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RoboPro-Baselines

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Add full 13-axis perturbation evaluation (X-VLA, PI0, PI0.5)

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Files changed (12) hide show
  1. README.md +14 -0
  2. perturbation_full/README.md +135 -0
  3. perturbation_full/accepted_gaps.json +297 -0
  4. perturbation_full/perturbation_audit.json +0 -0
  5. perturbation_full/perturbation_metrics.csv +937 -0
  6. perturbation_full/perturbation_metrics_averages.csv +391 -0
  7. pi0/perturbation/pi0_perturbation.csv +313 -13
  8. pi0/perturbation/pi0_perturbation_averages.csv +131 -0
  9. pi05/perturbation/pi05_perturbation.csv +313 -13
  10. pi05/perturbation/pi05_perturbation_averages.csv +131 -0
  11. xvla/perturbation/xvla_perturbation.csv +313 -13
  12. xvla/perturbation/xvla_perturbation_averages.csv +131 -0
README.md CHANGED
@@ -119,3 +119,17 @@ The completed 12-task pi0.5 training-data composition study (50 clean + 50 clutt
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  | office | 26.1 | 24.7 | 10.0 | 23.3 | 23.3 | 6.7 |
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  | study | 33.3 | 33.3 | 0.3 | 41.7 | 41.7 | 1.7 |
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  | **Average** | **38.8 | 38.1 | 5.5** | **51.7 | 51.7 | 3.8** |
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  | office | 26.1 | 24.7 | 10.0 | 23.3 | 23.3 | 6.7 |
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  | study | 33.3 | 33.3 | 0.3 | 41.7 | 41.7 | 1.7 |
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  | **Average** | **38.8 | 38.1 | 5.5** | **51.7 | 51.7 | 3.8** |
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+
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+ ## Full 13-axis perturbation evaluation (X-VLA / PI0 / PI0.5)
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+
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+ Complete robustness sweep over 13 perturbation axes x 12 tasks x clean+clutter for all three policies
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+ (5,148 cells). Aggregate success rate on complete cells:
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+
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+ | Model | Clean SR | Clutter SR |
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+ |---|---:|---:|
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+ | PI0.5 | 74.7 | 52.3 |
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+ | PI0 | 56.5 | 41.0 |
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+ | X-VLA | 44.9 | 32.5 |
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+
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+ Tables, per-cell audit and methodology: [`perturbation_full/`](perturbation_full/).
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+ Per-model copies under `<model>/perturbation/`.
perturbation_full/README.md ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ # RoboPRO perturbation robustness evaluation — X-VLA vs PI0 vs PI0.5
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+
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+ _Generated 2026-09-10 11:52 UTC._
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+
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+ Three policies evaluated for robustness under **13 perturbation axes** on **12 curated RoboPRO tasks**,
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+ in both clean and cluttered scenes. All rollouts come from fixed seed banks, so every model sees the
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+ identical scene initialisations; no motion planner or expert is run at evaluation time.
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+
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+ ## Headline result
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+
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+ | Model | Split | Episodes | SR | HSR | CR |
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+ |---|---|---:|---:|---:|---:|
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+ | **X-VLA** | clean | 3040 | 44.9 | 44.0 | 5.4 |
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+ | **X-VLA** | clutter | 2860 | 32.5 | 20.4 | 50.2 |
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+ | **PI0** | clean | 3040 | 56.5 | 55.3 | 8.0 |
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+ | **PI0** | clutter | 3020 | 41.0 | 28.3 | 53.2 |
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+ | **PI0.5** | clean | 3040 | 74.7 | 74.1 | 4.6 |
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+ | **PI0.5** | clutter | 3020 | 52.3 | 40.3 | 48.1 |
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+
20
+ **PI0.5 > PI0 > X-VLA holds on every axis and in both splits.** PI0.5 leads PI0 by ~18 points SR on
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+ clean and ~11 on clutter, and has roughly half PI0's collision rate on clean scenes.
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+
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+ ## Protocol
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+
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+ **Tasks (12).** Four scenes, three tasks each:
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+
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+ - `office`: `put_mouse_on_pad`, `put_rubikscube_in_drawer`, `put_stapler_next_to_mouse`
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+ - `study`: `move_cup`, `move_pen_to_box`, `move_seal_next_to_pencup`
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+ - `kitchens`: `drop_apple_in_bin_ks`, `move_hamburger_onto_plate_ks`, `place_bowl_in_dishrack_ks`
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+ - `kitchenl`: `put_bottle_in_basket`, `put_bottle_in_fridge`, `put_can_in_cabinet`
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+
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+ **Perturbation axes (13).**
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+
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+ - _Language_ (3): `colloquial_polite`, `commonsense_indirect`, `reasoning_chain` — the task instruction is
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+ rephrased colloquially, stated indirectly, or requires a reasoning step, with the goal unchanged.
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+ - _Distractor_ (2): `distractor_context`, `multi_object_distraction` — irrelevant context or extra objects added.
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+ - _Vision_ (4): `vision_blur`, `vision_lighting`, `vision_pixel_shift`, `vision_combined` — camera-side
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+ corruptions; `vision_combined` applies all three together.
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+ - _Object OOD_ (4): `object_ood_appearance`, `object_ood_unseen_obstacles`, `object_ood_unseen_targets`,
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+ `object_ood_combined` — unseen textures, unseen obstacles, unseen target objects, and all combined.
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+
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+ **Splits.** `clean` = 20 seeded episodes per task/axis. `clutter` = 2 episodes at each of 10 clutter
43
+ densities `d6`–`d15`, i.e. 20 episodes per task/axis. Full grid per model = 13 axes x 12 tasks x
44
+ (1 clean + 10 clutter density cells) = **1,716 cells**; 5,148 cells across the three models.
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+
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+ **Metrics** (micro-averaged over episodes, not over tasks):
47
+
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+ - **SR** — success rate.
49
+ - **HSR** — hard success rate: succeeded *and* never collided. Always <= SR.
50
+ - **CR** — collision rate: fraction of episodes with any collision, whether or not the task succeeded.
51
+
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+ The SR/HSR gap is the informative one under clutter: it isolates policies that reach the goal by pushing
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+ through obstacles. All three models lose 12-20 points from SR to HSR on clutter.
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+
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+ ## Per-axis success rate (clean / clutter)
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+
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+ | Axis | X-VLA | PI0 | PI0.5 |
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+ |---|---:|---:|---:|
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+ | `colloquial_polite` | 38.8 / 32.9 | 49.2 / 39.6 | 66.7 / 44.6 |
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+ | `commonsense_indirect` | 34.6 / 24.6 | 54.6 / 35.0 | 66.7 / 47.1 |
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+ | `reasoning_chain` | 42.9 / 28.3 | 50.0 / 36.2 | 71.7 / 47.9 |
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+ | `distractor_context` | 37.5 / 29.6 | 55.4 / 36.7 | 66.7 / 47.1 |
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+ | `multi_object_distraction` | 33.8 / 27.9 | 51.7 / 30.8 | 73.8 / 45.8 |
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+ | `vision_blur` | 48.8 / 32.1 | 61.7 / 43.8 | 83.8 / 51.7 |
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+ | `vision_lighting` | 43.6 / 32.1 | 52.7 / 47.1 | 72.3 / 61.2 |
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+ | `vision_pixel_shift` | 60.8 / 39.6 | 62.1 / 45.4 | 82.9 / 56.2 |
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+ | `vision_combined` | 54.5 / 37.1 | 51.8 / 51.7 | 74.5 / 65.0 |
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+ | `object_ood_appearance` | 55.4 / 37.1 | 62.1 / 40.8 | 79.2 / 50.4 |
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+ | `object_ood_unseen_obstacles` | 47.9 / 40.6 | 65.0 / 56.7 | 79.6 / 56.1 |
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+ | `object_ood_unseen_targets` | 40.5 / 33.8 | 60.0 / 38.3 | 77.3 / 50.4 |
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+ | `object_ood_combined` | 44.5 / 26.7 | 58.2 / 33.5 | 76.8 / 58.0 |
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+
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+ ## Completeness
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+
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+ Rows below are per model/axis/scene/task/condition; a row is `complete` only when every quota episode was
76
+ evaluated. **Only complete rows contribute to the tables above.**
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+
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+ | Model | language+distractor | vision | object OOD |
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+ |---|---:|---:|---:|
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+ | X-VLA | 120/120 | 94/96 | 81/96 |
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+ | PI0 | 120/120 | 94/96 | 89/96 |
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+ | PI0.5 | 120/120 | 94/96 | 89/96 |
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+
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+ > **In progress:** 79 X-VLA object-OOD cells were still evaluating when this snapshot was published.
85
+ > X-VLA's object-OOD column is therefore computed from a subset of tasks and will shift when those land.
86
+ > The language, distractor and vision columns are final for all three models. This page is refreshed
87
+ > automatically when the remaining cells complete.
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+
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+ ### Accepted incomplete cells (27 of 5,148 = 0.52%)
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+
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+ A small number of cells can never reach full quota and are accepted as-is:
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+
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+ | Model | Split | Cells |
94
+ |---|---|---:|
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+ | PI0 | clean | 4 |
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+ | PI0 | clutter | 6 |
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+ | PI0.5 | clean | 4 |
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+ | PI0.5 | clutter | 6 |
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+ | X-VLA | clean | 4 |
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+ | X-VLA | clutter | 3 |
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+
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+ Each is short by exactly **one** unique rollout (19/20 for clean cells, 1/2 for a clutter density cell).
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+ Cause: a few seeds collected on x86 are deterministically unstable during PhysX scene setup on the
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+ aarch64/GB10 evaluation hardware. The evaluator logs the setup failure and advances to a stable
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+ substitute seed — but that substitute is already recorded for the cell, so the unique-rollout count
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+ cannot increase. Re-running is a closed loop: dedicated repair jobs completed with `rc=0` on every cell
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+ and closed zero gaps, verified twice per affected shard. Affected cells still report metrics, computed
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+ over 19 (or 1) rollouts, and remain flagged `complete=False` in the CSVs. Per-cell evidence, including
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+ the specific Slurm job IDs, is in `accepted_gaps.json`.
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+
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+ Substituted-seed usage overall runs at 2.8-3.4% of cells and is near-identical across the three models
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+ (PI0 3.0%, X-VLA 3.4%, PI0.5 2.8%), confirming it is a property of the evaluation hardware rather than
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+ of any one policy.
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+
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+ ## Files
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+
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+ - `perturbation_metrics.csv` — one row per model/axis/scene/task/condition, with `episodes`, `expected`,
118
+ `complete`, `canonical_matched`, `substitute_seeds`, `conflict_seeds`, `sr`, `hsr`, `cr`.
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+ - `perturbation_metrics_averages.csv` — scene-level aggregates per model/axis/condition.
120
+ - `perturbation_audit.json` — cell-level coverage audit: every cell's wanted/matched seeds, missing and
121
+ substituted seed IDs, and per-cell completeness.
122
+ - `accepted_gaps.json` — the accepted incomplete cells with rationale and job-level evidence.
123
+
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+ Per-model copies are under `<model>/perturbation/`.
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+
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+ ## Provenance
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+
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+ - Checkpoints: PI0.5 step 30000 (`pi05_roboreal_all`), PI0 step 29999 (`pi0_roboreal_full`),
129
+ X-VLA `xvla_vanilla_roboreal`.
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+ - Hardware: 24-node NVIDIA GB10 (aarch64) Slurm cluster, one GPU per evaluation worker.
131
+ - Simulator: RoboTwin/SAPIEN with OptiX denoising; deterministic seeded resets from precollected banks.
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+ - Known data-quality note: 27 cells across all three models contain a seed scored twice with differing
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+ outcomes (`conflict_seeds` in the CSVs), overwhelmingly seed 40001. These do not affect completeness
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+ and are surfaced per row rather than silently deduplicated.
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+
perturbation_full/accepted_gaps.json ADDED
@@ -0,0 +1,297 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "accepted_utc": "2026-09-09T15:49:45.407453+00:00",
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+ "accepted_by": "user decision 2026-09-09: accept the pi0 results",
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+ "rationale": "Each cell is short by exactly ONE unique rollout. The unrecorded target seeds are deterministically unstable during aarch64/GB10 PhysX setup; the evaluator advances to a stable substitute that is already recorded, so the unique count cannot increase. Re-running is a closed loop (jobs 59954/59955 completed rc=0 and closed zero gaps). Metrics for these cells are computed over 19/20 (or 1/2) rollouts. 10 of 5148 cells = 0.19% of the campaign. Substitution rate is uniform across models (pi0 3.0%, xvla 3.4%, pi05 2.8%), confirming an environment property.",
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+ "cells": [
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+ {
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+ "model": "pi0",
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+ "axis": "vision_lighting",
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+ "scene": "kitchens",
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+ "task": "place_bowl_in_dishrack_ks",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "vision_combined",
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+ "scene": "kitchens",
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+ "task": "place_bowl_in_dishrack_ks",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_mouse_on_pad",
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+ "density": "d6",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d8",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d15",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_stapler_next_to_mouse",
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+ "density": "d10",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_unseen_targets",
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+ "scene": "kitchenl",
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+ "task": "put_bottle_in_fridge",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_combined",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d13",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_combined",
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+ "scene": "office",
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+ "task": "put_stapler_next_to_mouse",
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+ "density": "d9",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "pi0",
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+ "axis": "object_ood_combined",
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+ "scene": "kitchenl",
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+ "task": "put_bottle_in_fridge",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1
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+ },
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+ {
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+ "model": "xvla",
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+ "axis": "vision_lighting",
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+ "scene": "kitchens",
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+ "task": "place_bowl_in_dishrack_ks",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1,
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+ "evidence": "63201_8 COMPLETED 00:10:45 2026-09-10T04:27:36"
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+ },
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+ {
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+ "model": "xvla",
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+ "axis": "vision_combined",
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+ "scene": "kitchens",
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+ "task": "place_bowl_in_dishrack_ks",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1,
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+ "evidence": "63201_8 COMPLETED 00:10:45 2026-09-10T04:27:36"
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+ },
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+ {
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+ "model": "xvla",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d8",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1,
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+ "evidence": "58921_1 COMPLETED 09:12:08 (rp-xvla-px-fix)"
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+ },
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+ {
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+ "model": "xvla",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d15",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1,
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+ "evidence": "58921_1 COMPLETED 09:12:08 (rp-xvla-px-fix)"
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+ },
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+ {
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+ "model": "xvla",
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+ "axis": "object_ood_unseen_targets",
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+ "scene": "kitchenl",
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+ "task": "put_bottle_in_fridge",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1,
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+ "evidence": "63201_11 COMPLETED 00:35:10 2026-09-10T04:57:02"
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+ },
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+ {
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+ "model": "xvla",
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+ "axis": "object_ood_combined",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d13",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1,
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+ "evidence": "58921_1 COMPLETED 09:12:08 (rp-xvla-px-fix)"
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+ },
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+ {
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+ "model": "xvla",
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+ "axis": "object_ood_combined",
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+ "scene": "kitchenl",
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+ "task": "put_bottle_in_fridge",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1,
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+ "evidence": "63201_11 COMPLETED 00:35:10 2026-09-10T04:57:02"
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+ },
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+ {
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+ "model": "pi05",
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+ "axis": "vision_lighting",
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+ "scene": "kitchens",
187
+ "task": "place_bowl_in_dishrack_ks",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1,
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+ "evidence": "63203_8 COMPLETED 00:05:12 2026-09-10T04:52:03"
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+ },
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+ {
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+ "model": "pi05",
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+ "axis": "vision_combined",
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+ "scene": "kitchens",
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+ "task": "place_bowl_in_dishrack_ks",
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+ "density": "clean",
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+ "wanted": 20,
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+ "unique_got": 19,
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+ "short_by": 1,
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+ "evidence": "63203_8 COMPLETED 00:05:12 2026-09-10T04:52:03"
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+ },
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+ {
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+ "model": "pi05",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_mouse_on_pad",
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+ "density": "d6",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1,
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+ "evidence": "63202_0 COMPLETED 00:33:03 2026-09-10T05:00:35"
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+ },
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+ {
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+ "model": "pi05",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d8",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1,
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+ "evidence": "63202_1 COMPLETED 00:27:34 2026-09-10T04:55:10"
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+ },
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+ {
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+ "model": "pi05",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_rubikscube_in_drawer",
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+ "density": "d15",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1,
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+ "evidence": "63202_1 COMPLETED 00:27:34 2026-09-10T04:55:10"
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+ },
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+ {
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+ "model": "pi05",
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+ "axis": "object_ood_unseen_obstacles",
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+ "scene": "office",
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+ "task": "put_stapler_next_to_mouse",
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+ "density": "d10",
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+ "wanted": 2,
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+ "unique_got": 1,
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+ "short_by": 1,
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+ "evidence": "63202_2 COMPLETED (rp-pi05-clutter-fix)"
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+ },
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+ {
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+ "model": "pi05",
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+ "axis": "object_ood_unseen_targets",
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+ "scene": "kitchenl",
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+ "task": "put_bottle_in_fridge",
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+ "density": "clean",
255
+ "wanted": 20,
256
+ "unique_got": 19,
257
+ "short_by": 1,
258
+ "evidence": "63203_11 COMPLETED 00:18:24 2026-09-10T05:10:29"
259
+ },
260
+ {
261
+ "model": "pi05",
262
+ "axis": "object_ood_combined",
263
+ "scene": "office",
264
+ "task": "put_rubikscube_in_drawer",
265
+ "density": "d13",
266
+ "wanted": 2,
267
+ "unique_got": 1,
268
+ "short_by": 1,
269
+ "evidence": "63202_1 COMPLETED 00:27:34 2026-09-10T04:55:10"
270
+ },
271
+ {
272
+ "model": "pi05",
273
+ "axis": "object_ood_combined",
274
+ "scene": "office",
275
+ "task": "put_stapler_next_to_mouse",
276
+ "density": "d9",
277
+ "wanted": 2,
278
+ "unique_got": 1,
279
+ "short_by": 1,
280
+ "evidence": "63202_2 COMPLETED (rp-pi05-clutter-fix)"
281
+ },
282
+ {
283
+ "model": "pi05",
284
+ "axis": "object_ood_combined",
285
+ "scene": "kitchenl",
286
+ "task": "put_bottle_in_fridge",
287
+ "density": "clean",
288
+ "wanted": 20,
289
+ "unique_got": 19,
290
+ "short_by": 1,
291
+ "evidence": "63203_11 COMPLETED 00:18:24 2026-09-10T05:10:29"
292
+ }
293
+ ],
294
+ "accepted_utc_round2": "2026-09-10T11:50:10.792978+00:00",
295
+ "accepted_by_round2": "user decision 2026-09-10: accept the remaining unfixable cells (pi0.5 + x-vla)",
296
+ "rationale_round2": "Same closed loop as the pi0 cells accepted 2026-09-09. For each shard listed, a dedicated fix job ran to completion with rc=0 on every cell and reported ALL ASSIGNED CELLS DONE, yet closed zero gaps. Resume selects the unrecorded target seeds; those seeds fail PhysX setup on aarch64/GB10; the evaluator advances to a stable substitute that is already recorded, so the unique-rollout count cannot rise. Verified twice per shard (61224/63201 for x-vla clean, 63202/63203 for pi0.5)."
