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VLAC-Cut-Benchmark

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1
- {
2
- "config": {
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- "dataset_root": "/mnt/t_41/linzhanhui/lerobot_dataset/dataset_ver5",
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- "output_dir": "/mnt/t_41/linzhanhui/lerobot_dataset/dataset_ver5_split",
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- "test_ratio": 0.1,
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- "seen_ratio": 0.5,
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- "seed": 42,
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- "seen_caps": {
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- "good": 3,
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- "mix": 2,
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- "bad": 2
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- },
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- "unseen_caps": {
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- "good": 1,
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- "mix": 1,
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- "bad": 1
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- },
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- "seen_expertise_task_caps": {
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- "expert": 1,
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- "nonexpert": 1
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- },
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- "unseen_expertise_task_caps": {
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- "expert": 1,
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- "nonexpert": 1
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- },
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- "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": {
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- "all_records": 35230,
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- "split_candidate_records": 35180,
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- "forced_train_records": 50,
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- "train_records": 24652,
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- "seen_records": 1756,
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- "unseen_records": 1759,
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- "unseen_task_count": 1210
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- },
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- "stratum_targets": {
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- "requested_seen": {
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- "ARX-data|bad": 137,
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- "ARX-data|good": 356,
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- "VLABench_5|good": 25,
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- "droid_lerobot|good": 641,
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- "libero|good": 21,
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- "libero|mixbad": 4
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- },
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- "requested_unseen": {
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- "ARX-data|bad": 137,
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- "ARX-data|good": 356,
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- "ARX-data|mix": 403,
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- "VLABench_5|good": 25,
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- "VLABench_5|mixbad": 4,
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- "droid_lerobot|bad": 54,
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- "droid_lerobot|good": 641,
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- "droid_lerobot|mix": 114,
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- "libero|good": 21,
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- "libero|mixbad": 4
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- },
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- "final_seen": {
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- "ARX-data|bad": 137,
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- "ARX-data|good": 356,
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- "ARX-data|mix": 403,
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- "VLABench_5|good": 25,
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- "VLABench_5|mixbad": 4,
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- "droid_lerobot|bad": 54,
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- "droid_lerobot|good": 641,
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- "droid_lerobot|mix": 114,
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- "libero|good": 21,
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- "libero|mixbad": 4
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- }
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- },
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- "actual_strata": {
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- "seen": {
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- "ARX-data|bad": 137,
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- "ARX-data|good": 356,
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- "ARX-data|mix": 403,
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- "droid_lerobot|mix": 114,
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- "droid_lerobot|good": 641,
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- "droid_lerobot|bad": 51,
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- "VLABench_5|good": 25,
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- "VLABench_5|mixbad": 4,
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- "libero|good": 21,
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- "libero|mixbad": 4
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- },
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- "unseen": {
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- "ARX-data|good": 356,
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- "ARX-data|bad": 137,
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- "droid_lerobot|good": 641,
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- "droid_lerobot|mix": 114,
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- "libero|good": 21,
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- "droid_lerobot|bad": 54,
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- }
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- },
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- "train": {
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- "libero": 371,
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- "libero_zty50": 50
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- },
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- "quality_breakdown": {
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- "good": 15467,
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- "mix": 6467
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- },
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- "expertise_breakdown": {
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- "expert": 15467,
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- "nonexpert": 9185
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- },
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- "ratio_stratum_breakdown": {
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- "ARX-data|good": 4172,
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- "ARX-data|bad": 1684,
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- "ARX-data|mix": 4501,
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- "droid_lerobot|good": 10610,
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- "droid_lerobot|mix": 1935,
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- "droid_lerobot|bad": 912,
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- "VLABench_5|good": 359,
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- "VLABench_5|mixbad": 58,
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- "libero|good": 313,
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- "libero|mixbad": 58,
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- "libero_zty50|good": 13,
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- "libero_zty50|bad": 37
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- },
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- "source_camera_breakdown": {
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- "ARX-data|observation.images.front": 2949,
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- "ARX-data|observation.images.wrist": 2149,
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- "ARX-data|observation.images.head": 1128,
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- "ARX-data|observation.images.bird": 1994,
