+
"ARX-data|observation.images.right": 196,
|
| 338 |
+
"ARX-data|observation.images.left": 202,
|
| 339 |
+
"droid_lerobot|observation.images.exterior_image_2_left": 642,
|
| 340 |
+
"droid_lerobot|observation.images.wrist_image_left": 335,
|
| 341 |
+
"droid_lerobot|observation.images.exterior_image_1_left": 638,
|
| 342 |
+
"VLABench_5|observation.images.image": 47,
|
| 343 |
+
"libero|observation.images.image": 42,
|
| 344 |
+
"libero|observation.images.wrist_image": 8,
|
| 345 |
+
"VLABench_5|observation.images.wrist_image": 11
|
| 346 |
+
},
|
| 347 |
+
"action_category_breakdown": {
|
| 348 |
+
"pick_place": 2374,
|
| 349 |
+
"multi_step_long_horizon": 159,
|
| 350 |
+
"deformable_object": 203,
|
| 351 |
+
"tool_use": 134,
|
| 352 |
+
"articulated_object": 251,
|
| 353 |
+
"other": 309,
|
| 354 |
+
"move_reorient": 85
|
| 355 |
+
},
|
| 356 |
+
"long_horizon_breakdown": {
|
| 357 |
+
"single_step": 3356,
|
| 358 |
+
"long_horizon": 159
|
| 359 |
+
},
|
| 360 |
+
"task_count": 2573,
|
| 361 |
+
"top_tasks": [
|
| 362 |
+
[
|
| 363 |
+
"放置抓取黄色方块放入纸盒中",
|
| 364 |
+
2
|
| 365 |
+
],
|
| 366 |
+
[
|
| 367 |
+
"放置抓取黄色方块放入塑料盆中",
|
| 368 |
+
2
|
| 369 |
+
],
|
| 370 |
+
[
|
| 371 |
+
"放置抓取黄色方块放入饭锅中",
|
| 372 |
+
2
|
| 373 |
+
],
|
| 374 |
+
[
|
| 375 |
+
"放置抓取蓝色方块放入空的快递箱里",
|
| 376 |
+
2
|
| 377 |
+
],
|
| 378 |
+
[
|
| 379 |
+
"放置抓取药瓶放入白色托盘里",
|
| 380 |
+
2
|
| 381 |
+
],
|
| 382 |
+
[
|
| 383 |
+
"放置鼠标放入白色盆中",
|
| 384 |
+
2
|
| 385 |
+
],
|
| 386 |
+
[
|
| 387 |
+
"放置抓取锤子 把它放入白色托盘里",
|
| 388 |
+
2
|
| 389 |
+
],
|
| 390 |
+
[
|
| 391 |
+
"放置玉米放入盘子上",
|
| 392 |
+
2
|
| 393 |
+
],
|
| 394 |
+
[
|
| 395 |
+
"放置玉米放入碗里",
|
| 396 |
+
2
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
"放置抓取蓝色方块放入铁盒里",
|
| 400 |
+
2
|
| 401 |
+
],
|
| 402 |
+
[
|
| 403 |
+
"放置抓取盘子放入烤箱里",
|
| 404 |
+
2
|
| 405 |
+
],
|
| 406 |
+
[
|
| 407 |
+
"放置抓取绿色长方体放入铁盒里",
|
| 408 |
+
2
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
"抓取三脚架 -> 放置放入盘子里",
|
| 412 |
+
2
|
| 413 |
+
],
|
| 414 |
+
[
|
| 415 |
+
"抓取三脚架 -> 放置放入塑料容器中",
|
| 416 |
+
2
|
| 417 |
+
],
|
| 418 |
+
[
|
| 419 |
+
"抓取三脚架 -> 放置放入电饭煲的内锅中",
|
| 420 |
+
2
|
| 421 |
+
],
|
| 422 |
+
[
|
| 423 |
+
"抓取三脚架 -> 放置放入快递箱中",
|
| 424 |
+
2
|
| 425 |
+
],
|
| 426 |
+
[
|
| 427 |
+
"放置充电器放入电饭煲的内锅中",
|
| 428 |
+
2
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
"放置抓取散热器 将放入快递箱中",
|
| 432 |
+
2
|
| 433 |
+
],
|
| 434 |
+
[
|
| 435 |
+
"放置抓取散热器 将放入电饭煲的内锅中",
|
| 436 |
+
2
|
| 437 |
+
],
|
| 438 |
+
[
|
| 439 |
+
"放置香蕉皮放入木质托盘里",
|
| 440 |
+
2
|
| 441 |
+
]
|
| 442 |
+
]
|
| 443 |
+
},
|
| 444 |
+
"buckets": {
|
| 445 |
+
"test_expert_seen": {
|
| 446 |
+
"count": 1043,
|
| 447 |
+
"source_breakdown": {
|
| 448 |
+
"ARX-data": 356,
|
| 449 |
+
"droid_lerobot": 641,
|
| 450 |
+
"VLABench_5": 25,
|
| 451 |
+
"libero": 21
|
| 452 |
+
},
|
| 453 |
+
"quality_breakdown": {
|
| 454 |
+
"good": 1043
|
| 455 |
+
},
|
| 456 |
+
"expertise_breakdown": {
|
| 457 |
+
"expert": 1043