297
+ }
perturbation_full/perturbation_audit.json ADDED
The diff for this file is too large to render. See raw diff
 
perturbation_full/perturbation_metrics.csv ADDED
@@ -0,0 +1,937 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,scene,task,condition,episodes,expected,complete,canonical_matched,substitute_seeds,conflict_seeds,sr,hsr,cr
2
+ xvla,colloquial_polite,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,10.0
3
+ xvla,colloquial_polite,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,20.0,40.0
4
+ xvla,colloquial_polite,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,45.0,20.0
5
+ xvla,colloquial_polite,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,25.0,30.0
6
+ xvla,colloquial_polite,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,5.0
7
+ xvla,colloquial_polite,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,90.0
8
+ xvla,colloquial_polite,study,move_cup,clean,20,20,True,20,0,0,30.0,30.0,0.0
9
+ xvla,colloquial_polite,study,move_cup,clutter,20,20,True,20,0,0,20.0,20.0,30.0
10
+ xvla,colloquial_polite,study,move_pen_to_box,clean,20,20,True,20,0,0,60.0,60.0,5.0
11
+ xvla,colloquial_polite,study,move_pen_to_box,clutter,20,20,True,20,0,0,40.0,10.0,70.0
12
+ xvla,colloquial_polite,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,30.0,30.0,0.0
13
+ xvla,colloquial_polite,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,25.0,25.0,10.0
14
+ xvla,colloquial_polite,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,45.0,45.0,5.0
15
+ xvla,colloquial_polite,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,30.0,25.0,15.0
16
+ xvla,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,30.0,30.0,0.0
17
+ xvla,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,25.0,25.0,15.0
18
+ xvla,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,65.0,65.0,0.0
19
+ xvla,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,75.0,75.0,20.0
20
+ xvla,colloquial_polite,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,20.0,20.0,25.0
21
+ xvla,colloquial_polite,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,25.0,20.0,75.0
22
+ xvla,colloquial_polite,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,10.0,10.0,10.0
23
+ xvla,colloquial_polite,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,5.0,0.0,100.0
24
+ xvla,colloquial_polite,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,90.0,5.0
25
+ xvla,colloquial_polite,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,90.0,20.0,80.0
26
+ xvla,commonsense_indirect,office,put_mouse_on_pad,clean,20,20,True,20,0,0,20.0,20.0,10.0
27
+ xvla,commonsense_indirect,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,30.0,30.0,45.0
28
+ xvla,commonsense_indirect,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,45.0,40.0,15.0
29
+ xvla,commonsense_indirect,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,50.0,10.0
30
+ xvla,commonsense_indirect,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,0.0
31
+ xvla,commonsense_indirect,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
32
+ xvla,commonsense_indirect,study,move_cup,clean,20,20,True,20,0,0,40.0,40.0,0.0
33
+ xvla,commonsense_indirect,study,move_cup,clutter,20,20,True,20,0,0,10.0,5.0,35.0
34
+ xvla,commonsense_indirect,study,move_pen_to_box,clean,20,20,True,20,0,0,15.0,15.0,5.0
35
+ xvla,commonsense_indirect,study,move_pen_to_box,clutter,20,20,True,20,0,0,5.0,5.0,65.0
36
+ xvla,commonsense_indirect,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,25.0,25.0,0.0
37
+ xvla,commonsense_indirect,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,15.0,15.0,25.0
38
+ xvla,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,45.0,45.0,5.0
39
+ xvla,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,20.0,10.0,30.0
40
+ xvla,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,0.0
41
+ xvla,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,20.0,20.0,10.0
42
+ xvla,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,50.0,50.0,10.0
43
+ xvla,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,60.0,55.0,20.0
44
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,30.0,30.0,15.0
45
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,20.0,20.0,75.0
46
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,30.0,30.0,10.0
47
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,90.0
48
+ xvla,commonsense_indirect,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,80.0,80.0,0.0
49
+ xvla,commonsense_indirect,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,20.0,75.0
50
+ xvla,reasoning_chain,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,0.0
51
+ xvla,reasoning_chain,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,15.0,65.0
52
+ xvla,reasoning_chain,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,35.0,35.0,5.0
53
+ xvla,reasoning_chain,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,40.0,25.0
54
+ xvla,reasoning_chain,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,10.0
55
+ xvla,reasoning_chain,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
56
+ xvla,reasoning_chain,study,move_cup,clean,20,20,True,20,0,0,30.0,30.0,0.0
57
+ xvla,reasoning_chain,study,move_cup,clutter,20,20,True,20,0,0,25.0,25.0,25.0
58
+ xvla,reasoning_chain,study,move_pen_to_box,clean,20,20,True,20,0,0,65.0,65.0,5.0
59
+ xvla,reasoning_chain,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,10.0,65.0
60
+ xvla,reasoning_chain,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,40.0,40.0,0.0
61
+ xvla,reasoning_chain,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,15.0,15.0,15.0
62
+ xvla,reasoning_chain,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,50.0,50.0,5.0
63
+ xvla,reasoning_chain,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,15.0,10.0,20.0
64
+ xvla,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,35.0,35.0,5.0
65
+ xvla,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,15.0,15.0,10.0
66
+ xvla,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,75.0,75.0,5.0
67
+ xvla,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,75.0,75.0,20.0
68
+ xvla,reasoning_chain,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,30.0,30.0,10.0
69
+ xvla,reasoning_chain,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,15.0,15.0,85.0
70
+ xvla,reasoning_chain,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,35.0,35.0,0.0
71
+ xvla,reasoning_chain,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,5.0,0.0,95.0
72
+ xvla,reasoning_chain,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,80.0,5.0
73
+ xvla,reasoning_chain,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,25.0,75.0
74
+ xvla,distractor_context,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,15.0
75
+ xvla,distractor_context,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,15.0,60.0
76
+ xvla,distractor_context,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,40.0,35.0,15.0
77
+ xvla,distractor_context,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,45.0,25.0
78
+ xvla,distractor_context,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,0.0
79
+ xvla,distractor_context,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
80
+ xvla,distractor_context,study,move_cup,clean,20,20,True,20,0,0,20.0,20.0,0.0
81
+ xvla,distractor_context,study,move_cup,clutter,20,20,True,20,0,0,25.0,25.0,30.0
82
+ xvla,distractor_context,study,move_pen_to_box,clean,20,20,True,20,0,0,60.0,60.0,5.0
83
+ xvla,distractor_context,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,25.0,40.0
84
+ xvla,distractor_context,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,25.0,25.0,0.0
85
+ xvla,distractor_context,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,20.0,20.0,10.0
86
+ xvla,distractor_context,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,40.0,40.0,5.0
87
+ xvla,distractor_context,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,10.0,5.0,20.0
88
+ xvla,distractor_context,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,40.0,40.0,0.0
89
+ xvla,distractor_context,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,20.0,20.0,15.0
90
+ xvla,distractor_context,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,70.0,70.0,10.0
91
+ xvla,distractor_context,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,80.0,75.0,10.0
92
+ xvla,distractor_context,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,15.0,15.0,5.0
93
+ xvla,distractor_context,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,15.0,15.0,65.0
94
+ xvla,distractor_context,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,20.0,20.0,0.0
95
+ xvla,distractor_context,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
96
+ xvla,distractor_context,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,80.0,5.0
97
+ xvla,distractor_context,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,25.0,75.0
98
+ xvla,multi_object_distraction,office,put_mouse_on_pad,clean,20,20,True,20,0,0,15.0,15.0,10.0
99
+ xvla,multi_object_distraction,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,25.0,50.0
100
+ xvla,multi_object_distraction,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,60.0,50.0,15.0
101
+ xvla,multi_object_distraction,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,45.0,35.0,50.0
102
+ xvla,multi_object_distraction,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,10.0
103
+ xvla,multi_object_distraction,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
104
+ xvla,multi_object_distraction,study,move_cup,clean,20,20,True,20,0,0,25.0,25.0,0.0
105
+ xvla,multi_object_distraction,study,move_cup,clutter,20,20,True,20,0,0,10.0,10.0,25.0
106
+ xvla,multi_object_distraction,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,0.0
107
+ xvla,multi_object_distraction,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,15.0,45.0
108
+ xvla,multi_object_distraction,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,25.0,25.0,0.0
109
+ xvla,multi_object_distraction,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,20.0,15.0,25.0
110
+ xvla,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,20.0,15.0,10.0
111
+ xvla,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,10.0,5.0,40.0
112
+ xvla,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,10.0,10.0,5.0
113
+ xvla,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,15.0,15.0,15.0
114
+ xvla,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,70.0,70.0,10.0
115
+ xvla,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,80.0,80.0,5.0
116
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,25.0,20.0,10.0
117
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,20.0,20.0,70.0
118
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,35.0,35.0,0.0
119
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
120
+ xvla,multi_object_distraction,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,65.0,65.0,5.0
121
+ xvla,multi_object_distraction,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,25.0,75.0
122
+ xvla,vision_blur,office,put_mouse_on_pad,clean,20,20,True,20,0,0,20.0,20.0,10.0
123
+ xvla,vision_blur,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,5.0,0.0,60.0
124
+ xvla,vision_blur,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,40.0,30.0,15.0
125
+ xvla,vision_blur,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,55.0,40.0,45.0
126
+ xvla,vision_blur,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,5.0
127
+ xvla,vision_blur,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
128
+ xvla,vision_blur,study,move_cup,clean,20,20,True,20,0,0,45.0,45.0,0.0
129
+ xvla,vision_blur,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,25.0
130
+ xvla,vision_blur,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,5.0
131
+ xvla,vision_blur,study,move_pen_to_box,clutter,20,20,True,20,0,0,45.0,25.0,60.0
132
+ xvla,vision_blur,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,35.0,35.0,0.0
133
+ xvla,vision_blur,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,20.0,20.0,0.0
134
+ xvla,vision_blur,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,25.0,25.0,10.0
135
+ xvla,vision_blur,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,25.0,20.0,15.0
136
+ xvla,vision_blur,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,35.0,35.0,5.0
137
+ xvla,vision_blur,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,20.0,20.0,15.0
138
+ xvla,vision_blur,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,75.0,75.0,5.0
139
+ xvla,vision_blur,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,85.0,75.0,20.0
140
+ xvla,vision_blur,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,90.0,90.0,0.0
141
+ xvla,vision_blur,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,35.0,0.0,100.0
142
+ xvla,vision_blur,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,75.0,75.0,0.0
143
+ xvla,vision_blur,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,0.0,80.0
144
+ xvla,vision_blur,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,95.0,95.0,0.0
145
+ xvla,vision_blur,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,20.0,80.0
146
+ xvla,vision_lighting,office,put_mouse_on_pad,clean,20,20,True,20,0,0,35.0,30.0,10.0
147
+ xvla,vision_lighting,office,put_mouse_on_pad,clutter,20,20,True,19,1,1,70.0,20.0,70.0
148
+ xvla,vision_lighting,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,30.0,30.0,10.0
149
+ xvla,vision_lighting,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,50.0
150
+ xvla,vision_lighting,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,0.0,20.0
151
+ xvla,vision_lighting,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,10.0,75.0
152
+ xvla,vision_lighting,study,move_cup,clean,20,20,True,20,0,0,60.0,60.0,0.0
153
+ xvla,vision_lighting,study,move_cup,clutter,20,20,True,20,0,0,55.0,30.0,55.0
154
+ xvla,vision_lighting,study,move_pen_to_box,clean,20,20,True,20,0,0,55.0,55.0,5.0
155
+ xvla,vision_lighting,study,move_pen_to_box,clutter,20,20,True,20,0,0,5.0,5.0,70.0
156
+ xvla,vision_lighting,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,5.0,5.0,0.0
157
+ xvla,vision_lighting,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,10.0,10.0,30.0
158
+ xvla,vision_lighting,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,30.0,30.0,0.0
159
+ xvla,vision_lighting,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,15.0,15.0,55.0
160
+ xvla,vision_lighting,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,15.0,15.0,0.0
161
+ xvla,vision_lighting,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,17,3,0,5.0,5.0,30.0
162
+ xvla,vision_lighting,kitchens,place_bowl_in_dishrack_ks,clean,19,20,False,19,0,1,63.1578947368421,63.1578947368421,5.2631578947368425
163
+ xvla,vision_lighting,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,55.0,50.0,40.0
164
+ xvla,vision_lighting,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,80.0,80.0,5.0
165
+ xvla,vision_lighting,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,35.0,15.0,80.0
166
+ xvla,vision_lighting,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,5.0
167
+ xvla,vision_lighting,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,30.0,0.0,100.0
168
+ xvla,vision_lighting,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,85.0,0.0
169
+ xvla,vision_lighting,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,95.0,25.0,75.0
170
+ xvla,vision_pixel_shift,office,put_mouse_on_pad,clean,20,20,True,20,0,0,30.0,30.0,15.0
171
+ xvla,vision_pixel_shift,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,10.0,5.0,45.0
172
+ xvla,vision_pixel_shift,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,50.0,25.0
173
+ xvla,vision_pixel_shift,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,35.0,30.0
174
+ xvla,vision_pixel_shift,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,15.0
175
+ xvla,vision_pixel_shift,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
176
+ xvla,vision_pixel_shift,study,move_cup,clean,20,20,True,20,0,0,80.0,80.0,0.0
177
+ xvla,vision_pixel_shift,study,move_cup,clutter,20,20,True,20,0,0,65.0,55.0,40.0
178
+ xvla,vision_pixel_shift,study,move_pen_to_box,clean,20,20,True,20,0,0,60.0,60.0,5.0
179
+ xvla,vision_pixel_shift,study,move_pen_to_box,clutter,20,20,True,20,0,0,45.0,15.0,65.0
180
+ xvla,vision_pixel_shift,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,65.0,65.0,0.0
181
+ xvla,vision_pixel_shift,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,55.0,55.0,10.0
182
+ xvla,vision_pixel_shift,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,35.0,35.0,5.0
183
+ xvla,vision_pixel_shift,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,15.0,10.0,25.0
184
+ xvla,vision_pixel_shift,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,50.0,50.0,0.0
185
+ xvla,vision_pixel_shift,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,20.0,20.0,10.0
186
+ xvla,vision_pixel_shift,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
187
+ xvla,vision_pixel_shift,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,85.0,80.0,15.0
188
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,95.0,95.0,0.0
189
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,35.0,0.0,100.0
190
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,85.0,85.0,0.0
191
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,0.0,80.0
192
+ xvla,vision_pixel_shift,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,95.0,85.0,15.0
193
+ xvla,vision_pixel_shift,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,90.0,5.0,95.0
194
+ xvla,vision_combined,office,put_mouse_on_pad,clean,20,20,True,20,0,0,45.0,45.0,10.0
195
+ xvla,vision_combined,office,put_mouse_on_pad,clutter,20,20,True,19,1,1,65.0,20.0,80.0
196
+ xvla,vision_combined,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,35.0,30.0,10.0
197
+ xvla,vision_combined,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,10.0,10.0,55.0
198
+ xvla,vision_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,35.0
199
+ xvla,vision_combined,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,5.0,65.0
200
+ xvla,vision_combined,study,move_cup,clean,20,20,True,20,0,0,80.0,80.0,0.0
201
+ xvla,vision_combined,study,move_cup,clutter,20,20,True,20,0,0,80.0,55.0,35.0
202
+ xvla,vision_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,10.0
203
+ xvla,vision_combined,study,move_pen_to_box,clutter,20,20,True,20,0,0,0.0,0.0,60.0
204
+ xvla,vision_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,80.0,80.0,0.0
205
+ xvla,vision_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,50.0,35.0,35.0
206
+ xvla,vision_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,35.0,35.0,0.0
207
+ xvla,vision_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,0.0,0.0,45.0
208
+ xvla,vision_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,0.0
209
+ xvla,vision_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,17,3,0,10.0,5.0,40.0
210
+ xvla,vision_combined,kitchens,place_bowl_in_dishrack_ks,clean,19,20,False,19,0,0,78.94736842105263,78.94736842105263,0.0
211
+ xvla,vision_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,70.0,55.0,40.0
212
+ xvla,vision_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,75.0,75.0,0.0
213
+ xvla,vision_combined,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,40.0,25.0,65.0
214
+ xvla,vision_combined,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,0.0
215
+ xvla,vision_combined,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,25.0,10.0,90.0
216
+ xvla,vision_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,95.0,95.0,0.0
217
+ xvla,vision_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,85.0,15.0,85.0
218
+ xvla,object_ood_appearance,office,put_mouse_on_pad,clean,20,20,True,20,0,0,35.0,35.0,10.0
219
+ xvla,object_ood_appearance,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,20.0,65.0
220
+ xvla,object_ood_appearance,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,60.0,60.0,0.0
221
+ xvla,object_ood_appearance,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,75.0,70.0,15.0
222
+ xvla,object_ood_appearance,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,20.0
223
+ xvla,object_ood_appearance,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,0.0,90.0
224
+ xvla,object_ood_appearance,study,move_cup,clean,20,20,True,20,0,0,40.0,40.0,0.0
225
+ xvla,object_ood_appearance,study,move_cup,clutter,20,20,True,20,0,0,5.0,5.0,50.0
226
+ xvla,object_ood_appearance,study,move_pen_to_box,clean,20,20,True,20,0,0,50.0,50.0,5.0
227
+ xvla,object_ood_appearance,study,move_pen_to_box,clutter,20,20,True,20,0,0,50.0,30.0,45.0
228
+ xvla,object_ood_appearance,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,50.0,50.0,0.0
229
+ xvla,object_ood_appearance,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,40.0,40.0,5.0
230
+ xvla,object_ood_appearance,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,50.0,45.0,5.0
231
+ xvla,object_ood_appearance,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,25.0,20.0,10.0
232
+ xvla,object_ood_appearance,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,20.0,20.0,5.0
233
+ xvla,object_ood_appearance,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,15.0,15.0,5.0
234
+ xvla,object_ood_appearance,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
235
+ xvla,object_ood_appearance,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,70.0,70.0,15.0
236
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,100.0,100.0,0.0
237
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,45.0,5.0,95.0
238
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,0.0
239
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,0.0,100.0
240
+ xvla,object_ood_appearance,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,70.0,20.0
241
+ xvla,object_ood_appearance,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,70.0,15.0,85.0
242
+ xvla,object_ood_unseen_obstacles,office,put_mouse_on_pad,clean,20,20,True,20,0,0,20.0,20.0,10.0
243
+ xvla,object_ood_unseen_obstacles,office,put_mouse_on_pad,clutter,19,20,False,18,1,1,5.2631578947368425,5.2631578947368425,47.36842105263158
244
+ xvla,object_ood_unseen_obstacles,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,45.0,5.0
245
+ xvla,object_ood_unseen_obstacles,office,put_rubikscube_in_drawer,clutter,18,20,False,17,1,1,27.77777777777778,22.22222222222222,55.55555555555556
246
+ xvla,object_ood_unseen_obstacles,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,5.0
247
+ xvla,object_ood_unseen_obstacles,office,put_stapler_next_to_mouse,clutter,9,20,False,9,0,0,0.0,0.0,100.0
248
+ xvla,object_ood_unseen_obstacles,study,move_cup,clean,20,20,True,20,0,0,35.0,35.0,0.0
249
+ xvla,object_ood_unseen_obstacles,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,85.0
250
+ xvla,object_ood_unseen_obstacles,study,move_pen_to_box,clean,20,20,True,20,0,0,55.0,55.0,5.0
251
+ xvla,object_ood_unseen_obstacles,study,move_pen_to_box,clutter,20,20,True,20,0,0,40.0,0.0,95.0
252
+ xvla,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,20.0,20.0,0.0
253
+ xvla,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,10.0,10.0,5.0
254
+ xvla,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,40.0,40.0,0.0
255
+ xvla,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,15.0,15.0,50.0
256
+ xvla,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,10.0
257
+ xvla,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,30.0,30.0,20.0
258
+ xvla,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,70.0,70.0,10.0
259
+ xvla,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,55.0,55.0,20.0
260
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,95.0,95.0,0.0
261
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,80.0,15.0,85.0
262
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,75.0,75.0,0.0
263
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,35.0,15.0,70.0
264
+ xvla,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,80.0,5.0
265
+ xvla,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,100.0,35.0,65.0
266
+ xvla,object_ood_unseen_targets,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,10.0
267
+ xvla,object_ood_unseen_targets,office,put_mouse_on_pad,clutter,4,20,False,4,0,0,0.0,0.0,75.0
268
+ xvla,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,5.0,5.0,5.0
269
+ xvla,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,75.0
270
+ xvla,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,25.0,25.0,5.0
271
+ xvla,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clutter,0,20,False,0,0,0,,,
272
+ xvla,object_ood_unseen_targets,study,move_cup,clean,20,20,True,20,0,0,15.0,15.0,0.0
273
+ xvla,object_ood_unseen_targets,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,60.0
274
+ xvla,object_ood_unseen_targets,study,move_pen_to_box,clean,20,20,True,20,0,0,35.0,35.0,15.0
275
+ xvla,object_ood_unseen_targets,study,move_pen_to_box,clutter,20,20,True,20,0,0,40.0,15.0,60.0
276
+ xvla,object_ood_unseen_targets,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,20.0,20.0,0.0
277
+ xvla,object_ood_unseen_targets,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,10.0,10.0,5.0
278
+ xvla,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,30.0,30.0,5.0
279
+ xvla,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,25.0,25.0,15.0
280
+ xvla,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,35.0,30.0,5.0
281
+ xvla,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,25.0,25.0,5.0
282
+ xvla,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
283
+ xvla,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,75.0,70.0,25.0
284
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,80.0,80.0,0.0
285
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clutter,7,20,False,7,0,0,0.0,0.0,85.71428571428571
286
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,0,68.42105263157895,68.42105263157895,0.0
287
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clutter,13,20,False,13,0,0,15.384615384615385,0.0,100.0
288
+ xvla,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,90.0,0.0
289
+ xvla,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,95.0,20.0,80.0
290
+ xvla,object_ood_combined,office,put_mouse_on_pad,clean,20,20,True,20,0,0,30.0,30.0,10.0
291
+ xvla,object_ood_combined,office,put_mouse_on_pad,clutter,0,20,False,0,0,0,,,
292