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- "ARX-data|observation.images.right": 1045,
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- "ARX-data|observation.images.left": 1092,
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- "droid_lerobot|observation.images.exterior_image_1_left": 5291,
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- "droid_lerobot|observation.images.exterior_image_2_left": 5381,
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- "droid_lerobot|observation.images.wrist_image_left": 2785,
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- "VLABench_5|observation.images.image": 384,
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- "VLABench_5|observation.images.wrist_image": 33,
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- "libero|observation.images.image": 310,
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- },
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- "action_category_breakdown": {
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- "pick_place": 15853,
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- "deformable_object": 1682,
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- "multi_step_long_horizon": 1537,
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- "tool_use": 1012,
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- "other": 2337,
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- "articulated_object": 1520,
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- "move_reorient": 711
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- },
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- "long_horizon_breakdown": {
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- "single_step": 23115,
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- "long_horizon": 1537
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- },
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": {
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- "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
- },
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- "expertise_breakdown": {
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- "nonexpert": 1429,
318
- "expert": 2086
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- },
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- "ratio_stratum_breakdown": {
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- "ARX-data|mix": 806,
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- "droid_lerobot|mix": 228,
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- "droid_lerobot|bad": 105,
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- "VLABench_5|mixbad": 8,
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- "libero|mixbad": 8,
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- "ARX-data|good": 712,
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- "droid_lerobot|good": 1282,
329
- "VLABench_5|good": 50,
330
- "libero|good": 42
331
- },
332
- "source_camera_breakdown": {
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- "ARX-data|observation.images.front": 456,
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- "ARX-data|observation.images.head": 190,
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- "ARX-data|observation.images.wrist": 394,
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- "ARX-data|observation.images.bird": 354,
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- "ARX-data|observation.images.right": 196,
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- "ARX-data|observation.images.left": 202,
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- "droid_lerobot|observation.images.exterior_image_2_left": 642,
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- "droid_lerobot|observation.images.wrist_image_left": 335,
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- "droid_lerobot|observation.images.exterior_image_1_left": 638,
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- "VLABench_5|observation.images.image": 47,
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- "libero|observation.images.image": 42,
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- "libero|observation.images.wrist_image": 8,
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- "VLABench_5|observation.images.wrist_image": 11
346
- },
347
- "action_category_breakdown": {
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- "pick_place": 2374,
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- "multi_step_long_horizon": 159,
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- "deformable_object": 203,
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- "tool_use": 134,
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- "articulated_object": 251,
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- "other": 309,
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- "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
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447
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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": {
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- "expert": 1043
458
- },
459
- "ratio_stratum_breakdown": {
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- "ARX-data|good": 356,
461
- "droid_lerobot|good": 641,
462
- "VLABench_5|good": 25,
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- "libero|good": 21
464
- },
465
- "source_camera_breakdown": {
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470
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- "droid_lerobot|observation.images.exterior_image_1_left": 251,
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- "droid_lerobot|observation.images.exterior_image_2_left": 254,
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- "droid_lerobot|observation.images.wrist_image_left": 136,
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- "VLABench_5|observation.images.image": 20,
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- "libero|observation.images.wrist_image": 3
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- },
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- "action_category_breakdown": {
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- "pick_place": 668,
482
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483
- "multi_step_long_horizon": 45,
484
- "deformable_object": 71,
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486
- "articulated_object": 86,
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- "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
- "libero|mixbad": 4
1017
- }
1018
- },
1019
- "target_metrics": {
1020
- "seen": {
1021
- "expert": {
1022
- "source_camera": {
1023
- "ARX-data|observation.images.bird": 71,
1024
- "ARX-data|observation.images.front": 85,
1025
- "ARX-data|observation.images.head": 38,
1026
- "ARX-data|observation.images.left": 41,
1027
- "ARX-data|observation.images.right": 40,
1028
- "ARX-data|observation.images.wrist": 81,
1029
- "VLABench_5|observation.images.image": 20,
1030
- "VLABench_5|observation.images.wrist_image": 5,
1031
- "droid_lerobot|observation.images.exterior_image_1_left": 251,
1032
- "droid_lerobot|observation.images.exterior_image_2_left": 254,
1033
- "droid_lerobot|observation.images.wrist_image_left": 136,
1034
- "libero|observation.images.image": 18,
1035
- "libero|observation.images.wrist_image": 3
1036
- },
1037
- "action_category": {
1038
- "articulated_object": 86,
1039
- "deformable_object": 71,
1040
- "move_reorient": 35,
1041
- "multi_step_long_horizon": 62,
1042
- "other": 105,
1043
- "pick_place": 646,
1044
- "tool_use": 38
1045
- },
1046
- "long_horizon": {
1047
- "long_horizon": 62,
1048
- "single_step": 981
1049
- }
1050
- },
1051
- "nonexpert": {
1052
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1053
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1054
- "ARX-data|observation.images.front": 143,
1055
- "ARX-data|observation.images.head": 57,
1056
- "ARX-data|observation.images.left": 60,
1057
- "ARX-data|observation.images.right": 58,
1058
- "ARX-data|observation.images.wrist": 117,
1059
- "VLABench_5|observation.images.image": 3,
1060
- "VLABench_5|observation.images.wrist_image": 0,
1061
- "droid_lerobot|observation.images.exterior_image_1_left": 66,
1062
- "droid_lerobot|observation.images.exterior_image_2_left": 69,
1063
- "droid_lerobot|observation.images.wrist_image_left": 33,
1064
- "libero|observation.images.image": 3,
1065
- "libero|observation.images.wrist_image": 1
1066
- },
1067
- "action_category": {
1068
- "articulated_object": 28,
1069
- "deformable_object": 31,
1070
- "move_reorient": 6,
1071
- "multi_step_long_horizon": 33,
1072
- "other": 55,
1073
- "pick_place": 530,
1074
- "tool_use": 33
1075
- },
1076
- "long_horizon": {
1077
- "long_horizon": 33,
1078
- "single_step": 683
1079
- }
1080
- }
1081
- },
1082
- "unseen": {
1083
- "expert": {
1084
- "source_camera": {
1085
- "ARX-data|observation.images.bird": 71,
1086
- "ARX-data|observation.images.front": 85,
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