|
| 458 |
+
},
|
| 459 |
+
"ratio_stratum_breakdown": {
|
| 460 |
+
"ARX-data|good": 356,
|
| 461 |
+
"droid_lerobot|good": 641,
|
| 462 |
+
"VLABench_5|good": 25,
|
| 463 |
+
"libero|good": 21
|
| 464 |
+
},
|
| 465 |
+
"source_camera_breakdown": {
|
| 466 |
+
"ARX-data|observation.images.front": 85,
|
| 467 |
+
"ARX-data|observation.images.wrist": 81,
|
| 468 |
+
"ARX-data|observation.images.head": 38,
|
| 469 |
+
"ARX-data|observation.images.bird": 71,
|
| 470 |
+
"ARX-data|observation.images.left": 41,
|
| 471 |
+
"ARX-data|observation.images.right": 40,
|
| 472 |
+
"droid_lerobot|observation.images.exterior_image_1_left": 251,
|
| 473 |
+
"droid_lerobot|observation.images.exterior_image_2_left": 254,
|
| 474 |
+
"droid_lerobot|observation.images.wrist_image_left": 136,
|
| 475 |
+
"VLABench_5|observation.images.image": 20,
|
| 476 |
+
"VLABench_5|observation.images.wrist_image": 5,
|
| 477 |
+
"libero|observation.images.image": 18,
|
| 478 |
+
"libero|observation.images.wrist_image": 3
|
| 479 |
+
},
|
| 480 |
+
"action_category_breakdown": {
|
| 481 |
+
"pick_place": 668,
|
| 482 |
+
"tool_use": 36,
|
| 483 |
+
"multi_step_long_horizon": 45,
|
| 484 |
+
"deformable_object": 71,
|
| 485 |
+
"other": 102,
|
| 486 |
+
"articulated_object": 86,
|
| 487 |
+
"move_reorient": 35
|
| 488 |
+
},
|
| 489 |
+
"long_horizon_breakdown": {
|
| 490 |
+
"single_step": 998,
|
| 491 |
+
"long_horizon": 45
|
| 492 |
+
},
|
| 493 |
+
"task_count": 1043,
|
| 494 |
+
"top_tasks": [
|
| 495 |
+
[
|
| 496 |
+
"放置抓取黄色方块放入纸盒中",
|
| 497 |
+
1
|
| 498 |
+
],
|
| 499 |
+
[
|
| 500 |
+
"放置抓取红色方块放入饭锅中",
|
| 501 |
+
1
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
"放置抓取红色方块放入塑料盆中",
|
| 505 |
+
1
|
| 506 |
+
],
|
| 507 |
+
[
|
| 508 |
+
"放置抓取黄色方块放入饭锅中",
|
| 509 |
+
1
|
| 510 |
+
],
|
| 511 |
+
[
|
| 512 |
+
"放置抓取插座放入纸盒中",
|
| 513 |
+
1
|
| 514 |
+
],
|
| 515 |
+
[
|
| 516 |
+
"放置抓取黄色方块放入塑料盆中",
|
| 517 |
+
1
|
| 518 |
+
],
|
| 519 |
+
[
|
| 520 |
+
"放置抓取蓝色方块放入空的快递箱里",
|
| 521 |
+
1
|
| 522 |
+
],
|
| 523 |
+
[
|
| 524 |
+
"放置抓取蓝色方块放入白色托盘里",
|
| 525 |
+
1
|
| 526 |
+
],
|
| 527 |
+
[
|
| 528 |
+
"放置鼠标放入白色盆中",
|
| 529 |
+
1
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
"放置鼠标放入电饭锅内胆中",
|
| 533 |
+
1
|
| 534 |
+
],
|
| 535 |
+
[
|
| 536 |
+
"放置白色文件夹放入棕色箱子",
|
| 537 |
+
1
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
"放置抓取白色勺子放入透明盆里",
|
| 541 |
+
1
|
| 542 |
+
],
|
| 543 |
+
[
|
| 544 |
+
"放置玉米放入电饭煲的内锅里",
|
| 545 |
+
1
|
| 546 |
+
],
|
| 547 |
+
[
|
| 548 |
+
"放置玉米放入盘子上",
|
| 549 |
+
1
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
"放置玉米放入碗里",
|
| 553 |
+
1
|
| 554 |
+
],
|
| 555 |
+
[
|
| 556 |
+
"放置抓取锤子 把它放入白色托盘里",
|
| 557 |
+
1
|
| 558 |
+
],
|
| 559 |
+
[
|
| 560 |
+
"放置抓取蓝色方块放入铁盒里",
|
| 561 |
+
1
|
| 562 |
+
],
|
| 563 |
+
[
|
| 564 |
+
"放置抓取黄色圆柱放入铁盒里",
|
| 565 |
+
1
|
| 566 |
+
],
|
| 567 |
+
[
|
| 568 |
+
"放置抓取绿色长方体放入铁盒里",
|
| 569 |
+
1
|
| 570 |
+
],
|
| 571 |
+
[
|
| 572 |
+
"放置抓取盘子放入烤箱里",