+ xvla,object_ood_combined,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,10.0,10.0,20.0
293
+ xvla,object_ood_combined,office,put_rubikscube_in_drawer,clutter,19,20,False,18,1,1,5.2631578947368425,5.2631578947368425,78.94736842105263
294
+ xvla,object_ood_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,25.0,25.0,5.0
295
+ xvla,object_ood_combined,office,put_stapler_next_to_mouse,clutter,0,20,False,0,0,0,,,
296
+ xvla,object_ood_combined,study,move_cup,clean,20,20,True,20,0,0,20.0,20.0,0.0
297
+ xvla,object_ood_combined,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,75.0
298
+ xvla,object_ood_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,5.0
299
+ xvla,object_ood_combined,study,move_pen_to_box,clutter,14,20,False,14,0,0,42.857142857142854,21.428571428571427,71.42857142857143
300
+ xvla,object_ood_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,30.0,30.0,0.0
301
+ xvla,object_ood_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,25.0,25.0,0.0
302
+ xvla,object_ood_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,55.0,50.0,5.0
303
+ xvla,object_ood_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,10.0,5.0,30.0
304
+ xvla,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,0.0
305
+ xvla,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,0.0,0.0,30.0
306
+ xvla,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,75.0,75.0,10.0
307
+ xvla,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,40.0,35.0,45.0
308
+ xvla,object_ood_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,85.0,85.0,5.0
309
+ xvla,object_ood_combined,kitchenl,put_bottle_in_basket,clutter,0,20,False,0,0,0,,,
310
+ xvla,object_ood_combined,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,0,78.94736842105263,73.6842105263158,5.2631578947368425
311
+ xvla,object_ood_combined,kitchenl,put_bottle_in_fridge,clutter,0,20,False,0,0,0,,,
312
+ xvla,object_ood_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,80.0,10.0
313
+ xvla,object_ood_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,85.0,45.0,50.0
314
+ pi0,colloquial_polite,office,put_mouse_on_pad,clean,20,20,True,20,0,0,10.0,10.0,5.0
315
+ pi0,colloquial_polite,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,80.0
316
+ pi0,colloquial_polite,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,30.0,30.0,40.0
317
+ pi0,colloquial_polite,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,85.0
318
+ pi0,colloquial_polite,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,50.0,50.0,5.0
319
+ pi0,colloquial_polite,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,75.0
320
+ pi0,colloquial_polite,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
321
+ pi0,colloquial_polite,study,move_cup,clutter,20,20,True,20,0,0,75.0,60.0,40.0
322
+ pi0,colloquial_polite,study,move_pen_to_box,clean,20,20,True,20,0,0,65.0,65.0,0.0
323
+ pi0,colloquial_polite,study,move_pen_to_box,clutter,20,20,True,20,0,0,60.0,0.0,70.0
324
+ pi0,colloquial_polite,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
325
+ pi0,colloquial_polite,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,85.0,85.0,0.0
326
+ pi0,colloquial_polite,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,70.0,65.0,5.0
327
+ pi0,colloquial_polite,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,70.0,60.0,15.0
328
+ pi0,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,40.0,35.0,10.0
329
+ pi0,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,35.0,35.0,20.0
330
+ pi0,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
331
+ pi0,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
332
+ pi0,colloquial_polite,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,40.0
333
+ pi0,colloquial_polite,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,75.0
334
+ pi0,colloquial_polite,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,0.0,0.0,10.0
335
+ pi0,colloquial_polite,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,70.0
336
+ pi0,colloquial_polite,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,60.0,50.0,20.0
337
+ pi0,colloquial_polite,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,50.0,5.0,80.0
338
+ pi0,commonsense_indirect,office,put_mouse_on_pad,clean,20,20,True,20,0,0,40.0,40.0,10.0
339
+ pi0,commonsense_indirect,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,75.0
340
+ pi0,commonsense_indirect,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,45.0,30.0
341
+ pi0,commonsense_indirect,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,80.0
342
+ pi0,commonsense_indirect,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,60.0,60.0,10.0
343
+ pi0,commonsense_indirect,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,80.0
344
+ pi0,commonsense_indirect,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
345
+ pi0,commonsense_indirect,study,move_cup,clutter,20,20,True,20,0,0,80.0,55.0,40.0
346
+ pi0,commonsense_indirect,study,move_pen_to_box,clean,20,20,True,20,0,0,25.0,25.0,0.0
347
+ pi0,commonsense_indirect,study,move_pen_to_box,clutter,20,20,True,20,0,0,25.0,0.0,75.0
348
+ pi0,commonsense_indirect,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,85.0,85.0,0.0
349
+ pi0,commonsense_indirect,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,70.0,65.0,5.0
350
+ pi0,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,80.0,75.0,5.0
351
+ pi0,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,55.0,50.0,20.0
352
+ pi0,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,45.0,40.0,10.0
353
+ pi0,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,40.0,35.0,15.0
354
+ pi0,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
355
+ pi0,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,90.0,90.0,5.0
356
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,65.0
357
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,95.0
358
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,1,0.0,0.0,5.0
359
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,75.0
360
+ pi0,commonsense_indirect,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,85.0,10.0
361
+ pi0,commonsense_indirect,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,60.0,15.0,80.0
362
+ pi0,reasoning_chain,office,put_mouse_on_pad,clean,20,20,True,20,0,0,10.0,10.0,5.0
363
+ pi0,reasoning_chain,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,5.0,0.0,95.0
364
+ pi0,reasoning_chain,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,25.0,20.0,20.0
365
+ pi0,reasoning_chain,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,75.0
366
+ pi0,reasoning_chain,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,35.0,35.0,5.0
367
+ pi0,reasoning_chain,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,90.0
368
+ pi0,reasoning_chain,study,move_cup,clean,20,20,True,20,0,0,85.0,85.0,0.0
369
+ pi0,reasoning_chain,study,move_cup,clutter,20,20,True,20,0,0,80.0,60.0,35.0
370
+ pi0,reasoning_chain,study,move_pen_to_box,clean,20,20,True,20,0,0,70.0,70.0,0.0
371
+ pi0,reasoning_chain,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,5.0,70.0
372
+ pi0,reasoning_chain,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,90.0,90.0,0.0
373
+ pi0,reasoning_chain,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,70.0,65.0,5.0
374
+ pi0,reasoning_chain,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,80.0,70.0,10.0
375
+ pi0,reasoning_chain,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,70.0,60.0,20.0
376
+ pi0,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,45.0,45.0,0.0
377
+ pi0,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,35.0,35.0,20.0
378
+ pi0,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
379
+ pi0,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
380
+ pi0,reasoning_chain,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,30.0
381
+ pi0,reasoning_chain,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,80.0
382
+ pi0,reasoning_chain,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,3,0.0,0.0,0.0
383
+ pi0,reasoning_chain,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,70.0
384
+ pi0,reasoning_chain,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,70.0,60.0,15.0
385
+ pi0,reasoning_chain,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,40.0,5.0,75.0
386
+ pi0,distractor_context,office,put_mouse_on_pad,clean,20,20,True,20,0,0,35.0,35.0,0.0
387
+ pi0,distractor_context,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,95.0
388
+ pi0,distractor_context,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,45.0,45.0,25.0
389
+ pi0,distractor_context,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,80.0
390
+ pi0,distractor_context,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,45.0,45.0,0.0
391
+ pi0,distractor_context,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,70.0
392
+ pi0,distractor_context,study,move_cup,clean,20,20,True,20,0,0,95.0,95.0,0.0
393
+ pi0,distractor_context,study,move_cup,clutter,20,20,True,20,0,0,80.0,55.0,45.0
394
+ pi0,distractor_context,study,move_pen_to_box,clean,20,20,True,20,0,0,70.0,70.0,0.0
395
+ pi0,distractor_context,study,move_pen_to_box,clutter,20,20,True,20,0,0,50.0,5.0,75.0
396
+ pi0,distractor_context,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
397
+ pi0,distractor_context,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,65.0,65.0,10.0
398
+ pi0,distractor_context,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,75.0,75.0,5.0
399
+ pi0,distractor_context,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,65.0,50.0,30.0
400
+ pi0,distractor_context,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,65.0,65.0,5.0
401
+ pi0,distractor_context,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,30.0,30.0,25.0
402
+ pi0,distractor_context,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
403
+ pi0,distractor_context,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
404
+ pi0,distractor_context,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,55.0
405
+ pi0,distractor_context,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,70.0
406
+ pi0,distractor_context,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,2,0.0,0.0,5.0
407
+ pi0,distractor_context,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,65.0
408
+ pi0,distractor_context,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,60.0,50.0,15.0
409
+ pi0,distractor_context,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,50.0,10.0,90.0
410
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413
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415
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417
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423
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424
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425
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426
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427
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428
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429
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430
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431
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432
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433
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434
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435
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436
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437
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438
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439
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440
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443
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448
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449
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450
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451
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452
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454
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455
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456
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457
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458
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459
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460
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461
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466
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467
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473
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476
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477
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478
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479
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480
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482
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483
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485
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486
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490
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491
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495
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505
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506
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509
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510
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512
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520
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522
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524
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525
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528
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529
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530
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531
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532
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533
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534
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535
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538
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539
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540
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542
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546
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547
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548
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549
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550
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552
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553
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554
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560
+ pi0,object_ood_unseen_obstacles,study,move_cup,clean,20,20,True,20,0,0,100.0,100.0,0.0
561
+ pi0,object_ood_unseen_obstacles,study,move_cup,clutter,20,20,True,20,0,0,50.0,20.0,80.0
562
+ pi0,object_ood_unseen_obstacles,study,move_pen_to_box,clean,20,20,True,20,0,0,80.0,80.0,0.0
563
+ pi0,object_ood_unseen_obstacles,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,5.0,90.0
564
+ pi0,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,100.0,100.0,0.0
565
+ pi0,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,60.0,55.0,5.0
566
+ pi0,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,60.0,60.0,0.0
567
+ pi0,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,50.0,40.0,35.0
568
+ pi0,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,50.0,50.0,5.0
569
+ pi0,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,45.0,45.0,25.0
570
+ pi0,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
571
+ pi0,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,5.0
572
+ pi0,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,60.0,55.0,15.0
573
+ pi0,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,60.0,15.0,85.0
574
+ pi0,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,0.0
575
+ pi0,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,50.0,20.0,60.0
576
+ pi0,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,70.0,70.0,5.0
577
+ pi0,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,25.0,60.0
578
+ pi0,object_ood_unseen_targets,office,put_mouse_on_pad,clean,20,20,True,20,0,0,20.0,20.0,5.0
579
+ pi0,object_ood_unseen_targets,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,5.0,0.0,100.0
580
+ pi0,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,0.0,0.0,30.0
581
+ pi0,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,90.0
582
+ pi0,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,55.0,55.0,10.0
583
+ pi0,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,90.0
584
+ pi0,object_ood_unseen_targets,study,move_cup,clean,20,20,True,20,0,0,65.0,65.0,0.0
585
+ pi0,object_ood_unseen_targets,study,move_cup,clutter,20,20,True,20,0,0,35.0,20.0,35.0
586
+ pi0,object_ood_unseen_targets,study,move_pen_to_box,clean,20,20,True,20,0,0,70.0,70.0,0.0
587
+ pi0,object_ood_unseen_targets,study,move_pen_to_box,clutter,20,20,True,20,0,0,40.0,5.0,80.0
588
+ pi0,object_ood_unseen_targets,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
589
+ pi0,object_ood_unseen_targets,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,75.0,75.0,0.0
590
+ pi0,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,65.0,65.0,5.0
591
+ pi0,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,95.0,85.0,15.0
592
+ pi0,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,65.0,65.0,0.0
593
+ pi0,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,40.0,40.0,25.0
594
+ pi0,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
595
+ pi0,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
596
+ pi0,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,60.0,60.0,20.0
597
+ pi0,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,10.0,0.0,70.0
598
+ pi0,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,2,42.10526315789474,42.10526315789474,5.2631578947368425
599
+ pi0,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,10.0,5.0,90.0
600
+ pi0,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,75.0,65.0,10.0
601
+ pi0,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,50.0,5.0,80.0
602
+ pi0,object_ood_combined,office,put_mouse_on_pad,clean,20,20,True,20,0,0,35.0,35.0,5.0
603
+ pi0,object_ood_combined,office,put_mouse_on_pad,clutter,20,20,True,19,1,0,5.0,0.0,100.0
604
+ pi0,object_ood_combined,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,10.0,5.0,35.0
605
+ pi0,object_ood_combined,office,put_rubikscube_in_drawer,clutter,19,20,False,18,1,0,5.2631578947368425,5.2631578947368425,57.89473684210526
606
+ pi0,object_ood_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,30.0,30.0,5.0
607
+ pi0,object_ood_combined,office,put_stapler_next_to_mouse,clutter,19,20,False,19,0,0,0.0,0.0,89.47368421052632
608
+ pi0,object_ood_combined,study,move_cup,clean,20,20,True,20,0,0,75.0,75.0,0.0
609
+ pi0,object_ood_combined,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,75.0
610
+ pi0,object_ood_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,0.0
611
+ pi0,object_ood_combined,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,0.0,90.0
612
+ pi0,object_ood_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,90.0,90.0,0.0
613
+ pi0,object_ood_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,50.0,50.0,0.0
614
+ pi0,object_ood_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,55.0,55.0,0.0
615
+ pi0,object_ood_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,20.0,20.0,25.0
616
+ pi0,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,50.0,50.0,0.0
617
+ pi0,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,20.0,20.0,70.0
618
+ pi0,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
619
+ pi0,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,90.0,90.0,5.0
620
+ pi0,object_ood_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,50.0,50.0,20.0
621
+ pi0,object_ood_combined,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,25.0,5.0,90.0
622
+ pi0,object_ood_combined,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,3,47.36842105263158,47.36842105263158,5.2631578947368425
623
+ pi0,object_ood_combined,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,25.0,5.0,80.0
624
+ pi0,object_ood_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,75.0,70.0,5.0
625
+ pi0,object_ood_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,70.0,45.0,50.0
626
+ pi05,colloquial_polite,office,put_mouse_on_pad,clean,20,20,True,20,0,0,60.0,60.0,0.0
627
+ pi05,colloquial_polite,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,5.0,50.0
628
+ pi05,colloquial_polite,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,70.0,70.0,5.0
629
+ pi05,colloquial_polite,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,40.0,40.0
630
+ pi05,colloquial_polite,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,0.0
631
+ pi05,colloquial_polite,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
632
+ pi05,colloquial_polite,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
633
+ pi05,colloquial_polite,study,move_cup,clutter,20,20,True,20,0,0,50.0,40.0,40.0
634
+ pi05,colloquial_polite,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,0.0
635
+ pi05,colloquial_polite,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,5.0,80.0
636
+ pi05,colloquial_polite,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
637
+ pi05,colloquial_polite,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,75.0,75.0,10.0
638
+ pi05,colloquial_polite,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,85.0,80.0,5.0
639
+ pi05,colloquial_polite,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,70.0,60.0,35.0
640
+ pi05,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,90.0,85.0,5.0
641
+ pi05,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,90.0,90.0,5.0
642
+ pi05,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,5.0
643
+ pi05,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,0.0
644
+ pi05,colloquial_polite,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,25.0
645
+ pi05,colloquial_polite,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,85.0
646
+ pi05,colloquial_polite,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,0.0,0.0,20.0
647
+ pi05,colloquial_polite,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
648
+ pi05,colloquial_polite,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,70.0,70.0,15.0
649
+ pi05,colloquial_polite,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,10.0,85.0
650
+ pi05,commonsense_indirect,office,put_mouse_on_pad,clean,20,20,True,20,0,0,85.0,85.0,0.0
651
+ pi05,commonsense_indirect,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,5.0,50.0
652
+ pi05,commonsense_indirect,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,55.0,55.0,15.0
653
+ pi05,commonsense_indirect,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,45.0,10.0
654
+ pi05,commonsense_indirect,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,10.0
655
+ pi05,commonsense_indirect,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
656
+ pi05,commonsense_indirect,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
657
+ pi05,commonsense_indirect,study,move_cup,clutter,20,20,True,20,0,0,55.0,45.0,50.0
658
+ pi05,commonsense_indirect,study,move_pen_to_box,clean,20,20,True,20,0,0,40.0,40.0,0.0
659
+ pi05,commonsense_indirect,study,move_pen_to_box,clutter,20,20,True,20,0,0,15.0,0.0,85.0
660
+ pi05,commonsense_indirect,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
661
+ pi05,commonsense_indirect,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,85.0,85.0,0.0
662
+ pi05,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,80.0,75.0,5.0
663
+ pi05,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,80.0,65.0,30.0
664
+ pi05,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,100.0,100.0,0.0
665
+ pi05,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,90.0,85.0,5.0
666
+ pi05,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
667
+ pi05,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,0.0
668
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,10.0,10.0,20.0
669
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,95.0
670
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,20.0,20.0,20.0
671
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,95.0
672
+ pi05,commonsense_indirect,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,65.0,60.0,20.0
673
+ pi05,commonsense_indirect,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,70.0,15.0,85.0
674
+ pi05,reasoning_chain,office,put_mouse_on_pad,clean,20,20,True,20,0,0,70.0,70.0,0.0
675
+ pi05,reasoning_chain,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,30.0,20.0,45.0
676
+ pi05,reasoning_chain,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,65.0,65.0,20.0
677
+ pi05,reasoning_chain,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,45.0,40.0,30.0
678
+ pi05,reasoning_chain,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,0.0
679
+ pi05,reasoning_chain,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,0.0,100.0
680
+ pi05,reasoning_chain,study,move_cup,clean,20,20,True,20,0,0,95.0,95.0,0.0
681
+ pi05,reasoning_chain,study,move_cup,clutter,20,20,True,20,0,0,50.0,35.0,60.0
682
+ pi05,reasoning_chain,study,move_pen_to_box,clean,20,20,True,20,0,0,90.0,90.0,0.0
683
+ pi05,reasoning_chain,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,10.0,75.0
684
+ pi05,reasoning_chain,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
685
+ pi05,reasoning_chain,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,90.0,90.0,5.0
686
+ pi05,reasoning_chain,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,85.0,85.0,5.0
687
+ pi05,reasoning_chain,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,80.0,70.0,30.0
688
+ pi05,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,95.0,95.0,0.0
689
+ pi05,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,75.0,75.0,0.0
690
+ pi05,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,5.0
691
+ pi05,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,90.0,90.0,0.0
692
+ pi05,reasoning_chain,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,15.0,15.0,10.0
693
+ pi05,reasoning_chain,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,85.0
694
+ pi05,reasoning_chain,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,35.0,35.0,15.0
695
+ pi05,reasoning_chain,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,5.0,5.0,95.0
696
+ pi05,reasoning_chain,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,55.0,55.0,25.0
697
+ pi05,reasoning_chain,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,10.0,90.0
698
+ pi05,distractor_context,office,put_mouse_on_pad,clean,20,20,True,20,0,0,70.0,70.0,0.0
699
+ pi05,distractor_context,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,10.0,45.0
700
+ pi05,distractor_context,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,45.0,45.0,20.0
701
+ pi05,distractor_context,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,50.0,25.0
702
+ pi05,distractor_context,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,0.0
703
+ pi05,distractor_context,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
704
+ pi05,distractor_context,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
705
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706
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707
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708
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709
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710
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711
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712
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713
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714
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715
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716
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717
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718
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719
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720
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721
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722
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723
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724
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725
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726
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727
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728
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729
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730
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731
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732
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733
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734
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735
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736
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737
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738
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739
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740
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741
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742
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743
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744
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745
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746
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747
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748
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749
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750
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751
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752
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753
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754
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755
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756
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757
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758
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759
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760
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761
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762
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763
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764
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765
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766
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767
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768
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769
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770
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771
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772
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773
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774
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775
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776
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777
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778
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779
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780
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781
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782
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783
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784
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785
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786
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787
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788
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789
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790
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791
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792
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793
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794
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795
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796
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797
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798
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799
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800
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801
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802
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803
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804
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805
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806
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807
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808
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809
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810
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811
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812
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813
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814
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815
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816
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817
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818
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819
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820
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821
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822
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823
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824
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825
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826
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827
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828
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829
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830
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831
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832
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833
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834
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835
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836
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837
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838
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839
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840
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841
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842
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843
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844
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845
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846
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847
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848
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849
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850
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851
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852
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853
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854
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855
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856
+ pi05,object_ood_appearance,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
857
+ pi05,object_ood_appearance,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,90.0,85.0,5.0
858
+ pi05,object_ood_appearance,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
859
+ pi05,object_ood_appearance,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
860
+ pi05,object_ood_appearance,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,85.0,85.0,5.0
861
+ pi05,object_ood_appearance,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,45.0,20.0,70.0
862
+ pi05,object_ood_appearance,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,90.0,90.0,0.0
863
+ pi05,object_ood_appearance,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,5.0,90.0
864
+ pi05,object_ood_appearance,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,80.0,80.0,5.0
865
+ pi05,object_ood_appearance,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,15.0,80.0
866
+ pi05,object_ood_unseen_obstacles,office,put_mouse_on_pad,clean,20,20,True,20,0,0,65.0,65.0,0.0
867
+ pi05,object_ood_unseen_obstacles,office,put_mouse_on_pad,clutter,19,20,False,18,1,1,0.0,0.0,84.21052631578948
868
+ pi05,object_ood_unseen_obstacles,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,55.0,55.0,20.0
869
+ pi05,object_ood_unseen_obstacles,office,put_rubikscube_in_drawer,clutter,18,20,False,17,1,1,77.77777777777777,55.55555555555556,33.333333333333336
870
+ pi05,object_ood_unseen_obstacles,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,85.0,85.0,0.0
871
+ pi05,object_ood_unseen_obstacles,office,put_stapler_next_to_mouse,clutter,19,20,False,19,0,0,5.2631578947368425,0.0,100.0
872
+ pi05,object_ood_unseen_obstacles,study,move_cup,clean,20,20,True,20,0,0,100.0,100.0,0.0
873
+ pi05,object_ood_unseen_obstacles,study,move_cup,clutter,20,20,True,20,0,0,30.0,20.0,70.0
874
+ pi05,object_ood_unseen_obstacles,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,5.0
875
+ pi05,object_ood_unseen_obstacles,study,move_pen_to_box,clutter,20,20,True,20,0,0,25.0,0.0,90.0
876
+ pi05,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,90.0,90.0,0.0
877
+ pi05,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,45.0,45.0,30.0
878
+ pi05,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,75.0,75.0,5.0
879
+ pi05,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,70.0,55.0,40.0
880
+ pi05,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
881
+ pi05,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,75.0,75.0,10.0
882
+ pi05,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
883
+ pi05,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,95.0,5.0
884
+ pi05,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,75.0,75.0,5.0
885
+ pi05,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,30.0,0.0,100.0
886
+ pi05,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,0.0
887
+ pi05,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,45.0,25.0,65.0
888
+ pi05,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,75.0,70.0,10.0
889
+ pi05,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,85.0,50.0,50.0
890
+ pi05,object_ood_unseen_targets,office,put_mouse_on_pad,clean,20,20,True,20,0,0,70.0,70.0,5.0
891
+ pi05,object_ood_unseen_targets,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,35.0,15.0,40.0
892
+ pi05,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,50.0,10.0
893
+ pi05,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,25.0,25.0,40.0
894
+ pi05,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,70.0,70.0,0.0
895
+ pi05,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,40.0,40.0,40.0
896
+ pi05,object_ood_unseen_targets,study,move_cup,clean,20,20,True,20,0,0,55.0,55.0,0.0
897
+ pi05,object_ood_unseen_targets,study,move_cup,clutter,20,20,True,20,0,0,35.0,25.0,60.0
898
+ pi05,object_ood_unseen_targets,study,move_pen_to_box,clean,20,20,True,20,0,0,90.0,90.0,0.0
899
+ pi05,object_ood_unseen_targets,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,5.0,90.0
900
+ pi05,object_ood_unseen_targets,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
901
+ pi05,object_ood_unseen_targets,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,80.0,80.0,15.0
902
+ pi05,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,95.0,90.0,5.0
903
+ pi05,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,65.0,60.0,30.0
904
+ pi05,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,95.0,90.0,5.0
905
+ pi05,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,95.0,95.0,0.0
906
+ pi05,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
907
+ pi05,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
908
+ pi05,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,80.0,80.0,5.0
909
+ pi05,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,25.0,20.0,60.0
910
+ pi05,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,0,84.21052631578948,84.21052631578948,0.0
911
+ pi05,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,20.0,5.0,95.0
912
+ pi05,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,65.0,65.0,5.0
913
+ pi05,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,50.0,10.0,80.0
914
+ pi05,object_ood_combined,office,put_mouse_on_pad,clean,20,20,True,20,0,0,70.0,65.0,10.0
915
+ pi05,object_ood_combined,office,put_mouse_on_pad,clutter,20,20,True,19,1,0,40.0,35.0,40.0
916
+ pi05,object_ood_combined,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,50.0,5.0
917
+ pi05,object_ood_combined,office,put_rubikscube_in_drawer,clutter,19,20,False,18,1,1,15.789473684210526,15.789473684210526,63.1578947368421
918
+ pi05,object_ood_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,65.0,65.0,5.0
919
+ pi05,object_ood_combined,office,put_stapler_next_to_mouse,clutter,19,20,False,19,0,0,47.36842105263158,47.36842105263158,52.63157894736842
920
+ pi05,object_ood_combined,study,move_cup,clean,20,20,True,20,0,0,80.0,80.0,0.0
921
+ pi05,object_ood_combined,study,move_cup,clutter,20,20,True,20,0,0,30.0,20.0,75.0
922
+ pi05,object_ood_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,80.0,80.0,0.0
923
+ pi05,object_ood_combined,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,10.0,90.0
924
+ pi05,object_ood_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,80.0,80.0,0.0
925
+ pi05,object_ood_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,25.0,25.0,20.0
926
+ pi05,object_ood_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,85.0,85.0,5.0
927
+ pi05,object_ood_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,50.0,35.0,60.0
928
+ pi05,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,95.0,95.0,0.0
929
+ pi05,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,95.0,90.0,10.0
930
+ pi05,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
931
+ pi05,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,5.0
932
+ pi05,object_ood_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,85.0,85.0,5.0
933
+ pi05,object_ood_combined,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,40.0,0.0,85.0
934
+ pi05,object_ood_combined,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,0,84.21052631578948,84.21052631578948,0.0
935
+ pi05,object_ood_combined,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,85.0,35.0,60.0
936
+ pi05,object_ood_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,70.0,65.0,10.0
937
+ pi05,object_ood_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,90.0,60.0,35.0
perturbation_full/perturbation_metrics_averages.csv ADDED
@@ -0,0 +1,391 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,condition,group,tasks,episodes,expected,complete,sr,hsr,cr
2
+ xvla,colloquial_polite,clean,office,3,60,60,True,28.333333333333332,26.666666666666668,11.666666666666666
3
+ xvla,colloquial_polite,clean,study,3,60,60,True,40.0,40.0,1.6666666666666667
4
+ xvla,colloquial_polite,clean,kitchens,3,60,60,True,46.666666666666664,46.666666666666664,1.6666666666666667
5
+ xvla,colloquial_polite,clean,kitchenl,3,60,60,True,40.0,40.0,13.333333333333334
6
+ xvla,colloquial_polite,clean,all,12,240,240,True,38.75,38.333333333333336,7.083333333333333
7
+ xvla,colloquial_polite,clutter,office,3,60,60,True,20.0,15.0,53.333333333333336
8
+ xvla,colloquial_polite,clutter,study,3,60,60,True,28.333333333333332,18.333333333333332,36.666666666666664
9
+ xvla,colloquial_polite,clutter,kitchens,3,60,60,True,43.333333333333336,41.666666666666664,16.666666666666668
10
+ xvla,colloquial_polite,clutter,kitchenl,3,60,60,True,40.0,13.333333333333334,85.0
11
+ xvla,colloquial_polite,clutter,all,12,240,240,True,32.916666666666664,22.083333333333332,47.916666666666664
12
+ xvla,commonsense_indirect,clean,office,3,60,60,True,25.0,23.333333333333332,8.333333333333334
13
+ xvla,commonsense_indirect,clean,study,3,60,60,True,26.666666666666668,26.666666666666668,1.6666666666666667
14
+ xvla,commonsense_indirect,clean,kitchens,3,60,60,True,40.0,40.0,5.0
15
+ xvla,commonsense_indirect,clean,kitchenl,3,60,60,True,46.666666666666664,46.666666666666664,8.333333333333334
16
+ xvla,commonsense_indirect,clean,all,12,240,240,True,34.583333333333336,34.166666666666664,5.833333333333333
17
+ xvla,commonsense_indirect,clutter,office,3,60,60,True,26.666666666666668,26.666666666666668,51.666666666666664
18
+ xvla,commonsense_indirect,clutter,study,3,60,60,True,10.0,8.333333333333334,41.666666666666664
19
+ xvla,commonsense_indirect,clutter,kitchens,3,60,60,True,33.333333333333336,28.333333333333332,20.0
20
+ xvla,commonsense_indirect,clutter,kitchenl,3,60,60,True,28.333333333333332,13.333333333333334,80.0
21
+ xvla,commonsense_indirect,clutter,all,12,240,240,True,24.583333333333332,19.166666666666668,48.333333333333336
22
+ xvla,reasoning_chain,clean,office,3,60,60,True,23.333333333333332,23.333333333333332,5.0
23
+ xvla,reasoning_chain,clean,study,3,60,60,True,45.0,45.0,1.6666666666666667
24
+ xvla,reasoning_chain,clean,kitchens,3,60,60,True,53.333333333333336,53.333333333333336,5.0
25
+ xvla,reasoning_chain,clean,kitchenl,3,60,60,True,50.0,48.333333333333336,5.0
26
+ xvla,reasoning_chain,clean,all,12,240,240,True,42.916666666666664,42.5,4.166666666666667
27
+ xvla,reasoning_chain,clutter,office,3,60,60,True,21.666666666666668,18.333333333333332,63.333333333333336
28
+ xvla,reasoning_chain,clutter,study,3,60,60,True,23.333333333333332,16.666666666666668,35.0
29
+ xvla,reasoning_chain,clutter,kitchens,3,60,60,True,35.0,33.333333333333336,16.666666666666668
30
+ xvla,reasoning_chain,clutter,kitchenl,3,60,60,True,33.333333333333336,13.333333333333334,85.0
31
+ xvla,reasoning_chain,clutter,all,12,240,240,True,28.333333333333332,20.416666666666668,50.0
32
+ xvla,distractor_context,clean,office,3,60,60,True,25.0,23.333333333333332,10.0
33
+ xvla,distractor_context,clean,study,3,60,60,True,35.0,35.0,1.6666666666666667
34
+ xvla,distractor_context,clean,kitchens,3,60,60,True,50.0,50.0,5.0
35
+ xvla,distractor_context,clean,kitchenl,3,60,60,True,40.0,38.333333333333336,3.3333333333333335
36
+ xvla,distractor_context,clean,all,12,240,240,True,37.5,36.666666666666664,5.0
37
+ xvla,distractor_context,clutter,office,3,60,60,True,23.333333333333332,20.0,61.666666666666664
38
+ xvla,distractor_context,clutter,study,3,60,60,True,26.666666666666668,23.333333333333332,26.666666666666668
39
+ xvla,distractor_context,clutter,kitchens,3,60,60,True,36.666666666666664,33.333333333333336,15.0
40
+ xvla,distractor_context,clutter,kitchenl,3,60,60,True,31.666666666666668,13.333333333333334,80.0
41
+ xvla,distractor_context,clutter,all,12,240,240,True,29.583333333333332,22.5,45.833333333333336
42
+ xvla,multi_object_distraction,clean,office,3,60,60,True,28.333333333333332,25.0,11.666666666666666
43
+ xvla,multi_object_distraction,clean,study,3,60,60,True,31.666666666666668,31.666666666666668,0.0
44
+ xvla,multi_object_distraction,clean,kitchens,3,60,60,True,33.333333333333336,31.666666666666668,8.333333333333334
45
+ xvla,multi_object_distraction,clean,kitchenl,3,60,60,True,41.666666666666664,40.0,5.0
46
+ xvla,multi_object_distraction,clean,all,12,240,240,True,33.75,32.083333333333336,6.25
47
+ xvla,multi_object_distraction,clutter,office,3,60,60,True,23.333333333333332,20.0,66.66666666666667
48
+ xvla,multi_object_distraction,clutter,study,3,60,60,True,20.0,13.333333333333334,31.666666666666668
49
+ xvla,multi_object_distraction,clutter,kitchens,3,60,60,True,35.0,33.333333333333336,20.0
50
+ xvla,multi_object_distraction,clutter,kitchenl,3,60,60,True,33.333333333333336,15.0,81.66666666666667
51
+ xvla,multi_object_distraction,clutter,all,12,240,240,True,27.916666666666668,20.416666666666668,50.0
52
+ xvla,vision_blur,clean,office,3,60,60,True,21.666666666666668,18.333333333333332,10.0
53
+ xvla,vision_blur,clean,study,3,60,60,True,41.666666666666664,41.666666666666664,1.6666666666666667
54
+ xvla,vision_blur,clean,kitchens,3,60,60,True,45.0,45.0,6.666666666666667
55
+ xvla,vision_blur,clean,kitchenl,3,60,60,True,86.66666666666667,86.66666666666667,0.0
56
+ xvla,vision_blur,clean,all,12,240,240,True,48.75,47.916666666666664,4.583333333333333
57
+ xvla,vision_blur,clutter,office,3,60,60,True,20.0,13.333333333333334,68.33333333333333
58
+ xvla,vision_blur,clutter,study,3,60,60,True,21.666666666666668,15.0,28.333333333333332
59
+ xvla,vision_blur,clutter,kitchens,3,60,60,True,43.333333333333336,38.333333333333336,16.666666666666668
60
+ xvla,vision_blur,clutter,kitchenl,3,60,60,True,43.333333333333336,6.666666666666667,86.66666666666667
61
+ xvla,vision_blur,clutter,all,12,240,240,True,32.083333333333336,18.333333333333332,50.0
62
+ xvla,vision_lighting,clean,office,3,60,60,True,23.333333333333332,20.0,13.333333333333334
63
+ xvla,vision_lighting,clean,study,3,60,60,True,40.0,40.0,1.6666666666666667
64
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65
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+ pi0,object_ood_unseen_obstacles,clean,kitchens,3,60,60,True,66.66666666666667,66.66666666666667,1.6666666666666667
235
+ pi0,object_ood_unseen_obstacles,clean,kitchenl,3,60,60,True,70.0,68.33333333333333,6.666666666666667
236
+ pi0,object_ood_unseen_obstacles,clean,all,12,240,240,True,65.0,64.16666666666667,6.25
237
+ pi0,object_ood_unseen_obstacles,clutter,office,3,56,60,False,3.5714285714285716,1.7857142857142858,85.71428571428571
238
+ pi0,object_ood_unseen_obstacles,clutter,study,3,60,60,True,48.333333333333336,26.666666666666668,58.333333333333336
239
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240
+ pi0,object_ood_unseen_obstacles,clutter,kitchenl,3,60,60,True,58.333333333333336,20.0,68.33333333333333
241
+ pi0,object_ood_unseen_obstacles,clutter,all,12,236,240,False,44.067796610169495,27.54237288135593,58.05084745762712
242
+ pi0,object_ood_unseen_targets,clean,office,3,60,60,True,25.0,25.0,15.0
243
+ pi0,object_ood_unseen_targets,clean,study,3,60,60,True,76.66666666666667,76.66666666666667,0.0
244
+ pi0,object_ood_unseen_targets,clean,kitchens,3,60,60,True,73.33333333333333,73.33333333333333,1.6666666666666667
245
+ pi0,object_ood_unseen_targets,clean,kitchenl,3,59,60,False,59.32203389830509,55.932203389830505,11.864406779661017
246
+ pi0,object_ood_unseen_targets,clean,all,12,239,240,False,58.57740585774059,57.74058577405858,7.112970711297071
247
+ pi0,object_ood_unseen_targets,clutter,office,3,60,60,True,1.6666666666666667,0.0,93.33333333333333
248
+ pi0,object_ood_unseen_targets,clutter,study,3,60,60,True,50.0,33.333333333333336,38.333333333333336
249
+ pi0,object_ood_unseen_targets,clutter,kitchens,3,60,60,True,78.33333333333333,75.0,13.333333333333334
250
+ pi0,object_ood_unseen_targets,clutter,kitchenl,3,60,60,True,23.333333333333332,3.3333333333333335,80.0
251
+ pi0,object_ood_unseen_targets,clutter,all,12,240,240,True,38.333333333333336,27.916666666666668,56.25
252
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253
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254
+ pi0,object_ood_combined,clean,kitchens,3,60,60,True,63.333333333333336,63.333333333333336,0.0
255
+ pi0,object_ood_combined,clean,kitchenl,3,59,60,False,57.6271186440678,55.932203389830505,10.169491525423728
256
+ pi0,object_ood_combined,clean,all,12,239,240,False,57.32217573221757,56.48535564853557,6.2761506276150625
257
+ pi0,object_ood_combined,clutter,office,3,58,60,False,3.4482758620689653,1.7241379310344827,82.75862068965517
258
+ pi0,object_ood_combined,clutter,study,3,60,60,True,26.666666666666668,16.666666666666668,55.0
259
+ pi0,object_ood_combined,clutter,kitchens,3,60,60,True,43.333333333333336,43.333333333333336,33.333333333333336
260