|
| 573 |
+
1
|
| 574 |
+
]
|
| 575 |
+
]
|
| 576 |
+
},
|
| 577 |
+
"test_expert_unseen": {
|
| 578 |
+
"count": 1043,
|
| 579 |
+
"source_breakdown": {
|
| 580 |
+
"ARX-data": 356,
|
| 581 |
+
"droid_lerobot": 641,
|
| 582 |
+
"libero": 21,
|
| 583 |
+
"VLABench_5": 25
|
| 584 |
+
},
|
| 585 |
+
"quality_breakdown": {
|
| 586 |
+
"good": 1043
|
| 587 |
+
},
|
| 588 |
+
"expertise_breakdown": {
|
| 589 |
+
"expert": 1043
|
| 590 |
+
},
|
| 591 |
+
"ratio_stratum_breakdown": {
|
| 592 |
+
"ARX-data|good": 356,
|
| 593 |
+
"droid_lerobot|good": 641,
|
| 594 |
+
"libero|good": 21,
|
| 595 |
+
"VLABench_5|good": 25
|
| 596 |
+
},
|
| 597 |
+
"source_camera_breakdown": {
|
| 598 |
+
"ARX-data|observation.images.front": 85,
|
| 599 |
+
"ARX-data|observation.images.right": 40,
|
| 600 |
+
"droid_lerobot|observation.images.exterior_image_2_left": 254,
|
| 601 |
+
"ARX-data|observation.images.bird": 71,
|
| 602 |
+
"droid_lerobot|observation.images.exterior_image_1_left": 251,
|
| 603 |
+
"ARX-data|observation.images.left": 41,
|
| 604 |
+
"ARX-data|observation.images.wrist": 81,
|
| 605 |
+
"ARX-data|observation.images.head": 38,
|
| 606 |
+
"libero|observation.images.image": 18,
|
| 607 |
+
"droid_lerobot|observation.images.wrist_image_left": 136,
|
| 608 |
+
"libero|observation.images.wrist_image": 3,
|
| 609 |
+
"VLABench_5|observation.images.image": 20,
|
| 610 |
+
"VLABench_5|observation.images.wrist_image": 5
|
| 611 |
+
},
|
| 612 |
+
"action_category_breakdown": {
|
| 613 |
+
"pick_place": 650,
|
| 614 |
+
"tool_use": 38,
|
| 615 |
+
"deformable_object": 72,
|
| 616 |
+
"articulated_object": 82,
|
| 617 |
+
"other": 105,
|
| 618 |
+
"multi_step_long_horizon": 61,
|
| 619 |
+
"move_reorient": 35
|
| 620 |
+
},
|
| 621 |
+
"long_horizon_breakdown": {
|
| 622 |
+
"single_step": 982,
|
| 623 |
+
"long_horizon": 61
|
| 624 |
+
},
|
| 625 |
+
"task_count": 1043,
|
| 626 |
+
"top_tasks": [
|
| 627 |
+
[
|
| 628 |
+
"放置抓取透明胶带放入白箱",
|
| 629 |
+
1
|
| 630 |
+
],
|
| 631 |
+
[
|
| 632 |
+
"倒入橡胶头滴管中的溶液滴入最高的细长型玻璃量杯中",
|
| 633 |
+
1
|
| 634 |
+
],
|
| 635 |
+
[
|
| 636 |
+
"放置抓取记号笔 把它放入碗里",
|
| 637 |
+
1
|
| 638 |
+
],
|
| 639 |
+
[
|
| 640 |
+
"放置抓取玉米放入碗中",
|
| 641 |
+
1
|
| 642 |
+
],
|
| 643 |
+
[
|
| 644 |
+
"放置黄色正方体放入盒子里",
|
| 645 |
+
1
|
| 646 |
+
],
|
| 647 |
+
[
|
| 648 |
+
"放置玉米放入白色盒子里",
|
| 649 |
+
1
|
| 650 |
+
],
|
| 651 |
+
[
|
| 652 |
+
"放置抓取银色物体放入纸箱子中",
|
| 653 |
+
1
|
| 654 |
+
],
|
| 655 |
+
[
|
| 656 |
+
"放置抓取勺子放入碗中",
|
| 657 |
+
1
|
| 658 |
+
],
|
| 659 |
+
[
|
| 660 |
+
"放置抓取电脑风扇放入黑色黑子里",
|
| 661 |
+
1
|
| 662 |
+
],
|
| 663 |
+
[
|
| 664 |
+
"放置抓取量杯放放入纸盒上",
|
| 665 |
+
1
|
| 666 |
+
],
|
| 667 |
+
[
|
| 668 |
+
"放置抓取红椒放入电饭锅内胆中",
|
| 669 |
+
1
|
| 670 |
+
],
|
| 671 |
+
[
|
| 672 |
+
"放置抓取广口瓶瓶盖 将放入广口瓶上",
|
| 673 |
+
1
|
| 674 |
+
],
|
| 675 |
+
[
|
| 676 |
+
"放置抓取土豆放入蓝色盘子中",
|
| 677 |
+
1
|
| 678 |
+
],
|
| 679 |
+
[
|
| 680 |
+
"放置抓取鼠标放入箱子中",
|
| 681 |
+
1
|
| 682 |
+
],
|
| 683 |