+ pi0,object_ood_combined,clutter,kitchenl,3,60,60,True,40.0,18.333333333333332,73.33333333333333
261
+ pi0,object_ood_combined,clutter,all,12,238,240,False,28.571428571428573,20.168067226890756,60.924369747899156
262
+ pi05,colloquial_polite,clean,office,3,60,60,True,68.33333333333333,68.33333333333333,1.6666666666666667
263
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264
+ pi05,colloquial_polite,clean,kitchens,3,60,60,True,85.0,81.66666666666667,5.0
265
+ pi05,colloquial_polite,clean,kitchenl,3,60,60,True,23.333333333333332,23.333333333333332,20.0
266
+ pi05,colloquial_polite,clean,all,12,240,240,True,66.66666666666667,65.83333333333333,6.666666666666667
267
+ pi05,colloquial_polite,clutter,office,3,60,60,True,20.0,15.0,63.333333333333336
268
+ pi05,colloquial_polite,clutter,study,3,60,60,True,51.666666666666664,40.0,43.333333333333336
269
+ pi05,colloquial_polite,clutter,kitchens,3,60,60,True,85.0,81.66666666666667,13.333333333333334
270
+ pi05,colloquial_polite,clutter,kitchenl,3,60,60,True,21.666666666666668,3.3333333333333335,90.0
271
+ pi05,colloquial_polite,clutter,all,12,240,240,True,44.583333333333336,35.0,52.5
272
+ pi05,commonsense_indirect,clean,office,3,60,60,True,71.66666666666667,71.66666666666667,8.333333333333334
273
+ pi05,commonsense_indirect,clean,study,3,60,60,True,75.0,75.0,0.0
274
+ pi05,commonsense_indirect,clean,kitchens,3,60,60,True,88.33333333333333,86.66666666666667,1.6666666666666667
275
+ pi05,commonsense_indirect,clean,kitchenl,3,60,60,True,31.666666666666668,30.0,20.0
276
+ pi05,commonsense_indirect,clean,all,12,240,240,True,66.66666666666667,65.83333333333333,7.5
277
+ pi05,commonsense_indirect,clutter,office,3,60,60,True,25.0,16.666666666666668,53.333333333333336
278
+ pi05,commonsense_indirect,clutter,study,3,60,60,True,51.666666666666664,43.333333333333336,45.0
279
+ pi05,commonsense_indirect,clutter,kitchens,3,60,60,True,88.33333333333333,81.66666666666667,11.666666666666666
280
+ pi05,commonsense_indirect,clutter,kitchenl,3,60,60,True,23.333333333333332,5.0,91.66666666666667
281
+ pi05,commonsense_indirect,clutter,all,12,240,240,True,47.083333333333336,36.666666666666664,50.416666666666664
282
+ pi05,reasoning_chain,clean,office,3,60,60,True,70.0,70.0,6.666666666666667
283
+ pi05,reasoning_chain,clean,study,3,60,60,True,93.33333333333333,93.33333333333333,0.0
284
+ pi05,reasoning_chain,clean,kitchens,3,60,60,True,88.33333333333333,88.33333333333333,3.3333333333333335
285
+ pi05,reasoning_chain,clean,kitchenl,3,60,60,True,35.0,35.0,16.666666666666668
286
+ pi05,reasoning_chain,clean,all,12,240,240,True,71.66666666666667,71.66666666666667,6.666666666666667
287
+ pi05,reasoning_chain,clutter,office,3,60,60,True,28.333333333333332,20.0,58.333333333333336
288
+ pi05,reasoning_chain,clutter,study,3,60,60,True,58.333333333333336,45.0,46.666666666666664
289
+ pi05,reasoning_chain,clutter,kitchens,3,60,60,True,81.66666666666667,78.33333333333333,10.0
290
+ pi05,reasoning_chain,clutter,kitchenl,3,60,60,True,23.333333333333332,5.0,90.0
291
+ pi05,reasoning_chain,clutter,all,12,240,240,True,47.916666666666664,37.083333333333336,51.25
292
+ pi05,distractor_context,clean,office,3,60,60,True,63.333333333333336,63.333333333333336,6.666666666666667
293
+ pi05,distractor_context,clean,study,3,60,60,True,90.0,90.0,0.0
294
+ pi05,distractor_context,clean,kitchens,3,60,60,True,85.0,85.0,3.3333333333333335
295
+ pi05,distractor_context,clean,kitchenl,3,60,60,True,28.333333333333332,28.333333333333332,11.666666666666666
296
+ pi05,distractor_context,clean,all,12,240,240,True,66.66666666666667,66.66666666666667,5.416666666666667
297
+ pi05,distractor_context,clutter,office,3,60,60,True,23.333333333333332,20.0,56.666666666666664
298
+ pi05,distractor_context,clutter,study,3,60,60,True,66.66666666666667,50.0,43.333333333333336
299
+ pi05,distractor_context,clutter,kitchens,3,60,60,True,81.66666666666667,80.0,13.333333333333334
300
+ pi05,distractor_context,clutter,kitchenl,3,60,60,True,16.666666666666668,3.3333333333333335,93.33333333333333
301
+ pi05,distractor_context,clutter,all,12,240,240,True,47.083333333333336,38.333333333333336,51.666666666666664
302
+ pi05,multi_object_distraction,clean,office,3,60,60,True,73.33333333333333,73.33333333333333,3.3333333333333335
303
+ pi05,multi_object_distraction,clean,study,3,60,60,True,91.66666666666667,91.66666666666667,0.0
304
+ pi05,multi_object_distraction,clean,kitchens,3,60,60,True,90.0,90.0,0.0
305
+ pi05,multi_object_distraction,clean,kitchenl,3,60,60,True,40.0,40.0,10.0
306
+ pi05,multi_object_distraction,clean,all,12,240,240,True,73.75,73.75,3.3333333333333335
307
+ pi05,multi_object_distraction,clutter,office,3,60,60,True,28.333333333333332,20.0,58.333333333333336
308
+ pi05,multi_object_distraction,clutter,study,3,60,60,True,50.0,41.666666666666664,50.0
309
+ pi05,multi_object_distraction,clutter,kitchens,3,60,60,True,85.0,83.33333333333333,5.0
310
+ pi05,multi_object_distraction,clutter,kitchenl,3,60,60,True,20.0,3.3333333333333335,95.0
311
+ pi05,multi_object_distraction,clutter,all,12,240,240,True,45.833333333333336,37.083333333333336,52.083333333333336
312
+ pi05,vision_blur,clean,office,3,60,60,True,68.33333333333333,68.33333333333333,3.3333333333333335
313
+ pi05,vision_blur,clean,study,3,60,60,True,95.0,95.0,0.0
314
+ pi05,vision_blur,clean,kitchens,3,60,60,True,88.33333333333333,86.66666666666667,1.6666666666666667
315
+ pi05,vision_blur,clean,kitchenl,3,60,60,True,83.33333333333333,81.66666666666667,10.0
316
+ pi05,vision_blur,clean,all,12,240,240,True,83.75,82.91666666666667,3.75
317
+ pi05,vision_blur,clutter,office,3,60,60,True,36.666666666666664,28.333333333333332,55.0
318
+ pi05,vision_blur,clutter,study,3,60,60,True,55.0,43.333333333333336,35.0
319
+ pi05,vision_blur,clutter,kitchens,3,60,60,True,78.33333333333333,75.0,15.0
320
+ pi05,vision_blur,clutter,kitchenl,3,60,60,True,36.666666666666664,13.333333333333334,81.66666666666667
321
+ pi05,vision_blur,clutter,all,12,240,240,True,51.666666666666664,40.0,46.666666666666664
322
+ pi05,vision_lighting,clean,office,3,60,60,True,68.33333333333333,66.66666666666667,6.666666666666667
323
+ pi05,vision_lighting,clean,study,3,60,60,True,78.33333333333333,78.33333333333333,0.0
324
+ pi05,vision_lighting,clean,kitchens,3,59,60,False,72.88135593220339,72.88135593220339,0.0
325
+ pi05,vision_lighting,clean,kitchenl,3,60,60,True,68.33333333333333,68.33333333333333,3.3333333333333335
326
+ pi05,vision_lighting,clean,all,12,239,240,False,71.96652719665272,71.54811715481172,2.510460251046025
327
+ pi05,vision_lighting,clutter,office,3,60,60,True,53.333333333333336,48.333333333333336,33.333333333333336
328
+ pi05,vision_lighting,clutter,study,3,60,60,True,71.66666666666667,51.666666666666664,46.666666666666664
329
+ pi05,vision_lighting,clutter,kitchens,3,60,60,True,73.33333333333333,68.33333333333333,13.333333333333334
330
+ pi05,vision_lighting,clutter,kitchenl,3,60,60,True,46.666666666666664,26.666666666666668,70.0
331
+ pi05,vision_lighting,clutter,all,12,240,240,True,61.25,48.75,40.833333333333336
332
+ pi05,vision_pixel_shift,clean,office,3,60,60,True,70.0,68.33333333333333,6.666666666666667
333
+ pi05,vision_pixel_shift,clean,study,3,60,60,True,91.66666666666667,91.66666666666667,1.6666666666666667
334
+ pi05,vision_pixel_shift,clean,kitchens,3,60,60,True,85.0,85.0,1.6666666666666667
335
+ pi05,vision_pixel_shift,clean,kitchenl,3,60,60,True,85.0,81.66666666666667,5.0
336
+ pi05,vision_pixel_shift,clean,all,12,240,240,True,82.91666666666667,81.66666666666667,3.75
337
+ pi05,vision_pixel_shift,clutter,office,3,60,60,True,38.333333333333336,21.666666666666668,55.0
338
+ pi05,vision_pixel_shift,clutter,study,3,60,60,True,61.666666666666664,43.333333333333336,40.0
339
+ pi05,vision_pixel_shift,clutter,kitchens,3,60,60,True,85.0,83.33333333333333,10.0
340
+ pi05,vision_pixel_shift,clutter,kitchenl,3,60,60,True,40.0,15.0,83.33333333333333
341
+ pi05,vision_pixel_shift,clutter,all,12,240,240,True,56.25,40.833333333333336,47.083333333333336
342
+ pi05,vision_combined,clean,office,3,60,60,True,71.66666666666667,68.33333333333333,10.0
343
+ pi05,vision_combined,clean,study,3,60,60,True,83.33333333333333,83.33333333333333,0.0
344
+ pi05,vision_combined,clean,kitchens,3,59,60,False,81.35593220338983,81.35593220338983,0.0
345
+ pi05,vision_combined,clean,kitchenl,3,60,60,True,66.66666666666667,66.66666666666667,6.666666666666667
346
+ pi05,vision_combined,clean,all,12,239,240,False,75.73221757322176,74.89539748953975,4.184100418410042
347
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348
+ pi05,vision_combined,clutter,study,3,60,60,True,70.0,50.0,46.666666666666664
349
+ pi05,vision_combined,clutter,kitchens,3,60,60,True,81.66666666666667,80.0,10.0
350
+ pi05,vision_combined,clutter,kitchenl,3,60,60,True,56.666666666666664,28.333333333333332,66.66666666666667
351
+ pi05,vision_combined,clutter,all,12,240,240,True,65.0,50.833333333333336,39.583333333333336
352
+ pi05,object_ood_appearance,clean,office,3,60,60,True,60.0,58.333333333333336,10.0
353
+ pi05,object_ood_appearance,clean,study,3,60,60,True,86.66666666666667,86.66666666666667,0.0
354
+ pi05,object_ood_appearance,clean,kitchens,3,60,60,True,85.0,85.0,3.3333333333333335
355
+ pi05,object_ood_appearance,clean,kitchenl,3,60,60,True,85.0,85.0,3.3333333333333335
356
+ pi05,object_ood_appearance,clean,all,12,240,240,True,79.16666666666667,78.75,4.166666666666667
357
+ pi05,object_ood_appearance,clutter,office,3,60,60,True,33.333333333333336,28.333333333333332,51.666666666666664
358
+ pi05,object_ood_appearance,clutter,study,3,60,60,True,41.666666666666664,33.333333333333336,48.333333333333336
359
+ pi05,object_ood_appearance,clutter,kitchens,3,60,60,True,85.0,76.66666666666667,15.0
360
+ pi05,object_ood_appearance,clutter,kitchenl,3,60,60,True,41.666666666666664,13.333333333333334,80.0
361
+ pi05,object_ood_appearance,clutter,all,12,240,240,True,50.416666666666664,37.916666666666664,48.75
362
+ pi05,object_ood_unseen_obstacles,clean,office,3,60,60,True,68.33333333333333,68.33333333333333,6.666666666666667
363
+ pi05,object_ood_unseen_obstacles,clean,study,3,60,60,True,91.66666666666667,91.66666666666667,1.6666666666666667
364
+ pi05,object_ood_unseen_obstacles,clean,kitchens,3,60,60,True,81.66666666666667,81.66666666666667,1.6666666666666667
365
+ pi05,object_ood_unseen_obstacles,clean,kitchenl,3,60,60,True,76.66666666666667,75.0,5.0
366
+ pi05,object_ood_unseen_obstacles,clean,all,12,240,240,True,79.58333333333333,79.16666666666667,3.75
367
+ pi05,object_ood_unseen_obstacles,clutter,office,3,56,60,False,26.785714285714285,17.857142857142858,73.21428571428571
368
+ pi05,object_ood_unseen_obstacles,clutter,study,3,60,60,True,33.333333333333336,21.666666666666668,63.333333333333336
369
+ pi05,object_ood_unseen_obstacles,clutter,kitchens,3,60,60,True,81.66666666666667,75.0,18.333333333333332
370
+ pi05,object_ood_unseen_obstacles,clutter,kitchenl,3,60,60,True,53.333333333333336,25.0,71.66666666666667
371
+ pi05,object_ood_unseen_obstacles,clutter,all,12,236,240,False,49.152542372881356,35.16949152542373,56.355932203389834
372
+ pi05,object_ood_unseen_targets,clean,office,3,60,60,True,63.333333333333336,63.333333333333336,5.0
373
+ pi05,object_ood_unseen_targets,clean,study,3,60,60,True,80.0,80.0,0.0
374
+ pi05,object_ood_unseen_targets,clean,kitchens,3,60,60,True,91.66666666666667,88.33333333333333,3.3333333333333335
375
+ pi05,object_ood_unseen_targets,clean,kitchenl,3,59,60,False,76.27118644067797,76.27118644067797,3.389830508474576
376
+ pi05,object_ood_unseen_targets,clean,all,12,239,240,False,77.82426778242677,76.98744769874477,2.928870292887029
377
+ pi05,object_ood_unseen_targets,clutter,office,3,60,60,True,33.333333333333336,26.666666666666668,40.0
378
+ pi05,object_ood_unseen_targets,clutter,study,3,60,60,True,50.0,36.666666666666664,55.0
379
+ pi05,object_ood_unseen_targets,clutter,kitchens,3,60,60,True,86.66666666666667,85.0,10.0
380
+ pi05,object_ood_unseen_targets,clutter,kitchenl,3,60,60,True,31.666666666666668,11.666666666666666,78.33333333333333
381
+ pi05,object_ood_unseen_targets,clutter,all,12,240,240,True,50.416666666666664,40.0,45.833333333333336
382
+ pi05,object_ood_combined,clean,office,3,60,60,True,61.666666666666664,60.0,6.666666666666667
383
+ pi05,object_ood_combined,clean,study,3,60,60,True,80.0,80.0,0.0
384
+ pi05,object_ood_combined,clean,kitchens,3,60,60,True,88.33333333333333,88.33333333333333,1.6666666666666667
385
+ pi05,object_ood_combined,clean,kitchenl,3,59,60,False,79.66101694915254,77.96610169491525,5.084745762711864
386
+ pi05,object_ood_combined,clean,all,12,239,240,False,77.40585774058577,76.56903765690376,3.3472803347280333
387
+ pi05,object_ood_combined,clutter,office,3,58,60,False,34.48275862068966,32.758620689655174,51.724137931034484
388
+ pi05,object_ood_combined,clutter,study,3,60,60,True,28.333333333333332,18.333333333333332,61.666666666666664
389
+ pi05,object_ood_combined,clutter,kitchens,3,60,60,True,80.0,73.33333333333333,25.0
390
+ pi05,object_ood_combined,clutter,kitchenl,3,60,60,True,71.66666666666667,31.666666666666668,60.0
391
+ pi05,object_ood_combined,clutter,all,12,238,240,False,53.78151260504202,39.075630252100844,49.57983193277311
pi0/perturbation/pi0_perturbation.csv CHANGED
@@ -1,13 +1,313 @@
1
- scene,task,n,SR,HSR,CR
2
- kitchenl,put_bottle_in_basket,120,12.5,12.5,40.8
3
- kitchenl,put_bottle_in_fridge,120,14.2,14.2,4.2
4
- kitchenl,put_can_in_cabinet,120,74.2,64.2,17.5
5
- kitchens,drop_apple_in_bin_ks,120,72.5,68.3,5.0
6
- kitchens,move_hamburger_onto_plate_ks,120,46.7,45.0,4.2
7
- kitchens,place_bowl_in_dishrack_ks,120,84.2,84.2,0.0
8
- office,put_mouse_on_pad,120,23.3,23.3,5.0
9
- office,put_rubikscube_in_drawer,120,40.8,39.2,25.8
10
- office,put_stapler_next_to_mouse,120,46.7,46.7,5.0
11
- study,move_cup,120,88.3,88.3,0.8
12
- study,move_pen_to_box,66,57.6,57.6,0.0
13
- study,move_seal_next_to_pencup,120,90.8,90.8,0.0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,scene,task,condition,episodes,expected,complete,canonical_matched,substitute_seeds,conflict_seeds,sr,hsr,cr
2
+ pi0,colloquial_polite,office,put_mouse_on_pad,clean,20,20,True,20,0,0,10.0,10.0,5.0
3
+ pi0,colloquial_polite,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,80.0
4
+ pi0,colloquial_polite,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,30.0,30.0,40.0
5
+ pi0,colloquial_polite,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,85.0
6
+ pi0,colloquial_polite,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,50.0,50.0,5.0
7
+ pi0,colloquial_polite,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,75.0
8
+ pi0,colloquial_polite,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
9
+ pi0,colloquial_polite,study,move_cup,clutter,20,20,True,20,0,0,75.0,60.0,40.0
10
+ pi0,colloquial_polite,study,move_pen_to_box,clean,20,20,True,20,0,0,65.0,65.0,0.0
11
+ pi0,colloquial_polite,study,move_pen_to_box,clutter,20,20,True,20,0,0,60.0,0.0,70.0
12
+ pi0,colloquial_polite,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
13
+ pi0,colloquial_polite,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,85.0,85.0,0.0
14
+ pi0,colloquial_polite,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,70.0,65.0,5.0
15
+ pi0,colloquial_polite,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,70.0,60.0,15.0
16
+ pi0,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,40.0,35.0,10.0
17
+ pi0,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,35.0,35.0,20.0
18
+ pi0,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
19
+ pi0,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
20
+ pi0,colloquial_polite,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,40.0
21
+ pi0,colloquial_polite,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,75.0
22
+ pi0,colloquial_polite,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,0.0,0.0,10.0
23
+ pi0,colloquial_polite,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,70.0
24
+ pi0,colloquial_polite,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,60.0,50.0,20.0
25
+ pi0,colloquial_polite,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,50.0,5.0,80.0
26
+ pi0,commonsense_indirect,office,put_mouse_on_pad,clean,20,20,True,20,0,0,40.0,40.0,10.0
27
+ pi0,commonsense_indirect,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,75.0
28
+ pi0,commonsense_indirect,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,45.0,30.0
29
+ pi0,commonsense_indirect,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,80.0
30
+ pi0,commonsense_indirect,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,60.0,60.0,10.0
31
+ pi0,commonsense_indirect,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,80.0
32
+ pi0,commonsense_indirect,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
33
+ pi0,commonsense_indirect,study,move_cup,clutter,20,20,True,20,0,0,80.0,55.0,40.0
34
+ pi0,commonsense_indirect,study,move_pen_to_box,clean,20,20,True,20,0,0,25.0,25.0,0.0
35
+ pi0,commonsense_indirect,study,move_pen_to_box,clutter,20,20,True,20,0,0,25.0,0.0,75.0
36
+ pi0,commonsense_indirect,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,85.0,85.0,0.0
37
+ pi0,commonsense_indirect,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,70.0,65.0,5.0
38
+ pi0,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,80.0,75.0,5.0
39
+ pi0,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,55.0,50.0,20.0
40
+ pi0,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,45.0,40.0,10.0
41
+ pi0,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,40.0,35.0,15.0
42
+ pi0,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
43
+ pi0,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,90.0,90.0,5.0
44
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,65.0
45
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,95.0
46
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,1,0.0,0.0,5.0
47
+ pi0,commonsense_indirect,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,75.0
48
+ pi0,commonsense_indirect,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,85.0,10.0
49
+ pi0,commonsense_indirect,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,60.0,15.0,80.0
50
+ pi0,reasoning_chain,office,put_mouse_on_pad,clean,20,20,True,20,0,0,10.0,10.0,5.0
51
+ pi0,reasoning_chain,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,5.0,0.0,95.0
52
+ pi0,reasoning_chain,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,25.0,20.0,20.0
53
+ pi0,reasoning_chain,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,75.0
54
+ pi0,reasoning_chain,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,35.0,35.0,5.0
55
+ pi0,reasoning_chain,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,90.0
56
+ pi0,reasoning_chain,study,move_cup,clean,20,20,True,20,0,0,85.0,85.0,0.0
57
+ pi0,reasoning_chain,study,move_cup,clutter,20,20,True,20,0,0,80.0,60.0,35.0
58
+ pi0,reasoning_chain,study,move_pen_to_box,clean,20,20,True,20,0,0,70.0,70.0,0.0
59
+ pi0,reasoning_chain,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,5.0,70.0
60
+ pi0,reasoning_chain,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,90.0,90.0,0.0
61
+ pi0,reasoning_chain,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,70.0,65.0,5.0
62
+ pi0,reasoning_chain,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,80.0,70.0,10.0
63
+ pi0,reasoning_chain,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,70.0,60.0,20.0
64
+ pi0,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,45.0,45.0,0.0
65
+ pi0,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,35.0,35.0,20.0
66
+ pi0,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
67
+ pi0,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
68
+ pi0,reasoning_chain,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,30.0
69
+ pi0,reasoning_chain,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,80.0
70
+ pi0,reasoning_chain,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,3,0.0,0.0,0.0
71
+ pi0,reasoning_chain,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,70.0
72
+ pi0,reasoning_chain,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,70.0,60.0,15.0
73
+ pi0,reasoning_chain,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,40.0,5.0,75.0
74
+ pi0,distractor_context,office,put_mouse_on_pad,clean,20,20,True,20,0,0,35.0,35.0,0.0
75
+ pi0,distractor_context,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,95.0
76
+ pi0,distractor_context,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,45.0,45.0,25.0
77
+ pi0,distractor_context,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,80.0
78
+ pi0,distractor_context,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,45.0,45.0,0.0
79
+ pi0,distractor_context,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,70.0
80
+ pi0,distractor_context,study,move_cup,clean,20,20,True,20,0,0,95.0,95.0,0.0
81
+ pi0,distractor_context,study,move_cup,clutter,20,20,True,20,0,0,80.0,55.0,45.0
82
+ pi0,distractor_context,study,move_pen_to_box,clean,20,20,True,20,0,0,70.0,70.0,0.0
83
+ pi0,distractor_context,study,move_pen_to_box,clutter,20,20,True,20,0,0,50.0,5.0,75.0
84
+ pi0,distractor_context,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
85
+ pi0,distractor_context,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,65.0,65.0,10.0
86
+ pi0,distractor_context,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,75.0,75.0,5.0
87
+ pi0,distractor_context,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,65.0,50.0,30.0
88
+ pi0,distractor_context,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,65.0,65.0,5.0
89
+ pi0,distractor_context,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,30.0,30.0,25.0
90
+ pi0,distractor_context,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
91
+ pi0,distractor_context,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
92
+ pi0,distractor_context,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,55.0
93
+ pi0,distractor_context,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,70.0
94
+ pi0,distractor_context,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,2,0.0,0.0,5.0
95
+ pi0,distractor_context,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,65.0
96
+ pi0,distractor_context,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,60.0,50.0,15.0
97
+ pi0,distractor_context,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,50.0,10.0,90.0
98
+ pi0,multi_object_distraction,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,0.0
99
+ pi0,multi_object_distraction,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,95.0
100
+ pi0,multi_object_distraction,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,50.0,20.0
101
+ pi0,multi_object_distraction,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,5.0,0.0,90.0
102
+ pi0,multi_object_distraction,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,55.0,55.0,5.0
103
+ pi0,multi_object_distraction,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,80.0
104
+ pi0,multi_object_distraction,study,move_cup,clean,20,20,True,20,0,0,75.0,75.0,5.0
105
+ pi0,multi_object_distraction,study,move_cup,clutter,20,20,True,20,0,0,60.0,20.0,70.0
106
+ pi0,multi_object_distraction,study,move_pen_to_box,clean,20,20,True,20,0,0,55.0,55.0,0.0
107
+ pi0,multi_object_distraction,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,10.0,65.0
108
+ pi0,multi_object_distraction,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,85.0,85.0,0.0
109
+ pi0,multi_object_distraction,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,70.0,60.0,10.0
110
+ pi0,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,65.0,60.0,5.0
111
+ pi0,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,35.0,35.0,35.0
112
+ pi0,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,45.0,45.0,0.0
113
+ pi0,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,40.0,40.0,30.0
114
+ pi0,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
115
+ pi0,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,85.0,80.0,5.0
116
+ pi0,multi_object_distraction,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,45.0
117
+ pi0,multi_object_distraction,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,90.0
118
+ pi0,multi_object_distraction,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,2,0.0,0.0,0.0
119
+ pi0,multi_object_distraction,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,60.0
120
+ pi0,multi_object_distraction,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,70.0,30.0
121
+ pi0,multi_object_distraction,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,40.0,10.0,75.0
122
+ pi0,vision_blur,office,put_mouse_on_pad,clean,20,20,True,20,0,0,10.0,10.0,0.0
123
+ pi0,vision_blur,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,0.0,0.0,95.0
124
+ pi0,vision_blur,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,35.0,35.0,10.0
125
+ pi0,vision_blur,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,10.0,10.0,70.0
126
+ pi0,vision_blur,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,30.0,30.0,10.0
127
+ pi0,vision_blur,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,70.0
128
+ pi0,vision_blur,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
129
+ pi0,vision_blur,study,move_cup,clutter,20,20,True,20,0,0,70.0,45.0,40.0
130
+ pi0,vision_blur,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,0.0
131
+ pi0,vision_blur,study,move_pen_to_box,clutter,20,20,True,20,0,0,55.0,0.0,80.0
132
+ pi0,vision_blur,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
133
+ pi0,vision_blur,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,85.0,75.0,10.0
134
+ pi0,vision_blur,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,70.0,70.0,0.0
135
+ pi0,vision_blur,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,65.0,55.0,15.0
136
+ pi0,vision_blur,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,60.0,60.0,0.0
137
+ pi0,vision_blur,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,40.0,40.0,10.0
138
+ pi0,vision_blur,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
139
+ pi0,vision_blur,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,100.0,100.0,0.0
140
+ pi0,vision_blur,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,50.0,45.0,25.0
141
+ pi0,vision_blur,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,40.0,5.0,90.0
142
+ pi0,vision_blur,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,65.0,65.0,0.0
143
+ pi0,vision_blur,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,10.0,75.0
144
+ pi0,vision_blur,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,60.0,45.0,35.0
145
+ pi0,vision_blur,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,45.0,10.0,85.0
146
+ pi0,vision_lighting,office,put_mouse_on_pad,clean,20,20,True,20,0,0,0.0,0.0,0.0
147
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148
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149
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150
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151
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152
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153
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154
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155
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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
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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
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206
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207
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208
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209
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210
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211
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212
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213
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214
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215
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216
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217
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218
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219
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220
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221
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222
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223
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225
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227
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228
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229
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230
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231
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235
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237
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238
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239
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240
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241
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242
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243
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254
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255
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256
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259
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265
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266
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271
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285
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288
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293
+ pi0,object_ood_combined,office,put_rubikscube_in_drawer,clutter,19,20,False,18,1,0,5.2631578947368425,5.2631578947368425,57.89473684210526
294
+ pi0,object_ood_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,30.0,30.0,5.0
295
+ pi0,object_ood_combined,office,put_stapler_next_to_mouse,clutter,19,20,False,19,0,0,0.0,0.0,89.47368421052632
296
+ pi0,object_ood_combined,study,move_cup,clean,20,20,True,20,0,0,75.0,75.0,0.0
297
+ pi0,object_ood_combined,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,75.0
298
+ pi0,object_ood_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,0.0
299
+ pi0,object_ood_combined,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,0.0,90.0
300
+ pi0,object_ood_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,90.0,90.0,0.0
301
+ pi0,object_ood_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,50.0,50.0,0.0
302
+ pi0,object_ood_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,55.0,55.0,0.0
303
+ pi0,object_ood_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,20.0,20.0,25.0
304
+ pi0,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,50.0,50.0,0.0
305
+ pi0,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,20.0,20.0,70.0
306
+ pi0,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
307
+ pi0,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,90.0,90.0,5.0
308
+ pi0,object_ood_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,50.0,50.0,20.0
309
+ pi0,object_ood_combined,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,25.0,5.0,90.0
310
+ pi0,object_ood_combined,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,3,47.36842105263158,47.36842105263158,5.2631578947368425
311
+ pi0,object_ood_combined,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,25.0,5.0,80.0
312
+ pi0,object_ood_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,75.0,70.0,5.0
313
+ pi0,object_ood_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,70.0,45.0,50.0
pi0/perturbation/pi0_perturbation_averages.csv ADDED
@@ -0,0 +1,131 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,condition,group,tasks,episodes,expected,complete,sr,hsr,cr
2
+ pi0,colloquial_polite,clean,office,3,60,60,True,30.0,30.0,16.666666666666668
3
+ pi0,colloquial_polite,clean,study,3,60,60,True,83.33333333333333,83.33333333333333,0.0
4
+ pi0,colloquial_polite,clean,kitchens,3,60,60,True,63.333333333333336,60.0,5.0
5
+ pi0,colloquial_polite,clean,kitchenl,3,60,60,True,20.0,16.666666666666668,23.333333333333332
6
+ pi0,colloquial_polite,clean,all,12,240,240,True,49.166666666666664,47.5,11.25
7
+ pi0,colloquial_polite,clutter,office,3,60,60,True,0.0,0.0,80.0
8
+ pi0,colloquial_polite,clutter,study,3,60,60,True,73.33333333333333,48.333333333333336,36.666666666666664
9
+ pi0,colloquial_polite,clutter,kitchens,3,60,60,True,68.33333333333333,65.0,11.666666666666666
10
+ pi0,colloquial_polite,clutter,kitchenl,3,60,60,True,16.666666666666668,1.6666666666666667,75.0
11
+ pi0,colloquial_polite,clutter,all,12,240,240,True,39.583333333333336,28.75,50.833333333333336
12
+ pi0,commonsense_indirect,clean,office,3,60,60,True,50.0,48.333333333333336,16.666666666666668
13
+ pi0,commonsense_indirect,clean,study,3,60,60,True,66.66666666666667,66.66666666666667,0.0
14
+ pi0,commonsense_indirect,clean,kitchens,3,60,60,True,71.66666666666667,68.33333333333333,5.0
15
+ pi0,commonsense_indirect,clean,kitchenl,3,60,60,True,30.0,28.333333333333332,26.666666666666668
16
+ pi0,commonsense_indirect,clean,all,12,240,240,True,54.583333333333336,52.916666666666664,12.083333333333334
17
+ pi0,commonsense_indirect,clutter,office,3,60,60,True,0.0,0.0,78.33333333333333
18
+ pi0,commonsense_indirect,clutter,study,3,60,60,True,58.333333333333336,40.0,40.0
19
+ pi0,commonsense_indirect,clutter,kitchens,3,60,60,True,61.666666666666664,58.333333333333336,13.333333333333334
20
+ pi0,commonsense_indirect,clutter,kitchenl,3,60,60,True,20.0,5.0,83.33333333333333
21
+ pi0,commonsense_indirect,clutter,all,12,240,240,True,35.0,25.833333333333332,53.75
22
+ pi0,reasoning_chain,clean,office,3,60,60,True,23.333333333333332,21.666666666666668,10.0
23
+ pi0,reasoning_chain,clean,study,3,60,60,True,81.66666666666667,81.66666666666667,0.0
24
+ pi0,reasoning_chain,clean,kitchens,3,60,60,True,71.66666666666667,68.33333333333333,3.3333333333333335
25
+ pi0,reasoning_chain,clean,kitchenl,3,60,60,True,23.333333333333332,20.0,15.0
26
+ pi0,reasoning_chain,clean,all,12,240,240,True,50.0,47.916666666666664,7.083333333333333
27
+ pi0,reasoning_chain,clutter,office,3,60,60,True,1.6666666666666667,0.0,86.66666666666667
28
+ pi0,reasoning_chain,clutter,study,3,60,60,True,61.666666666666664,43.333333333333336,36.666666666666664
29
+ pi0,reasoning_chain,clutter,kitchens,3,60,60,True,68.33333333333333,65.0,13.333333333333334
30
+ pi0,reasoning_chain,clutter,kitchenl,3,60,60,True,13.333333333333334,1.6666666666666667,75.0
31
+ pi0,reasoning_chain,clutter,all,12,240,240,True,36.25,27.5,52.916666666666664
32
+ pi0,distractor_context,clean,office,3,60,60,True,41.666666666666664,41.666666666666664,8.333333333333334
33
+ pi0,distractor_context,clean,study,3,60,60,True,86.66666666666667,86.66666666666667,0.0
34
+ pi0,distractor_context,clean,kitchens,3,60,60,True,73.33333333333333,73.33333333333333,3.3333333333333335
35
+ pi0,distractor_context,clean,kitchenl,3,60,60,True,20.0,16.666666666666668,25.0
36
+ pi0,distractor_context,clean,all,12,240,240,True,55.416666666666664,54.583333333333336,9.166666666666666
37
+ pi0,distractor_context,clutter,office,3,60,60,True,0.0,0.0,81.66666666666667
38
+ pi0,distractor_context,clutter,study,3,60,60,True,65.0,41.666666666666664,43.333333333333336
39
+ pi0,distractor_context,clutter,kitchens,3,60,60,True,65.0,60.0,18.333333333333332
40
+ pi0,distractor_context,clutter,kitchenl,3,60,60,True,16.666666666666668,3.3333333333333335,75.0
41
+ pi0,distractor_context,clutter,all,12,240,240,True,36.666666666666664,26.25,54.583333333333336
42
+ pi0,multi_object_distraction,clean,office,3,60,60,True,43.333333333333336,43.333333333333336,8.333333333333334
43
+ pi0,multi_object_distraction,clean,study,3,60,60,True,71.66666666666667,71.66666666666667,1.6666666666666667
44
+ pi0,multi_object_distraction,clean,kitchens,3,60,60,True,63.333333333333336,61.666666666666664,1.6666666666666667
45
+ pi0,multi_object_distraction,clean,kitchenl,3,60,60,True,28.333333333333332,23.333333333333332,25.0
46
+ pi0,multi_object_distraction,clean,all,12,240,240,True,51.666666666666664,50.0,9.166666666666666
47
+ pi0,multi_object_distraction,clutter,office,3,60,60,True,1.6666666666666667,0.0,88.33333333333333
48
+ pi0,multi_object_distraction,clutter,study,3,60,60,True,55.0,30.0,48.333333333333336
49
+ pi0,multi_object_distraction,clutter,kitchens,3,60,60,True,53.333333333333336,51.666666666666664,23.333333333333332
50
+ pi0,multi_object_distraction,clutter,kitchenl,3,60,60,True,13.333333333333334,3.3333333333333335,75.0
51
+ pi0,multi_object_distraction,clutter,all,12,240,240,True,30.833333333333332,21.25,58.75
52
+ pi0,vision_blur,clean,office,3,60,60,True,25.0,25.0,6.666666666666667
53
+ pi0,vision_blur,clean,study,3,60,60,True,90.0,90.0,0.0
54
+ pi0,vision_blur,clean,kitchens,3,60,60,True,73.33333333333333,73.33333333333333,0.0
55
+ pi0,vision_blur,clean,kitchenl,3,60,60,True,58.333333333333336,51.666666666666664,20.0
56
+ pi0,vision_blur,clean,all,12,240,240,True,61.666666666666664,60.0,6.666666666666667
57
+ pi0,vision_blur,clutter,office,3,60,60,True,3.3333333333333335,3.3333333333333335,78.33333333333333
58
+ pi0,vision_blur,clutter,study,3,60,60,True,70.0,40.0,43.333333333333336
59
+ pi0,vision_blur,clutter,kitchens,3,60,60,True,68.33333333333333,65.0,8.333333333333334
60
+ pi0,vision_blur,clutter,kitchenl,3,60,60,True,33.333333333333336,8.333333333333334,83.33333333333333
61
+ pi0,vision_blur,clutter,all,12,240,240,True,43.75,29.166666666666668,53.333333333333336
62
+ pi0,vision_lighting,clean,office,3,60,60,True,31.666666666666668,30.0,11.666666666666666
63
+ pi0,vision_lighting,clean,study,3,60,60,True,70.0,70.0,0.0
64
+ pi0,vision_lighting,clean,kitchens,3,59,60,False,62.71186440677966,62.71186440677966,1.694915254237288
65
+ pi0,vision_lighting,clean,kitchenl,3,60,60,True,56.666666666666664,56.666666666666664,8.333333333333334
66
+ pi0,vision_lighting,clean,all,12,239,240,False,55.23012552301255,54.81171548117155,5.439330543933054
67
+ pi0,vision_lighting,clutter,office,3,60,60,True,11.666666666666666,8.333333333333334,70.0
68
+ pi0,vision_lighting,clutter,study,3,60,60,True,63.333333333333336,38.333333333333336,36.666666666666664
69
+ pi0,vision_lighting,clutter,kitchens,3,60,60,True,58.333333333333336,55.0,15.0
70
+ pi0,vision_lighting,clutter,kitchenl,3,60,60,True,55.0,30.0,66.66666666666667
71
+ pi0,vision_lighting,clutter,all,12,240,240,True,47.083333333333336,32.916666666666664,47.083333333333336
72
+ pi0,vision_pixel_shift,clean,office,3,60,60,True,25.0,25.0,15.0
73
+ pi0,vision_pixel_shift,clean,study,3,60,60,True,83.33333333333333,83.33333333333333,0.0
74
+ pi0,vision_pixel_shift,clean,kitchens,3,60,60,True,65.0,65.0,0.0
75
+ pi0,vision_pixel_shift,clean,kitchenl,3,60,60,True,75.0,73.33333333333333,5.0
76
+ pi0,vision_pixel_shift,clean,all,12,240,240,True,62.083333333333336,61.666666666666664,5.0
77
+ pi0,vision_pixel_shift,clutter,office,3,60,60,True,1.6666666666666667,1.6666666666666667,76.66666666666667
78
+ pi0,vision_pixel_shift,clutter,study,3,60,60,True,73.33333333333333,45.0,41.666666666666664
79
+ pi0,vision_pixel_shift,clutter,kitchens,3,60,60,True,61.666666666666664,61.666666666666664,18.333333333333332
80
+ pi0,vision_pixel_shift,clutter,kitchenl,3,60,60,True,45.0,5.0,83.33333333333333
81
+ pi0,vision_pixel_shift,clutter,all,12,240,240,True,45.416666666666664,28.333333333333332,55.0
82
+ pi0,vision_combined,clean,office,3,60,60,True,26.666666666666668,23.333333333333332,23.333333333333332
83
+ pi0,vision_combined,clean,study,3,60,60,True,73.33333333333333,73.33333333333333,1.6666666666666667
84
+ pi0,vision_combined,clean,kitchens,3,59,60,False,61.016949152542374,61.016949152542374,0.0
85
+ pi0,vision_combined,clean,kitchenl,3,60,60,True,56.666666666666664,55.0,11.666666666666666
86
+ pi0,vision_combined,clean,all,12,239,240,False,54.39330543933055,53.13807531380753,9.205020920502092
87
+ pi0,vision_combined,clutter,office,3,60,60,True,16.666666666666668,15.0,63.333333333333336
88
+ pi0,vision_combined,clutter,study,3,60,60,True,71.66666666666667,43.333333333333336,40.0
89
+ pi0,vision_combined,clutter,kitchens,3,60,60,True,68.33333333333333,65.0,11.666666666666666
90
+ pi0,vision_combined,clutter,kitchenl,3,60,60,True,50.0,18.333333333333332,68.33333333333333
91
+ pi0,vision_combined,clutter,all,12,240,240,True,51.666666666666664,35.416666666666664,45.833333333333336
92
+ pi0,object_ood_appearance,clean,office,3,60,60,True,23.333333333333332,21.666666666666668,21.666666666666668
93
+ pi0,object_ood_appearance,clean,study,3,60,60,True,81.66666666666667,81.66666666666667,0.0
94
+ pi0,object_ood_appearance,clean,kitchens,3,60,60,True,71.66666666666667,71.66666666666667,1.6666666666666667
95
+ pi0,object_ood_appearance,clean,kitchenl,3,60,60,True,71.66666666666667,68.33333333333333,6.666666666666667
96
+ pi0,object_ood_appearance,clean,all,12,240,240,True,62.083333333333336,60.833333333333336,7.5
97
+ pi0,object_ood_appearance,clutter,office,3,60,60,True,11.666666666666666,8.333333333333334,70.0
98
+ pi0,object_ood_appearance,clutter,study,3,60,60,True,61.666666666666664,38.333333333333336,41.666666666666664
99
+ pi0,object_ood_appearance,clutter,kitchens,3,60,60,True,55.0,53.333333333333336,25.0
100
+ pi0,object_ood_appearance,clutter,kitchenl,3,60,60,True,35.0,8.333333333333334,83.33333333333333
101
+ pi0,object_ood_appearance,clutter,all,12,240,240,True,40.833333333333336,27.083333333333332,55.0
102
+ pi0,object_ood_unseen_obstacles,clean,office,3,60,60,True,30.0,28.333333333333332,16.666666666666668
103
+ pi0,object_ood_unseen_obstacles,clean,study,3,60,60,True,93.33333333333333,93.33333333333333,0.0
104
+ pi0,object_ood_unseen_obstacles,clean,kitchens,3,60,60,True,66.66666666666667,66.66666666666667,1.6666666666666667
105
+ pi0,object_ood_unseen_obstacles,clean,kitchenl,3,60,60,True,70.0,68.33333333333333,6.666666666666667
106
+ pi0,object_ood_unseen_obstacles,clean,all,12,240,240,True,65.0,64.16666666666667,6.25
107
+ pi0,object_ood_unseen_obstacles,clutter,office,3,56,60,False,3.5714285714285716,1.7857142857142858,85.71428571428571
108
+ pi0,object_ood_unseen_obstacles,clutter,study,3,60,60,True,48.333333333333336,26.666666666666668,58.333333333333336
109
+ pi0,object_ood_unseen_obstacles,clutter,kitchens,3,60,60,True,63.333333333333336,60.0,21.666666666666668
110
+ pi0,object_ood_unseen_obstacles,clutter,kitchenl,3,60,60,True,58.333333333333336,20.0,68.33333333333333
111
+ pi0,object_ood_unseen_obstacles,clutter,all,12,236,240,False,44.067796610169495,27.54237288135593,58.05084745762712
112
+ pi0,object_ood_unseen_targets,clean,office,3,60,60,True,25.0,25.0,15.0
113
+ pi0,object_ood_unseen_targets,clean,study,3,60,60,True,76.66666666666667,76.66666666666667,0.0
114
+ pi0,object_ood_unseen_targets,clean,kitchens,3,60,60,True,73.33333333333333,73.33333333333333,1.6666666666666667
115
+ pi0,object_ood_unseen_targets,clean,kitchenl,3,59,60,False,59.32203389830509,55.932203389830505,11.864406779661017
116
+ pi0,object_ood_unseen_targets,clean,all,12,239,240,False,58.57740585774059,57.74058577405858,7.112970711297071
117
+ pi0,object_ood_unseen_targets,clutter,office,3,60,60,True,1.6666666666666667,0.0,93.33333333333333
118
+ pi0,object_ood_unseen_targets,clutter,study,3,60,60,True,50.0,33.333333333333336,38.333333333333336
119
+ pi0,object_ood_unseen_targets,clutter,kitchens,3,60,60,True,78.33333333333333,75.0,13.333333333333334
120
+ pi0,object_ood_unseen_targets,clutter,kitchenl,3,60,60,True,23.333333333333332,3.3333333333333335,80.0
121
+ pi0,object_ood_unseen_targets,clutter,all,12,240,240,True,38.333333333333336,27.916666666666668,56.25
122
+ pi0,object_ood_combined,clean,office,3,60,60,True,25.0,23.333333333333332,15.0
123
+ pi0,object_ood_combined,clean,study,3,60,60,True,83.33333333333333,83.33333333333333,0.0
124
+ pi0,object_ood_combined,clean,kitchens,3,60,60,True,63.333333333333336,63.333333333333336,0.0
125
+ pi0,object_ood_combined,clean,kitchenl,3,59,60,False,57.6271186440678,55.932203389830505,10.169491525423728
126
+ pi0,object_ood_combined,clean,all,12,239,240,False,57.32217573221757,56.48535564853557,6.2761506276150625
127
+ pi0,object_ood_combined,clutter,office,3,58,60,False,3.4482758620689653,1.7241379310344827,82.75862068965517
128
+ pi0,object_ood_combined,clutter,study,3,60,60,True,26.666666666666668,16.666666666666668,55.0
129
+ pi0,object_ood_combined,clutter,kitchens,3,60,60,True,43.333333333333336,43.333333333333336,33.333333333333336
130
+ pi0,object_ood_combined,clutter,kitchenl,3,60,60,True,40.0,18.333333333333332,73.33333333333333
131
+ pi0,object_ood_combined,clutter,all,12,238,240,False,28.571428571428573,20.168067226890756,60.924369747899156
pi05/perturbation/pi05_perturbation.csv CHANGED
@@ -1,13 +1,313 @@
1
- scene,task,n,SR,HSR,CR
2
- kitchenl,put_bottle_in_basket,120,20.0,20.0,12.5
3
- kitchenl,put_bottle_in_fridge,120,30.8,30.8,15.0
4
- kitchenl,put_can_in_cabinet,120,70.8,69.2,13.3
5
- kitchens,drop_apple_in_bin_ks,120,87.5,85.0,5.8
6
- kitchens,move_hamburger_onto_plate_ks,120,91.7,90.8,0.8
7
- kitchens,place_bowl_in_dishrack_ks,120,84.2,84.2,1.7
8
- office,put_mouse_on_pad,120,71.7,71.7,0.0
9
- office,put_rubikscube_in_drawer,120,62.5,62.5,12.5
10
- office,put_stapler_next_to_mouse,120,70.8,70.8,2.5
11
- study,move_cup,120,90.8,90.8,0.0
12
- study,move_pen_to_box,66,74.2,74.2,0.0
13
- study,move_seal_next_to_pencup,120,95.8,95.8,0.0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,scene,task,condition,episodes,expected,complete,canonical_matched,substitute_seeds,conflict_seeds,sr,hsr,cr
2
+ pi05,colloquial_polite,office,put_mouse_on_pad,clean,20,20,True,20,0,0,60.0,60.0,0.0
3
+ pi05,colloquial_polite,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,5.0,50.0
4
+ pi05,colloquial_polite,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,70.0,70.0,5.0
5
+ pi05,colloquial_polite,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,40.0,40.0
6
+ pi05,colloquial_polite,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,0.0
7
+ pi05,colloquial_polite,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
8
+ pi05,colloquial_polite,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
9
+ pi05,colloquial_polite,study,move_cup,clutter,20,20,True,20,0,0,50.0,40.0,40.0
10
+ pi05,colloquial_polite,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,0.0
11
+ pi05,colloquial_polite,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,5.0,80.0
12
+ pi05,colloquial_polite,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
13
+ pi05,colloquial_polite,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,75.0,75.0,10.0
14
+ pi05,colloquial_polite,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,85.0,80.0,5.0
15
+ pi05,colloquial_polite,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,70.0,60.0,35.0
16
+ pi05,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,90.0,85.0,5.0
17
+ pi05,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,90.0,90.0,5.0
18
+ pi05,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,5.0
19
+ pi05,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,0.0
20
+ pi05,colloquial_polite,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,25.0
21
+ pi05,colloquial_polite,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,85.0
22
+ pi05,colloquial_polite,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,0.0,0.0,20.0
23
+ pi05,colloquial_polite,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
24
+ pi05,colloquial_polite,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,70.0,70.0,15.0
25
+ pi05,colloquial_polite,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,10.0,85.0
26
+ pi05,commonsense_indirect,office,put_mouse_on_pad,clean,20,20,True,20,0,0,85.0,85.0,0.0
27
+ pi05,commonsense_indirect,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,5.0,50.0
28
+ pi05,commonsense_indirect,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,55.0,55.0,15.0
29
+ pi05,commonsense_indirect,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,45.0,10.0
30
+ pi05,commonsense_indirect,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,10.0
31
+ pi05,commonsense_indirect,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
32
+ pi05,commonsense_indirect,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
33
+ pi05,commonsense_indirect,study,move_cup,clutter,20,20,True,20,0,0,55.0,45.0,50.0
34
+ pi05,commonsense_indirect,study,move_pen_to_box,clean,20,20,True,20,0,0,40.0,40.0,0.0
35
+ pi05,commonsense_indirect,study,move_pen_to_box,clutter,20,20,True,20,0,0,15.0,0.0,85.0
36
+ pi05,commonsense_indirect,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
37
+ pi05,commonsense_indirect,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,85.0,85.0,0.0
38
+ pi05,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,80.0,75.0,5.0
39
+ pi05,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,80.0,65.0,30.0
40
+ pi05,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,100.0,100.0,0.0
41
+ pi05,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,90.0,85.0,5.0
42
+ pi05,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
43
+ pi05,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,0.0
44
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,10.0,10.0,20.0
45
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,95.0
46
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,20.0,20.0,20.0
47
+ pi05,commonsense_indirect,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,95.0
48
+ pi05,commonsense_indirect,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,65.0,60.0,20.0
49
+ pi05,commonsense_indirect,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,70.0,15.0,85.0
50
+ pi05,reasoning_chain,office,put_mouse_on_pad,clean,20,20,True,20,0,0,70.0,70.0,0.0
51
+ pi05,reasoning_chain,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,30.0,20.0,45.0
52
+ pi05,reasoning_chain,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,65.0,65.0,20.0
53
+ pi05,reasoning_chain,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,45.0,40.0,30.0
54
+ pi05,reasoning_chain,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,0.0
55
+ pi05,reasoning_chain,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,0.0,100.0
56
+ pi05,reasoning_chain,study,move_cup,clean,20,20,True,20,0,0,95.0,95.0,0.0
57
+ pi05,reasoning_chain,study,move_cup,clutter,20,20,True,20,0,0,50.0,35.0,60.0
58
+ pi05,reasoning_chain,study,move_pen_to_box,clean,20,20,True,20,0,0,90.0,90.0,0.0
59
+ pi05,reasoning_chain,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,10.0,75.0
60
+ pi05,reasoning_chain,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
61
+ pi05,reasoning_chain,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,90.0,90.0,5.0
62
+ pi05,reasoning_chain,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,85.0,85.0,5.0
63
+ pi05,reasoning_chain,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,80.0,70.0,30.0
64
+ pi05,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,95.0,95.0,0.0
65
+ pi05,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,75.0,75.0,0.0
66
+ pi05,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,5.0
67
+ pi05,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,90.0,90.0,0.0
68
+ pi05,reasoning_chain,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,15.0,15.0,10.0
69
+ pi05,reasoning_chain,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,85.0
70
+ pi05,reasoning_chain,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,35.0,35.0,15.0
71
+ pi05,reasoning_chain,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,5.0,5.0,95.0
72
+ pi05,reasoning_chain,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,55.0,55.0,25.0
73
+ pi05,reasoning_chain,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,10.0,90.0
74
+ pi05,distractor_context,office,put_mouse_on_pad,clean,20,20,True,20,0,0,70.0,70.0,0.0
75
+ pi05,distractor_context,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,10.0,45.0
76
+ pi05,distractor_context,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,45.0,45.0,20.0
77
+ pi05,distractor_context,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,50.0,25.0
78
+ pi05,distractor_context,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,75.0,75.0,0.0
79
+ pi05,distractor_context,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
80
+ pi05,distractor_context,study,move_cup,clean,20,20,True,20,0,0,90.0,90.0,0.0
81
+ pi05,distractor_context,study,move_cup,clutter,20,20,True,20,0,0,60.0,50.0,50.0
82
+ pi05,distractor_context,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,0.0