+
[
|
| 684 |
+
"放置抓取海绵将纸团放入桌下垃圾桶",
|
| 685 |
+
1
|
| 686 |
+
],
|
| 687 |
+
[
|
| 688 |
+
"放置抓取杯子放入桌子前方",
|
| 689 |
+
1
|
| 690 |
+
],
|
| 691 |
+
[
|
| 692 |
+
"倒入滴管中的红色液体加入试管中",
|
| 693 |
+
1
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
"放置抓取蓝色试管放入木制试管架上",
|
| 697 |
+
1
|
| 698 |
+
],
|
| 699 |
+
[
|
| 700 |
+
"倒入溶液从橡胶头滴管滴入玻璃量杯中",
|
| 701 |
+
1
|
| 702 |
+
],
|
| 703 |
+
[
|
| 704 |
+
"放置抓取白布放入黑色架子上",
|
| 705 |
+
1
|
| 706 |
+
]
|
| 707 |
+
]
|
| 708 |
+
},
|
| 709 |
+
"test_nonexpert_seen": {
|
| 710 |
+
"count": 713,
|
| 711 |
+
"source_breakdown": {
|
| 712 |
+
"ARX-data": 540,
|
| 713 |
+
"droid_lerobot": 165,
|
| 714 |
+
"VLABench_5": 4,
|
| 715 |
+
"libero": 4
|
| 716 |
+
},
|
| 717 |
+
"quality_breakdown": {
|
| 718 |
+
"bad": 194,
|
| 719 |
+
"mix": 519
|
| 720 |
+
},
|
| 721 |
+
"expertise_breakdown": {
|
| 722 |
+
"nonexpert": 713
|
| 723 |
+
},
|
| 724 |
+
"ratio_stratum_breakdown": {
|
| 725 |
+
"ARX-data|bad": 137,
|
| 726 |
+
"ARX-data|mix": 403,
|
| 727 |
+
"droid_lerobot|mix": 114,
|
| 728 |
+
"droid_lerobot|bad": 51,
|
| 729 |
+
"VLABench_5|mixbad": 4,
|
| 730 |
+
"libero|mixbad": 4
|
| 731 |
+
},
|
| 732 |
+
"source_camera_breakdown": {
|
| 733 |
+
"ARX-data|observation.images.front": 143,
|
| 734 |
+
"ARX-data|observation.images.head": 57,
|
| 735 |
+
"ARX-data|observation.images.wrist": 116,
|
| 736 |
+
"ARX-data|observation.images.bird": 106,
|
| 737 |
+
"ARX-data|observation.images.right": 58,
|
| 738 |
+
"ARX-data|observation.images.left": 60,
|
| 739 |
+
"droid_lerobot|observation.images.exterior_image_2_left": 65,
|
| 740 |
+
"droid_lerobot|observation.images.wrist_image_left": 30,
|
| 741 |
+
"droid_lerobot|observation.images.exterior_image_1_left": 70,
|
| 742 |
+
"VLABench_5|observation.images.image": 4,
|
| 743 |
+
"libero|observation.images.image": 3,
|
| 744 |
+
"libero|observation.images.wrist_image": 1
|
| 745 |
+
},
|
| 746 |
+
"action_category_breakdown": {
|
| 747 |
+
"pick_place": 531,
|
| 748 |
+
"multi_step_long_horizon": 20,
|
| 749 |
+
"deformable_object": 29,
|
| 750 |
+
"tool_use": 27,
|
| 751 |
+
"articulated_object": 50,
|
| 752 |
+
"other": 47,
|
| 753 |
+
"move_reorient": 9
|
| 754 |
+
},
|
| 755 |
+
"long_horizon_breakdown": {
|
| 756 |
+
"single_step": 693,
|
| 757 |
+
"long_horizon": 20
|
| 758 |
+
},
|
| 759 |
+
"task_count": 713,
|
| 760 |
+
"top_tasks": [
|
| 761 |
+
[
|
| 762 |
+
"放置抓取黄色方块放入纸盒中",
|
| 763 |
+
1
|
| 764 |
+
],
|
| 765 |
+
[
|
| 766 |
+
"放置药瓶放入白色托盘里",
|
| 767 |
+
1
|
| 768 |
+
],
|
| 769 |
+
[
|
| 770 |
+
"放置塑料瓶放入塑料盆里",
|
| 771 |
+
1
|
| 772 |
+
],
|
| 773 |
+
[
|
| 774 |
+
"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",
|
| 775 |
+
1
|
| 776 |
+
],
|
| 777 |
+
[
|
| 778 |
+
"放置抓取插座放入白色托盘中",
|
| 779 |
+
1
|
| 780 |
+
],
|
| 781 |
+
[
|
| 782 |
+
"放置抓取黄色方块放入塑料盆中",
|
| 783 |
+
1
|
| 784 |
+
],
|
| 785 |
+
[
|
| 786 |
+
"放置抓取黄色方块放入饭锅中",
|
| 787 |
+
1
|
| 788 |
+
],
|
| 789 |
+
[
|
| 790 |
+
"放置抓取蓝色方块放入空的快递箱里",
|
| 791 |
+
1
|
| 792 |
+
],
|
| 793 |
+
[
|
| 794 |
+
"放置抓取插座放入快递箱里",
|
| 795 |
+
1
|
| 796 |
+
],
|
| 797 |
+
[
|
| 798 |
+
"放置抓取红色方块放入白色托盘里",
|
| 799 |
+
1
|
| 800 |
+
],
|
| 801 |
+
[
|
| 802 |
+
"放置抓取药瓶放入白色托盘里",
|
| 803 |
+
1
|
| 804 |
+
],
|
| 805 |
+
[
|
| 806 |
+
"放置鼠标放入棕色箱子",
|
| 807 |
+
1
|
| 808 |
+
],
|
| 809 |
+
[
|
| 810 |
+
"放置鼠标放入白色盆中",
|
| 811 |
+
1
|
| 812 |
+
],
|
| 813 |
+
[
|
| 814 |
+
"放置鼠标放入透明盆里",
|
| 815 |
+
1
|
| 816 |
+
],
|
| 817 |
+
[
|
| 818 |
+
"放置鼠标放入电饭锅内胆里",
|
| 819 |
+
1
|
| 820 |
+
],
|
| 821 |
+
[
|
| 822 |
+
"放置带着透明袋子的蓝色桌布放入电饭锅内胆里",
|
| 823 |
+
1
|
| 824 |
+
],
|
| 825 |
+
[
|
| 826 |
+
"放置抓取白色勺子放入电饭煲内胆里",
|
| 827 |
+
1
|
| 828 |
+
],
|
| 829 |
+
[
|
| 830 |
+
"放置抓取洋葱放入电饭煲内胆里",
|
| 831 |
+
1
|
| 832 |
+
],
|
| 833 |
+
[
|
| 834 |
+
"放置抓取白色勺子放入纸箱里",
|
| 835 |
+
1
|
| 836 |
+
],
|
| 837 |
+
[
|
| 838 |
+
"放置抓取洋葱放入纸箱里",
|
| 839 |
+
1
|
| 840 |
+
]
|
| 841 |
+
]
|
| 842 |
+
},
|
| 843 |
+
"test_nonexpert_unseen": {
|
| 844 |
+
"count": 716,
|
| 845 |
+
"source_breakdown": {
|
| 846 |
+
"ARX-data": 540,
|
| 847 |
+
"droid_lerobot": 168,
|
| 848 |
+
"libero": 4,
|
| 849 |
+
"VLABench_5": 4
|
| 850 |
+
},
|
| 851 |
+
"quality_breakdown": {
|
| 852 |
+
"mix": 520,
|
| 853 |
+
"bad": 196
|
| 854 |
+
},
|
| 855 |
+
"expertise_breakdown": {
|
| 856 |
+
"nonexpert": 716
|
| 857 |
+
},
|
| 858 |
+
"ratio_stratum_breakdown": {
|
| 859 |
+
"ARX-data|mix": 403,
|
| 860 |
+
"ARX-data|bad": 137,
|
| 861 |
+
"droid_lerobot|mix": 114,
|
| 862 |
+
"libero|mixbad": 4,
|
| 863 |
+
"droid_lerobot|bad": 54,
|
| 864 |
+
"VLABench_5|mixbad": 4
|
| 865 |
+
},
|
| 866 |
+
"source_camera_breakdown": {
|
| 867 |
+
"ARX-data|observation.images.front": 143,
|
| 868 |
+
"ARX-data|observation.images.left": 60,
|
| 869 |
+
"droid_lerobot|observation.images.exterior_image_2_left": 69,
|
| 870 |
+
"ARX-data|observation.images.right": 58,
|
| 871 |
+
"ARX-data|observation.images.bird": 106,
|
| 872 |
+
"ARX-data|observation.images.wrist": 116,
|
| 873 |
+
"ARX-data|observation.images.head": 57,
|
| 874 |
+
"droid_lerobot|observation.images.exterior_image_1_left": 66,
|
| 875 |
+
"libero|observation.images.image": 3,
|
| 876 |
+
"libero|observation.images.wrist_image": 1,
|
| 877 |
+
"droid_lerobot|observation.images.wrist_image_left": 33,
|
| 878 |
+
"VLABench_5|observation.images.image": 3,
|
| 879 |
+
"VLABench_5|observation.images.wrist_image": 1
|
| 880 |
+
},
|
| 881 |
+
"action_category_breakdown": {
|
| 882 |
+
"pick_place": 525,
|
| 883 |
+
"tool_use": 33,
|
| 884 |
+
"deformable_object": 31,
|
| 885 |
+
"articulated_object": 33,
|
| 886 |
+
"other": 55,
|
| 887 |
+
"multi_step_long_horizon": 33,
|
| 888 |
+
"move_reorient": 6
|
| 889 |
+
},
|
| 890 |
+
"long_horizon_breakdown": {
|
| 891 |
+
"single_step": 683,
|
| 892 |
+
"long_horizon": 33
|
| 893 |
+
},
|
| 894 |
+
"task_count": 716,
|
| 895 |
+
"top_tasks": [
|
| 896 |
+
[
|
| 897 |
+
"放置抓取透明胶带放入白箱",
|
| 898 |
+
1
|
| 899 |
+
],
|