83
+ pi05,distractor_context,study,move_pen_to_box,clutter,20,20,True,20,0,0,50.0,10.0,75.0
84
+ pi05,distractor_context,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,95.0,95.0,0.0
85
+ pi05,distractor_context,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,90.0,90.0,5.0
86
+ pi05,distractor_context,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,80.0,80.0,10.0
87
+ pi05,distractor_context,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,60.0,55.0,35.0
88
+ pi05,distractor_context,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
89
+ pi05,distractor_context,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,90.0,90.0,5.0
90
+ pi05,distractor_context,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
91
+ pi05,distractor_context,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,0.0
92
+ pi05,distractor_context,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,0.0,0.0,10.0
93
+ pi05,distractor_context,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,90.0
94
+ pi05,distractor_context,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,5.0,5.0,15.0
95
+ pi05,distractor_context,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
96
+ pi05,distractor_context,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,80.0,80.0,10.0
97
+ pi05,distractor_context,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,50.0,10.0,90.0
98
+ pi05,multi_object_distraction,office,put_mouse_on_pad,clean,20,20,True,20,0,0,80.0,80.0,0.0
99
+ pi05,multi_object_distraction,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,35.0,20.0,50.0
100
+ pi05,multi_object_distraction,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,70.0,70.0,10.0
101
+ pi05,multi_object_distraction,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,40.0,25.0
102
+ pi05,multi_object_distraction,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,70.0,70.0,0.0
103
+ pi05,multi_object_distraction,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
104
+ pi05,multi_object_distraction,study,move_cup,clean,20,20,True,20,0,0,80.0,80.0,0.0
105
+ pi05,multi_object_distraction,study,move_cup,clutter,20,20,True,20,0,0,35.0,30.0,60.0
106
+ pi05,multi_object_distraction,study,move_pen_to_box,clean,20,20,True,20,0,0,95.0,95.0,0.0
107
+ pi05,multi_object_distraction,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,10.0,80.0
108
+ pi05,multi_object_distraction,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,100.0,100.0,0.0
109
+ pi05,multi_object_distraction,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,85.0,85.0,10.0
110
+ pi05,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,100.0,100.0,0.0
111
+ pi05,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,65.0,60.0,15.0
112
+ pi05,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
113
+ pi05,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,95.0,95.0,0.0
114
+ pi05,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
115
+ pi05,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,0.0
116
+ pi05,multi_object_distraction,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,5.0,5.0,10.0
117
+ pi05,multi_object_distraction,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,0.0,0.0,95.0
118
+ pi05,multi_object_distraction,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,40.0,40.0,20.0
119
+ pi05,multi_object_distraction,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
120
+ pi05,multi_object_distraction,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,75.0,75.0,0.0
121
+ pi05,multi_object_distraction,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,60.0,10.0,90.0
122
+ pi05,vision_blur,office,put_mouse_on_pad,clean,20,20,True,20,0,0,60.0,60.0,0.0
123
+ pi05,vision_blur,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,35.0,15.0,55.0
124
+ pi05,vision_blur,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,85.0,85.0,10.0
125
+ pi05,vision_blur,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,75.0,70.0,10.0
126
+ pi05,vision_blur,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,60.0,60.0,0.0
127
+ pi05,vision_blur,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
128
+ pi05,vision_blur,study,move_cup,clean,20,20,True,20,0,0,100.0,100.0,0.0
129
+ pi05,vision_blur,study,move_cup,clutter,20,20,True,20,0,0,50.0,40.0,40.0
130
+ pi05,vision_blur,study,move_pen_to_box,clean,20,20,True,20,0,0,85.0,85.0,0.0
131
+ pi05,vision_blur,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,10.0,60.0
132
+ pi05,vision_blur,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,100.0,100.0,0.0
133
+ pi05,vision_blur,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,80.0,80.0,5.0
134
+ pi05,vision_blur,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,90.0,85.0,5.0
135
+ pi05,vision_blur,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,50.0,40.0,40.0
136
+ pi05,vision_blur,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,90.0,90.0,0.0
137
+ pi05,vision_blur,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,90.0,90.0,5.0
138
+ pi05,vision_blur,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
139
+ pi05,vision_blur,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,0.0
140
+ pi05,vision_blur,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,80.0,80.0,5.0
141
+ pi05,vision_blur,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,30.0,20.0,65.0
142
+ pi05,vision_blur,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,95.0,95.0,0.0
143
+ pi05,vision_blur,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,5.0,95.0
144
+ pi05,vision_blur,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,75.0,70.0,25.0
145
+ pi05,vision_blur,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,15.0,85.0
146
+ pi05,vision_lighting,office,put_mouse_on_pad,clean,20,20,True,20,0,0,65.0,65.0,0.0
147
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148
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149
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150
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151
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152
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153
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154
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155
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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
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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
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206
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207
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208
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209
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210
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211
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212
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213
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214
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215
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216
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217
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218
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219
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220
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221
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222
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223
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224
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225
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226
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227
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228
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229
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230
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231
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232
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233
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234
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235
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236
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237
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238
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239
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240
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241
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242
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243
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244
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245
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247
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248
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249
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251
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253
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254
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255
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256
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257
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258
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259
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260
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261
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262
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263
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264
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265
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266
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267
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268
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269
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270
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271
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272
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273
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274
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278
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279
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280
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281
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282
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283
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284
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285
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286
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288
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289
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290
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291
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292
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293
+ pi05,object_ood_combined,office,put_rubikscube_in_drawer,clutter,19,20,False,18,1,1,15.789473684210526,15.789473684210526,63.1578947368421
294
+ pi05,object_ood_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,65.0,65.0,5.0
295
+ pi05,object_ood_combined,office,put_stapler_next_to_mouse,clutter,19,20,False,19,0,0,47.36842105263158,47.36842105263158,52.63157894736842
296
+ pi05,object_ood_combined,study,move_cup,clean,20,20,True,20,0,0,80.0,80.0,0.0
297
+ pi05,object_ood_combined,study,move_cup,clutter,20,20,True,20,0,0,30.0,20.0,75.0
298
+ pi05,object_ood_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,80.0,80.0,0.0
299
+ pi05,object_ood_combined,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,10.0,90.0
300
+ pi05,object_ood_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,80.0,80.0,0.0
301
+ pi05,object_ood_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,25.0,25.0,20.0
302
+ pi05,object_ood_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,85.0,85.0,5.0
303
+ pi05,object_ood_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,50.0,35.0,60.0
304
+ pi05,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,95.0,95.0,0.0
305
+ pi05,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,95.0,90.0,10.0
306
+ pi05,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
307
+ pi05,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,95.0,95.0,5.0
308
+ pi05,object_ood_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,85.0,85.0,5.0
309
+ pi05,object_ood_combined,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,40.0,0.0,85.0
310
+ pi05,object_ood_combined,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,0,84.21052631578948,84.21052631578948,0.0
311
+ pi05,object_ood_combined,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,85.0,35.0,60.0
312
+ pi05,object_ood_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,70.0,65.0,10.0
313
+ pi05,object_ood_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,90.0,60.0,35.0
pi05/perturbation/pi05_perturbation_averages.csv ADDED
@@ -0,0 +1,131 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,condition,group,tasks,episodes,expected,complete,sr,hsr,cr
2
+ pi05,colloquial_polite,clean,office,3,60,60,True,68.33333333333333,68.33333333333333,1.6666666666666667
3
+ pi05,colloquial_polite,clean,study,3,60,60,True,90.0,90.0,0.0
4
+ pi05,colloquial_polite,clean,kitchens,3,60,60,True,85.0,81.66666666666667,5.0
5
+ pi05,colloquial_polite,clean,kitchenl,3,60,60,True,23.333333333333332,23.333333333333332,20.0
6
+ pi05,colloquial_polite,clean,all,12,240,240,True,66.66666666666667,65.83333333333333,6.666666666666667
7
+ pi05,colloquial_polite,clutter,office,3,60,60,True,20.0,15.0,63.333333333333336
8
+ pi05,colloquial_polite,clutter,study,3,60,60,True,51.666666666666664,40.0,43.333333333333336
9
+ pi05,colloquial_polite,clutter,kitchens,3,60,60,True,85.0,81.66666666666667,13.333333333333334
10
+ pi05,colloquial_polite,clutter,kitchenl,3,60,60,True,21.666666666666668,3.3333333333333335,90.0
11
+ pi05,colloquial_polite,clutter,all,12,240,240,True,44.583333333333336,35.0,52.5
12
+ pi05,commonsense_indirect,clean,office,3,60,60,True,71.66666666666667,71.66666666666667,8.333333333333334
13
+ pi05,commonsense_indirect,clean,study,3,60,60,True,75.0,75.0,0.0
14
+ pi05,commonsense_indirect,clean,kitchens,3,60,60,True,88.33333333333333,86.66666666666667,1.6666666666666667
15
+ pi05,commonsense_indirect,clean,kitchenl,3,60,60,True,31.666666666666668,30.0,20.0
16
+ pi05,commonsense_indirect,clean,all,12,240,240,True,66.66666666666667,65.83333333333333,7.5
17
+ pi05,commonsense_indirect,clutter,office,3,60,60,True,25.0,16.666666666666668,53.333333333333336
18
+ pi05,commonsense_indirect,clutter,study,3,60,60,True,51.666666666666664,43.333333333333336,45.0
19
+ pi05,commonsense_indirect,clutter,kitchens,3,60,60,True,88.33333333333333,81.66666666666667,11.666666666666666
20
+ pi05,commonsense_indirect,clutter,kitchenl,3,60,60,True,23.333333333333332,5.0,91.66666666666667
21
+ pi05,commonsense_indirect,clutter,all,12,240,240,True,47.083333333333336,36.666666666666664,50.416666666666664
22
+ pi05,reasoning_chain,clean,office,3,60,60,True,70.0,70.0,6.666666666666667
23
+ pi05,reasoning_chain,clean,study,3,60,60,True,93.33333333333333,93.33333333333333,0.0
24
+ pi05,reasoning_chain,clean,kitchens,3,60,60,True,88.33333333333333,88.33333333333333,3.3333333333333335
25
+ pi05,reasoning_chain,clean,kitchenl,3,60,60,True,35.0,35.0,16.666666666666668
26
+ pi05,reasoning_chain,clean,all,12,240,240,True,71.66666666666667,71.66666666666667,6.666666666666667
27
+ pi05,reasoning_chain,clutter,office,3,60,60,True,28.333333333333332,20.0,58.333333333333336
28
+ pi05,reasoning_chain,clutter,study,3,60,60,True,58.333333333333336,45.0,46.666666666666664
29
+ pi05,reasoning_chain,clutter,kitchens,3,60,60,True,81.66666666666667,78.33333333333333,10.0
30
+ pi05,reasoning_chain,clutter,kitchenl,3,60,60,True,23.333333333333332,5.0,90.0
31
+ pi05,reasoning_chain,clutter,all,12,240,240,True,47.916666666666664,37.083333333333336,51.25
32
+ pi05,distractor_context,clean,office,3,60,60,True,63.333333333333336,63.333333333333336,6.666666666666667
33
+ pi05,distractor_context,clean,study,3,60,60,True,90.0,90.0,0.0
34
+ pi05,distractor_context,clean,kitchens,3,60,60,True,85.0,85.0,3.3333333333333335
35
+ pi05,distractor_context,clean,kitchenl,3,60,60,True,28.333333333333332,28.333333333333332,11.666666666666666
36
+ pi05,distractor_context,clean,all,12,240,240,True,66.66666666666667,66.66666666666667,5.416666666666667
37
+ pi05,distractor_context,clutter,office,3,60,60,True,23.333333333333332,20.0,56.666666666666664
38
+ pi05,distractor_context,clutter,study,3,60,60,True,66.66666666666667,50.0,43.333333333333336
39
+ pi05,distractor_context,clutter,kitchens,3,60,60,True,81.66666666666667,80.0,13.333333333333334
40
+ pi05,distractor_context,clutter,kitchenl,3,60,60,True,16.666666666666668,3.3333333333333335,93.33333333333333
41
+ pi05,distractor_context,clutter,all,12,240,240,True,47.083333333333336,38.333333333333336,51.666666666666664
42
+ pi05,multi_object_distraction,clean,office,3,60,60,True,73.33333333333333,73.33333333333333,3.3333333333333335
43
+ pi05,multi_object_distraction,clean,study,3,60,60,True,91.66666666666667,91.66666666666667,0.0
44
+ pi05,multi_object_distraction,clean,kitchens,3,60,60,True,90.0,90.0,0.0
45
+ pi05,multi_object_distraction,clean,kitchenl,3,60,60,True,40.0,40.0,10.0
46
+ pi05,multi_object_distraction,clean,all,12,240,240,True,73.75,73.75,3.3333333333333335
47
+ pi05,multi_object_distraction,clutter,office,3,60,60,True,28.333333333333332,20.0,58.333333333333336
48
+ pi05,multi_object_distraction,clutter,study,3,60,60,True,50.0,41.666666666666664,50.0
49
+ pi05,multi_object_distraction,clutter,kitchens,3,60,60,True,85.0,83.33333333333333,5.0
50
+ pi05,multi_object_distraction,clutter,kitchenl,3,60,60,True,20.0,3.3333333333333335,95.0
51
+ pi05,multi_object_distraction,clutter,all,12,240,240,True,45.833333333333336,37.083333333333336,52.083333333333336
52
+ pi05,vision_blur,clean,office,3,60,60,True,68.33333333333333,68.33333333333333,3.3333333333333335
53
+ pi05,vision_blur,clean,study,3,60,60,True,95.0,95.0,0.0
54
+ pi05,vision_blur,clean,kitchens,3,60,60,True,88.33333333333333,86.66666666666667,1.6666666666666667
55
+ pi05,vision_blur,clean,kitchenl,3,60,60,True,83.33333333333333,81.66666666666667,10.0
56
+ pi05,vision_blur,clean,all,12,240,240,True,83.75,82.91666666666667,3.75
57
+ pi05,vision_blur,clutter,office,3,60,60,True,36.666666666666664,28.333333333333332,55.0
58
+ pi05,vision_blur,clutter,study,3,60,60,True,55.0,43.333333333333336,35.0
59
+ pi05,vision_blur,clutter,kitchens,3,60,60,True,78.33333333333333,75.0,15.0
60
+ pi05,vision_blur,clutter,kitchenl,3,60,60,True,36.666666666666664,13.333333333333334,81.66666666666667
61
+ pi05,vision_blur,clutter,all,12,240,240,True,51.666666666666664,40.0,46.666666666666664
62
+ pi05,vision_lighting,clean,office,3,60,60,True,68.33333333333333,66.66666666666667,6.666666666666667
63
+ pi05,vision_lighting,clean,study,3,60,60,True,78.33333333333333,78.33333333333333,0.0
64
+ pi05,vision_lighting,clean,kitchens,3,59,60,False,72.88135593220339,72.88135593220339,0.0
65
+ pi05,vision_lighting,clean,kitchenl,3,60,60,True,68.33333333333333,68.33333333333333,3.3333333333333335
66
+ pi05,vision_lighting,clean,all,12,239,240,False,71.96652719665272,71.54811715481172,2.510460251046025
67
+ pi05,vision_lighting,clutter,office,3,60,60,True,53.333333333333336,48.333333333333336,33.333333333333336
68
+ pi05,vision_lighting,clutter,study,3,60,60,True,71.66666666666667,51.666666666666664,46.666666666666664
69
+ pi05,vision_lighting,clutter,kitchens,3,60,60,True,73.33333333333333,68.33333333333333,13.333333333333334
70
+ pi05,vision_lighting,clutter,kitchenl,3,60,60,True,46.666666666666664,26.666666666666668,70.0
71
+ pi05,vision_lighting,clutter,all,12,240,240,True,61.25,48.75,40.833333333333336
72
+ pi05,vision_pixel_shift,clean,office,3,60,60,True,70.0,68.33333333333333,6.666666666666667
73
+ pi05,vision_pixel_shift,clean,study,3,60,60,True,91.66666666666667,91.66666666666667,1.6666666666666667
74
+ pi05,vision_pixel_shift,clean,kitchens,3,60,60,True,85.0,85.0,1.6666666666666667
75
+ pi05,vision_pixel_shift,clean,kitchenl,3,60,60,True,85.0,81.66666666666667,5.0
76
+ pi05,vision_pixel_shift,clean,all,12,240,240,True,82.91666666666667,81.66666666666667,3.75
77
+ pi05,vision_pixel_shift,clutter,office,3,60,60,True,38.333333333333336,21.666666666666668,55.0
78
+ pi05,vision_pixel_shift,clutter,study,3,60,60,True,61.666666666666664,43.333333333333336,40.0
79
+ pi05,vision_pixel_shift,clutter,kitchens,3,60,60,True,85.0,83.33333333333333,10.0
80
+ pi05,vision_pixel_shift,clutter,kitchenl,3,60,60,True,40.0,15.0,83.33333333333333
81
+ pi05,vision_pixel_shift,clutter,all,12,240,240,True,56.25,40.833333333333336,47.083333333333336
82
+ pi05,vision_combined,clean,office,3,60,60,True,71.66666666666667,68.33333333333333,10.0
83
+ pi05,vision_combined,clean,study,3,60,60,True,83.33333333333333,83.33333333333333,0.0
84
+ pi05,vision_combined,clean,kitchens,3,59,60,False,81.35593220338983,81.35593220338983,0.0
85
+ pi05,vision_combined,clean,kitchenl,3,60,60,True,66.66666666666667,66.66666666666667,6.666666666666667
86
+ pi05,vision_combined,clean,all,12,239,240,False,75.73221757322176,74.89539748953975,4.184100418410042
87
+ pi05,vision_combined,clutter,office,3,60,60,True,51.666666666666664,45.0,35.0
88
+ pi05,vision_combined,clutter,study,3,60,60,True,70.0,50.0,46.666666666666664
89
+ pi05,vision_combined,clutter,kitchens,3,60,60,True,81.66666666666667,80.0,10.0
90
+ pi05,vision_combined,clutter,kitchenl,3,60,60,True,56.666666666666664,28.333333333333332,66.66666666666667
91
+ pi05,vision_combined,clutter,all,12,240,240,True,65.0,50.833333333333336,39.583333333333336
92
+ pi05,object_ood_appearance,clean,office,3,60,60,True,60.0,58.333333333333336,10.0
93
+ pi05,object_ood_appearance,clean,study,3,60,60,True,86.66666666666667,86.66666666666667,0.0
94
+ pi05,object_ood_appearance,clean,kitchens,3,60,60,True,85.0,85.0,3.3333333333333335
95
+ pi05,object_ood_appearance,clean,kitchenl,3,60,60,True,85.0,85.0,3.3333333333333335
96
+ pi05,object_ood_appearance,clean,all,12,240,240,True,79.16666666666667,78.75,4.166666666666667
97
+ pi05,object_ood_appearance,clutter,office,3,60,60,True,33.333333333333336,28.333333333333332,51.666666666666664
98
+ pi05,object_ood_appearance,clutter,study,3,60,60,True,41.666666666666664,33.333333333333336,48.333333333333336
99
+ pi05,object_ood_appearance,clutter,kitchens,3,60,60,True,85.0,76.66666666666667,15.0
100
+ pi05,object_ood_appearance,clutter,kitchenl,3,60,60,True,41.666666666666664,13.333333333333334,80.0
101
+ pi05,object_ood_appearance,clutter,all,12,240,240,True,50.416666666666664,37.916666666666664,48.75
102
+ pi05,object_ood_unseen_obstacles,clean,office,3,60,60,True,68.33333333333333,68.33333333333333,6.666666666666667
103
+ pi05,object_ood_unseen_obstacles,clean,study,3,60,60,True,91.66666666666667,91.66666666666667,1.6666666666666667
104
+ pi05,object_ood_unseen_obstacles,clean,kitchens,3,60,60,True,81.66666666666667,81.66666666666667,1.6666666666666667
105
+ pi05,object_ood_unseen_obstacles,clean,kitchenl,3,60,60,True,76.66666666666667,75.0,5.0
106
+ pi05,object_ood_unseen_obstacles,clean,all,12,240,240,True,79.58333333333333,79.16666666666667,3.75
107
+ pi05,object_ood_unseen_obstacles,clutter,office,3,56,60,False,26.785714285714285,17.857142857142858,73.21428571428571
108
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109
+ pi05,object_ood_unseen_obstacles,clutter,kitchens,3,60,60,True,81.66666666666667,75.0,18.333333333333332
110
+ pi05,object_ood_unseen_obstacles,clutter,kitchenl,3,60,60,True,53.333333333333336,25.0,71.66666666666667
111
+ pi05,object_ood_unseen_obstacles,clutter,all,12,236,240,False,49.152542372881356,35.16949152542373,56.355932203389834
112
+ pi05,object_ood_unseen_targets,clean,office,3,60,60,True,63.333333333333336,63.333333333333336,5.0
113
+ pi05,object_ood_unseen_targets,clean,study,3,60,60,True,80.0,80.0,0.0
114
+ pi05,object_ood_unseen_targets,clean,kitchens,3,60,60,True,91.66666666666667,88.33333333333333,3.3333333333333335
115
+ pi05,object_ood_unseen_targets,clean,kitchenl,3,59,60,False,76.27118644067797,76.27118644067797,3.389830508474576
116
+ pi05,object_ood_unseen_targets,clean,all,12,239,240,False,77.82426778242677,76.98744769874477,2.928870292887029
117
+ pi05,object_ood_unseen_targets,clutter,office,3,60,60,True,33.333333333333336,26.666666666666668,40.0
118
+ pi05,object_ood_unseen_targets,clutter,study,3,60,60,True,50.0,36.666666666666664,55.0
119
+ pi05,object_ood_unseen_targets,clutter,kitchens,3,60,60,True,86.66666666666667,85.0,10.0
120
+ pi05,object_ood_unseen_targets,clutter,kitchenl,3,60,60,True,31.666666666666668,11.666666666666666,78.33333333333333
121
+ pi05,object_ood_unseen_targets,clutter,all,12,240,240,True,50.416666666666664,40.0,45.833333333333336
122
+ pi05,object_ood_combined,clean,office,3,60,60,True,61.666666666666664,60.0,6.666666666666667
123
+ pi05,object_ood_combined,clean,study,3,60,60,True,80.0,80.0,0.0
124
+ pi05,object_ood_combined,clean,kitchens,3,60,60,True,88.33333333333333,88.33333333333333,1.6666666666666667
125
+ pi05,object_ood_combined,clean,kitchenl,3,59,60,False,79.66101694915254,77.96610169491525,5.084745762711864
126
+ pi05,object_ood_combined,clean,all,12,239,240,False,77.40585774058577,76.56903765690376,3.3472803347280333
127
+ pi05,object_ood_combined,clutter,office,3,58,60,False,34.48275862068966,32.758620689655174,51.724137931034484
128
+ pi05,object_ood_combined,clutter,study,3,60,60,True,28.333333333333332,18.333333333333332,61.666666666666664
129
+ pi05,object_ood_combined,clutter,kitchens,3,60,60,True,80.0,73.33333333333333,25.0
130
+ pi05,object_ood_combined,clutter,kitchenl,3,60,60,True,71.66666666666667,31.666666666666668,60.0
131
+ pi05,object_ood_combined,clutter,all,12,238,240,False,53.78151260504202,39.075630252100844,49.57983193277311
xvla/perturbation/xvla_perturbation.csv CHANGED
@@ -1,13 +1,313 @@
1
- scene,task,n,SR,HSR,CR
2
- kitchenl,put_bottle_in_basket,120,35.0,33.3,11.7
3
- kitchenl,put_bottle_in_fridge,120,32.5,32.5,3.3