| 900 |
+
[
|
| 901 |
+
"倒入橡胶头滴管中的溶液滴入最高的细长型玻璃量杯中",
|
| 902 |
+
1
|
| 903 |
+
],
|
| 904 |
+
[
|
| 905 |
+
"放置抓取记号笔 把它放入碗里",
|
| 906 |
+
1
|
| 907 |
+
],
|
| 908 |
+
[
|
| 909 |
+
"放置抓取玉米放入碗中",
|
| 910 |
+
1
|
| 911 |
+
],
|
| 912 |
+
[
|
| 913 |
+
"放置黄色正方体放入盒子里",
|
| 914 |
+
1
|
| 915 |
+
],
|
| 916 |
+
[
|
| 917 |
+
"放置玉米放入白色盒子里",
|
| 918 |
+
1
|
| 919 |
+
],
|
| 920 |
+
[
|
| 921 |
+
"放置抓取银色物体放入纸箱子中",
|
| 922 |
+
1
|
| 923 |
+
],
|
| 924 |
+
[
|
| 925 |
+
"放置抓取勺子放入碗中",
|
| 926 |
+
1
|
| 927 |
+
],
|
| 928 |
+
[
|
| 929 |
+
"放置抓取电脑风扇放入黑色黑子里",
|
| 930 |
+
1
|
| 931 |
+
],
|
| 932 |
+
[
|
| 933 |
+
"放置抓取量杯放放入纸盒上",
|
| 934 |
+
1
|
| 935 |
+
],
|
| 936 |
+
[
|
| 937 |
+
"放置抓取红椒放入电饭锅内胆中",
|
| 938 |
+
1
|
| 939 |
+
],
|
| 940 |
+
[
|
| 941 |
+
"放置抓取广口瓶瓶盖 将放入广口瓶上",
|
| 942 |
+
1
|
| 943 |
+
],
|
| 944 |
+
[
|
| 945 |
+
"放置抓取土豆放入蓝色盘子中",
|
| 946 |
+
1
|
| 947 |
+
],
|
| 948 |
+
[
|
| 949 |
+
"放置抓取鼠标放入箱子中",
|
| 950 |
+
1
|
| 951 |
+
],
|
| 952 |
+
[
|
| 953 |
+
"放置抓取海绵将纸团放入桌下垃圾桶",
|
| 954 |
+
1
|
| 955 |
+
],
|
| 956 |
+
[
|
| 957 |
+
"放置抓取杯子放入桌子前方",
|
| 958 |
+
1
|
| 959 |
+
],
|
| 960 |
+
[
|
| 961 |
+
"倒入滴管中的红色液体加入试管中",
|
| 962 |
+
1
|
| 963 |
+
],
|
| 964 |
+
[
|
| 965 |
+
"放置抓取蓝色试管放入木制试管架上",
|
| 966 |
+
1
|
| 967 |
+
],
|
| 968 |
+
[
|
| 969 |
+
"倒入溶液从橡胶头滴管滴入玻璃量杯中",
|
| 970 |
+
1
|
| 971 |
+
],
|
| 972 |
+
[
|
| 973 |
+
"放置抓取白布放入黑色架子上",
|
| 974 |
+
1
|
| 975 |
+
]
|
| 976 |
+
]
|
| 977 |
+
}
|
| 978 |
+
},
|
| 979 |
+
"seen_unseen_integrity": {
|
| 980 |
+
"test_expert_seen": {
|
| 981 |
+
"tasks_missing_from_train": 0
|
| 982 |
+
},
|
| 983 |
+
"test_expert_unseen": {
|
| 984 |
+
"tasks_overlapping_train": 0
|
| 985 |
+
},
|
| 986 |
+
"test_nonexpert_seen": {
|
| 987 |
+
"tasks_missing_from_train": 0
|
| 988 |
+
},
|
| 989 |
+
"test_nonexpert_unseen": {
|
| 990 |
+
"tasks_overlapping_train": 0
|
| 991 |
+
}
|
| 992 |
+
},
|
| 993 |
+
"target_strata": {
|
| 994 |
+
"seen": {
|
| 995 |
+
"ARX-data|bad": 137,
|
| 996 |
+
"ARX-data|good": 356,
|
| 997 |
+
"ARX-data|mix": 403,
|
| 998 |
+
"VLABench_5|good": 25,
|
| 999 |
+
"VLABench_5|mixbad": 4,
|
| 1000 |
+
"droid_lerobot|bad": 54,
|
| 1001 |
+
"droid_lerobot|good": 641,
|
| 1002 |
+
"droid_lerobot|mix": 114,
|
| 1003 |
+
"libero|good": 21,
|
| 1004 |
+
"libero|mixbad": 4
|
| 1005 |
+
},
|
| 1006 |
+
"unseen": {
|
| 1007 |
+
"ARX-data|bad": 137,
|
| 1008 |
+
"ARX-data|good": 356,
|
| 1009 |
+
"ARX-data|mix": 403,
|
| 1010 |
+
"VLABench_5|good": 25,
|
| 1011 |
+
"VLABench_5|mixbad": 4,
|
| 1012 |
+
"droid_lerobot|bad": 54,
|
| 1013 |
+
"droid_lerobot|good": 641,
|
| 1014 |
+
"droid_lerobot|mix": 114,
|
| 1015 |
+
"libero|good": 21,
|
| 1016 |
+
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| 1020 |
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| 1022 |
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| 1024 |
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| 1035 |
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| 1036 |
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| 1045 |
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| 1049 |
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| 1050 |
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| 1051 |
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| 1053 |
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| 1058 |
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| 1059 |
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| 1060 |
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| 1061 |
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| 1062 |
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| 1064 |
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| 1065 |
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| 1066 |
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| 1067 |
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| 1069 |
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| 1070 |
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| 1071 |
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| 1072 |
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| 1073 |
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| 1074 |
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| 1075 |
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| 1076 |
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| 1077 |
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| 1078 |
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| 1079 |
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|
| 1080 |
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}
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| 1081 |
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|
| 1082 |
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|
| 1083 |
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| 1084 |
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| 1085 |
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| 1086 |
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| 1087 |
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|
| 1088 |
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| 1089 |
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| 1090 |
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| 1091 |
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| 1092 |
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| 1093 |
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| 1094 |
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| 1095 |
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| 1096 |
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| 1097 |
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| 1098 |
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| 1099 |
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| 1100 |
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| 1101 |
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| 1102 |
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| 1103 |
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| 1105 |
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| 1106 |
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| 1107 |
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| 1108 |
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| 1110 |
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| 1111 |
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| 1112 |
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| 1113 |
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| 1114 |
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| 1115 |
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|
| 1116 |
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| 1117 |
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| 1118 |
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| 1119 |
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| 1120 |
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|
| 1121 |
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| 1122 |
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| 1123 |
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| 1124 |
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| 1126 |
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| 1127 |
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|
| 1128 |
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| 1129 |
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| 1130 |
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| 1131 |
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| 1132 |
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| 1133 |
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| 1134 |
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| 1135 |
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| 1136 |
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| 1137 |
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| 1138 |
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| 1139 |
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|
| 1140 |
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| 1141 |
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| 1142 |
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| 1143 |
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| 1144 |
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|
| 1145 |
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|
| 1146 |
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| 1147 |
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| 1148 |
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| 1149 |
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|
| 1150 |
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}
|