4
- kitchenl,put_can_in_cabinet,120,81.7,80.0,3.3
5
- kitchens,drop_apple_in_bin_ks,120,40.0,39.2,5.8
6
- kitchens,move_hamburger_onto_plate_ks,120,27.5,27.5,2.5
7
- kitchens,place_bowl_in_dishrack_ks,120,68.3,68.3,5.8
8
- office,put_mouse_on_pad,120,22.5,22.5,9.2
9
- office,put_rubikscube_in_drawer,120,47.5,43.3,15.0
10
- office,put_stapler_next_to_mouse,120,8.3,8.3,5.8
11
- study,move_cup,120,29.2,29.2,0.0
12
- study,move_pen_to_box,66,45.5,45.5,1.5
13
- study,move_seal_next_to_pencup,120,30.8,30.8,0.0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,scene,task,condition,episodes,expected,complete,canonical_matched,substitute_seeds,conflict_seeds,sr,hsr,cr
2
+ xvla,colloquial_polite,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,10.0
3
+ xvla,colloquial_polite,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,20.0,40.0
4
+ xvla,colloquial_polite,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,45.0,20.0
5
+ xvla,colloquial_polite,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,25.0,30.0
6
+ xvla,colloquial_polite,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,5.0
7
+ xvla,colloquial_polite,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,90.0
8
+ xvla,colloquial_polite,study,move_cup,clean,20,20,True,20,0,0,30.0,30.0,0.0
9
+ xvla,colloquial_polite,study,move_cup,clutter,20,20,True,20,0,0,20.0,20.0,30.0
10
+ xvla,colloquial_polite,study,move_pen_to_box,clean,20,20,True,20,0,0,60.0,60.0,5.0
11
+ xvla,colloquial_polite,study,move_pen_to_box,clutter,20,20,True,20,0,0,40.0,10.0,70.0
12
+ xvla,colloquial_polite,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,30.0,30.0,0.0
13
+ xvla,colloquial_polite,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,25.0,25.0,10.0
14
+ xvla,colloquial_polite,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,45.0,45.0,5.0
15
+ xvla,colloquial_polite,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,30.0,25.0,15.0
16
+ xvla,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,30.0,30.0,0.0
17
+ xvla,colloquial_polite,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,25.0,25.0,15.0
18
+ xvla,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,65.0,65.0,0.0
19
+ xvla,colloquial_polite,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,75.0,75.0,20.0
20
+ xvla,colloquial_polite,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,20.0,20.0,25.0
21
+ xvla,colloquial_polite,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,25.0,20.0,75.0
22
+ xvla,colloquial_polite,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,10.0,10.0,10.0
23
+ xvla,colloquial_polite,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,5.0,0.0,100.0
24
+ xvla,colloquial_polite,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,90.0,5.0
25
+ xvla,colloquial_polite,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,90.0,20.0,80.0
26
+ xvla,commonsense_indirect,office,put_mouse_on_pad,clean,20,20,True,20,0,0,20.0,20.0,10.0
27
+ xvla,commonsense_indirect,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,30.0,30.0,45.0
28
+ xvla,commonsense_indirect,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,45.0,40.0,15.0
29
+ xvla,commonsense_indirect,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,50.0,10.0
30
+ xvla,commonsense_indirect,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,0.0
31
+ xvla,commonsense_indirect,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
32
+ xvla,commonsense_indirect,study,move_cup,clean,20,20,True,20,0,0,40.0,40.0,0.0
33
+ xvla,commonsense_indirect,study,move_cup,clutter,20,20,True,20,0,0,10.0,5.0,35.0
34
+ xvla,commonsense_indirect,study,move_pen_to_box,clean,20,20,True,20,0,0,15.0,15.0,5.0
35
+ xvla,commonsense_indirect,study,move_pen_to_box,clutter,20,20,True,20,0,0,5.0,5.0,65.0
36
+ xvla,commonsense_indirect,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,25.0,25.0,0.0
37
+ xvla,commonsense_indirect,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,15.0,15.0,25.0
38
+ xvla,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,45.0,45.0,5.0
39
+ xvla,commonsense_indirect,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,20.0,10.0,30.0
40
+ xvla,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,0.0
41
+ xvla,commonsense_indirect,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,20.0,20.0,10.0
42
+ xvla,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,50.0,50.0,10.0
43
+ xvla,commonsense_indirect,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,60.0,55.0,20.0
44
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,30.0,30.0,15.0
45
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,20.0,20.0,75.0
46
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,30.0,30.0,10.0
47
+ xvla,commonsense_indirect,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,90.0
48
+ xvla,commonsense_indirect,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,80.0,80.0,0.0
49
+ xvla,commonsense_indirect,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,65.0,20.0,75.0
50
+ xvla,reasoning_chain,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,0.0
51
+ xvla,reasoning_chain,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,15.0,65.0
52
+ xvla,reasoning_chain,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,35.0,35.0,5.0
53
+ xvla,reasoning_chain,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,40.0,25.0
54
+ xvla,reasoning_chain,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,10.0
55
+ xvla,reasoning_chain,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
56
+ xvla,reasoning_chain,study,move_cup,clean,20,20,True,20,0,0,30.0,30.0,0.0
57
+ xvla,reasoning_chain,study,move_cup,clutter,20,20,True,20,0,0,25.0,25.0,25.0
58
+ xvla,reasoning_chain,study,move_pen_to_box,clean,20,20,True,20,0,0,65.0,65.0,5.0
59
+ xvla,reasoning_chain,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,10.0,65.0
60
+ xvla,reasoning_chain,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,40.0,40.0,0.0
61
+ xvla,reasoning_chain,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,15.0,15.0,15.0
62
+ xvla,reasoning_chain,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,50.0,50.0,5.0
63
+ xvla,reasoning_chain,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,1,15.0,10.0,20.0
64
+ xvla,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,35.0,35.0,5.0
65
+ xvla,reasoning_chain,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,15.0,15.0,10.0
66
+ xvla,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,75.0,75.0,5.0
67
+ xvla,reasoning_chain,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,75.0,75.0,20.0
68
+ xvla,reasoning_chain,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,30.0,30.0,10.0
69
+ xvla,reasoning_chain,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,15.0,15.0,85.0
70
+ xvla,reasoning_chain,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,35.0,35.0,0.0
71
+ xvla,reasoning_chain,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,5.0,0.0,95.0
72
+ xvla,reasoning_chain,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,80.0,5.0
73
+ xvla,reasoning_chain,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,25.0,75.0
74
+ xvla,distractor_context,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,15.0
75
+ xvla,distractor_context,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,20.0,15.0,60.0
76
+ xvla,distractor_context,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,40.0,35.0,15.0
77
+ xvla,distractor_context,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,50.0,45.0,25.0
78
+ xvla,distractor_context,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,0.0
79
+ xvla,distractor_context,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
80
+ xvla,distractor_context,study,move_cup,clean,20,20,True,20,0,0,20.0,20.0,0.0
81
+ xvla,distractor_context,study,move_cup,clutter,20,20,True,20,0,0,25.0,25.0,30.0
82
+ xvla,distractor_context,study,move_pen_to_box,clean,20,20,True,20,0,0,60.0,60.0,5.0
83
+ xvla,distractor_context,study,move_pen_to_box,clutter,20,20,True,20,0,0,35.0,25.0,40.0
84
+ xvla,distractor_context,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,25.0,25.0,0.0
85
+ xvla,distractor_context,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,20.0,20.0,10.0
86
+ xvla,distractor_context,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,40.0,40.0,5.0
87
+ xvla,distractor_context,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,10.0,5.0,20.0
88
+ xvla,distractor_context,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,40.0,40.0,0.0
89
+ xvla,distractor_context,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,20.0,20.0,15.0
90
+ xvla,distractor_context,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,70.0,70.0,10.0
91
+ xvla,distractor_context,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,80.0,75.0,10.0
92
+ xvla,distractor_context,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,15.0,15.0,5.0
93
+ xvla,distractor_context,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,15.0,15.0,65.0
94
+ xvla,distractor_context,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,20.0,20.0,0.0
95
+ xvla,distractor_context,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
96
+ xvla,distractor_context,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,80.0,5.0
97
+ xvla,distractor_context,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,25.0,75.0
98
+ xvla,multi_object_distraction,office,put_mouse_on_pad,clean,20,20,True,20,0,0,15.0,15.0,10.0
99
+ xvla,multi_object_distraction,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,25.0,50.0
100
+ xvla,multi_object_distraction,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,60.0,50.0,15.0
101
+ xvla,multi_object_distraction,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,45.0,35.0,50.0
102
+ xvla,multi_object_distraction,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,10.0
103
+ xvla,multi_object_distraction,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
104
+ xvla,multi_object_distraction,study,move_cup,clean,20,20,True,20,0,0,25.0,25.0,0.0
105
+ xvla,multi_object_distraction,study,move_cup,clutter,20,20,True,20,0,0,10.0,10.0,25.0
106
+ xvla,multi_object_distraction,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,0.0
107
+ xvla,multi_object_distraction,study,move_pen_to_box,clutter,20,20,True,20,0,0,30.0,15.0,45.0
108
+ xvla,multi_object_distraction,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,25.0,25.0,0.0
109
+ xvla,multi_object_distraction,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,20.0,15.0,25.0
110
+ xvla,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,20.0,15.0,10.0
111
+ xvla,multi_object_distraction,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,10.0,5.0,40.0
112
+ xvla,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,10.0,10.0,5.0
113
+ xvla,multi_object_distraction,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,15.0,15.0,15.0
114
+ xvla,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,70.0,70.0,10.0
115
+ xvla,multi_object_distraction,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,80.0,80.0,5.0
116
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,25.0,20.0,10.0
117
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,20.0,20.0,70.0
118
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,35.0,35.0,0.0
119
+ xvla,multi_object_distraction,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,0.0,0.0,100.0
120
+ xvla,multi_object_distraction,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,65.0,65.0,5.0
121
+ xvla,multi_object_distraction,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,25.0,75.0
122
+ xvla,vision_blur,office,put_mouse_on_pad,clean,20,20,True,20,0,0,20.0,20.0,10.0
123
+ xvla,vision_blur,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,5.0,0.0,60.0
124
+ xvla,vision_blur,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,40.0,30.0,15.0
125
+ xvla,vision_blur,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,55.0,40.0,45.0
126
+ xvla,vision_blur,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,5.0
127
+ xvla,vision_blur,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
128
+ xvla,vision_blur,study,move_cup,clean,20,20,True,20,0,0,45.0,45.0,0.0
129
+ xvla,vision_blur,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,25.0
130
+ xvla,vision_blur,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,5.0
131
+ xvla,vision_blur,study,move_pen_to_box,clutter,20,20,True,20,0,0,45.0,25.0,60.0
132
+ xvla,vision_blur,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,35.0,35.0,0.0
133
+ xvla,vision_blur,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,20.0,20.0,0.0
134
+ xvla,vision_blur,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,25.0,25.0,10.0
135
+ xvla,vision_blur,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,25.0,20.0,15.0
136
+ xvla,vision_blur,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,35.0,35.0,5.0
137
+ xvla,vision_blur,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,20.0,20.0,15.0
138
+ xvla,vision_blur,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,75.0,75.0,5.0
139
+ xvla,vision_blur,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,85.0,75.0,20.0
140
+ xvla,vision_blur,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,90.0,90.0,0.0
141
+ xvla,vision_blur,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,35.0,0.0,100.0
142
+ xvla,vision_blur,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,75.0,75.0,0.0
143
+ xvla,vision_blur,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,0.0,80.0
144
+ xvla,vision_blur,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,95.0,95.0,0.0
145
+ xvla,vision_blur,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,80.0,20.0,80.0
146
+ xvla,vision_lighting,office,put_mouse_on_pad,clean,20,20,True,20,0,0,35.0,30.0,10.0
147
+ xvla,vision_lighting,office,put_mouse_on_pad,clutter,20,20,True,19,1,1,70.0,20.0,70.0
148
+ xvla,vision_lighting,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,30.0,30.0,10.0
149
+ xvla,vision_lighting,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,50.0
150
+ xvla,vision_lighting,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,0.0,20.0
151
+ xvla,vision_lighting,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,10.0,75.0
152
+ xvla,vision_lighting,study,move_cup,clean,20,20,True,20,0,0,60.0,60.0,0.0
153
+ xvla,vision_lighting,study,move_cup,clutter,20,20,True,20,0,0,55.0,30.0,55.0
154
+ xvla,vision_lighting,study,move_pen_to_box,clean,20,20,True,20,0,0,55.0,55.0,5.0
155
+ xvla,vision_lighting,study,move_pen_to_box,clutter,20,20,True,20,0,0,5.0,5.0,70.0
156
+ xvla,vision_lighting,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,5.0,5.0,0.0
157
+ xvla,vision_lighting,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,10.0,10.0,30.0
158
+ xvla,vision_lighting,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,30.0,30.0,0.0
159
+ xvla,vision_lighting,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,15.0,15.0,55.0
160
+ xvla,vision_lighting,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,15.0,15.0,0.0
161
+ xvla,vision_lighting,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,17,3,0,5.0,5.0,30.0
162
+ xvla,vision_lighting,kitchens,place_bowl_in_dishrack_ks,clean,19,20,False,19,0,1,63.1578947368421,63.1578947368421,5.2631578947368425
163
+ xvla,vision_lighting,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,55.0,50.0,40.0
164
+ xvla,vision_lighting,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,80.0,80.0,5.0
165
+ xvla,vision_lighting,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,35.0,15.0,80.0
166
+ xvla,vision_lighting,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,5.0
167
+ xvla,vision_lighting,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,30.0,0.0,100.0
168
+ xvla,vision_lighting,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,85.0,0.0
169
+ xvla,vision_lighting,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,95.0,25.0,75.0
170
+ xvla,vision_pixel_shift,office,put_mouse_on_pad,clean,20,20,True,20,0,0,30.0,30.0,15.0
171
+ xvla,vision_pixel_shift,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,10.0,5.0,45.0
172
+ xvla,vision_pixel_shift,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,50.0,25.0
173
+ xvla,vision_pixel_shift,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,40.0,35.0,30.0
174
+ xvla,vision_pixel_shift,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,15.0
175
+ xvla,vision_pixel_shift,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,0.0,0.0,100.0
176
+ xvla,vision_pixel_shift,study,move_cup,clean,20,20,True,20,0,0,80.0,80.0,0.0
177
+ xvla,vision_pixel_shift,study,move_cup,clutter,20,20,True,20,0,0,65.0,55.0,40.0
178
+ xvla,vision_pixel_shift,study,move_pen_to_box,clean,20,20,True,20,0,0,60.0,60.0,5.0
179
+ xvla,vision_pixel_shift,study,move_pen_to_box,clutter,20,20,True,20,0,0,45.0,15.0,65.0
180
+ xvla,vision_pixel_shift,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,65.0,65.0,0.0
181
+ xvla,vision_pixel_shift,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,55.0,55.0,10.0
182
+ xvla,vision_pixel_shift,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,35.0,35.0,5.0
183
+ xvla,vision_pixel_shift,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,15.0,10.0,25.0
184
+ xvla,vision_pixel_shift,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,50.0,50.0,0.0
185
+ xvla,vision_pixel_shift,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,1,20.0,20.0,10.0
186
+ xvla,vision_pixel_shift,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
187
+ xvla,vision_pixel_shift,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,85.0,80.0,15.0
188
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,95.0,95.0,0.0
189
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,35.0,0.0,100.0
190
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,85.0,85.0,0.0
191
+ xvla,vision_pixel_shift,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,0.0,80.0
192
+ xvla,vision_pixel_shift,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,95.0,85.0,15.0
193
+ xvla,vision_pixel_shift,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,90.0,5.0,95.0
194
+ xvla,vision_combined,office,put_mouse_on_pad,clean,20,20,True,20,0,0,45.0,45.0,10.0
195
+ xvla,vision_combined,office,put_mouse_on_pad,clutter,20,20,True,19,1,1,65.0,20.0,80.0
196
+ xvla,vision_combined,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,35.0,30.0,10.0
197
+ xvla,vision_combined,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,10.0,10.0,55.0
198
+ xvla,vision_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,35.0
199
+ xvla,vision_combined,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,5.0,65.0
200
+ xvla,vision_combined,study,move_cup,clean,20,20,True,20,0,0,80.0,80.0,0.0
201
+ xvla,vision_combined,study,move_cup,clutter,20,20,True,20,0,0,80.0,55.0,35.0
202
+ xvla,vision_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,10.0
203
+ xvla,vision_combined,study,move_pen_to_box,clutter,20,20,True,20,0,0,0.0,0.0,60.0
204
+ xvla,vision_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,80.0,80.0,0.0
205
+ xvla,vision_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,50.0,35.0,35.0
206
+ xvla,vision_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,35.0,35.0,0.0
207
+ xvla,vision_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,0.0,0.0,45.0
208
+ xvla,vision_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,0.0
209
+ xvla,vision_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,17,3,0,10.0,5.0,40.0
210
+ xvla,vision_combined,kitchens,place_bowl_in_dishrack_ks,clean,19,20,False,19,0,0,78.94736842105263,78.94736842105263,0.0
211
+ xvla,vision_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,70.0,55.0,40.0
212
+ xvla,vision_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,75.0,75.0,0.0
213
+ xvla,vision_combined,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,40.0,25.0,65.0
214
+ xvla,vision_combined,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,0.0
215
+ xvla,vision_combined,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,25.0,10.0,90.0
216
+ xvla,vision_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,95.0,95.0,0.0
217
+ xvla,vision_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,85.0,15.0,85.0
218
+ xvla,object_ood_appearance,office,put_mouse_on_pad,clean,20,20,True,20,0,0,35.0,35.0,10.0
219
+ xvla,object_ood_appearance,office,put_mouse_on_pad,clutter,20,20,True,20,0,0,25.0,20.0,65.0
220
+ xvla,object_ood_appearance,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,60.0,60.0,0.0
221
+ xvla,object_ood_appearance,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,75.0,70.0,15.0
222
+ xvla,object_ood_appearance,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,10.0,10.0,20.0
223
+ xvla,object_ood_appearance,office,put_stapler_next_to_mouse,clutter,20,20,True,20,0,0,10.0,0.0,90.0
224
+ xvla,object_ood_appearance,study,move_cup,clean,20,20,True,20,0,0,40.0,40.0,0.0
225
+ xvla,object_ood_appearance,study,move_cup,clutter,20,20,True,20,0,0,5.0,5.0,50.0
226
+ xvla,object_ood_appearance,study,move_pen_to_box,clean,20,20,True,20,0,0,50.0,50.0,5.0
227
+ xvla,object_ood_appearance,study,move_pen_to_box,clutter,20,20,True,20,0,0,50.0,30.0,45.0
228
+ xvla,object_ood_appearance,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,50.0,50.0,0.0
229
+ xvla,object_ood_appearance,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,40.0,40.0,5.0
230
+ xvla,object_ood_appearance,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,50.0,45.0,5.0
231
+ xvla,object_ood_appearance,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,25.0,20.0,10.0
232
+ xvla,object_ood_appearance,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,20.0,20.0,5.0
233
+ xvla,object_ood_appearance,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,15.0,15.0,5.0
234
+ xvla,object_ood_appearance,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,80.0,80.0,0.0
235
+ xvla,object_ood_appearance,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,70.0,70.0,15.0
236
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,100.0,100.0,0.0
237
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,45.0,5.0,95.0
238
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,80.0,80.0,0.0
239
+ xvla,object_ood_appearance,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,15.0,0.0,100.0
240
+ xvla,object_ood_appearance,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,70.0,20.0
241
+ xvla,object_ood_appearance,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,70.0,15.0,85.0
242
+ xvla,object_ood_unseen_obstacles,office,put_mouse_on_pad,clean,20,20,True,20,0,0,20.0,20.0,10.0
243
+ xvla,object_ood_unseen_obstacles,office,put_mouse_on_pad,clutter,19,20,False,18,1,1,5.2631578947368425,5.2631578947368425,47.36842105263158
244
+ xvla,object_ood_unseen_obstacles,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,50.0,45.0,5.0
245
+ xvla,object_ood_unseen_obstacles,office,put_rubikscube_in_drawer,clutter,18,20,False,17,1,1,27.77777777777778,22.22222222222222,55.55555555555556
246
+ xvla,object_ood_unseen_obstacles,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,5.0,5.0,5.0
247
+ xvla,object_ood_unseen_obstacles,office,put_stapler_next_to_mouse,clutter,9,20,False,9,0,0,0.0,0.0,100.0
248
+ xvla,object_ood_unseen_obstacles,study,move_cup,clean,20,20,True,20,0,0,35.0,35.0,0.0
249
+ xvla,object_ood_unseen_obstacles,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,85.0
250
+ xvla,object_ood_unseen_obstacles,study,move_pen_to_box,clean,20,20,True,20,0,0,55.0,55.0,5.0
251
+ xvla,object_ood_unseen_obstacles,study,move_pen_to_box,clutter,20,20,True,20,0,0,40.0,0.0,95.0
252
+ xvla,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,20.0,20.0,0.0
253
+ xvla,object_ood_unseen_obstacles,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,10.0,10.0,5.0
254
+ xvla,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,40.0,40.0,0.0
255
+ xvla,object_ood_unseen_obstacles,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,15.0,15.0,50.0
256
+ xvla,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,10.0
257
+ xvla,object_ood_unseen_obstacles,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,30.0,30.0,20.0
258
+ xvla,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,70.0,70.0,10.0
259
+ xvla,object_ood_unseen_obstacles,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,55.0,55.0,20.0
260
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clean,20,20,True,20,0,0,95.0,95.0,0.0
261
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_basket,clutter,20,20,True,20,0,0,80.0,15.0,85.0
262
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clean,20,20,True,20,0,0,75.0,75.0,0.0
263
+ xvla,object_ood_unseen_obstacles,kitchenl,put_bottle_in_fridge,clutter,20,20,True,20,0,0,35.0,15.0,70.0
264
+ xvla,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,85.0,80.0,5.0
265
+ xvla,object_ood_unseen_obstacles,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,100.0,35.0,65.0
266
+ xvla,object_ood_unseen_targets,office,put_mouse_on_pad,clean,20,20,True,20,0,0,25.0,25.0,10.0
267
+ xvla,object_ood_unseen_targets,office,put_mouse_on_pad,clutter,4,20,False,4,0,0,0.0,0.0,75.0
268
+ xvla,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,5.0,5.0,5.0
269
+ xvla,object_ood_unseen_targets,office,put_rubikscube_in_drawer,clutter,20,20,True,20,0,0,0.0,0.0,75.0
270
+ xvla,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,25.0,25.0,5.0
271
+ xvla,object_ood_unseen_targets,office,put_stapler_next_to_mouse,clutter,0,20,False,0,0,0,,,
272
+ xvla,object_ood_unseen_targets,study,move_cup,clean,20,20,True,20,0,0,15.0,15.0,0.0
273
+ xvla,object_ood_unseen_targets,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,60.0
274
+ xvla,object_ood_unseen_targets,study,move_pen_to_box,clean,20,20,True,20,0,0,35.0,35.0,15.0
275
+ xvla,object_ood_unseen_targets,study,move_pen_to_box,clutter,20,20,True,20,0,0,40.0,15.0,60.0
276
+ xvla,object_ood_unseen_targets,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,20.0,20.0,0.0
277
+ xvla,object_ood_unseen_targets,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,10.0,10.0,5.0
278
+ xvla,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,30.0,30.0,5.0
279
+ xvla,object_ood_unseen_targets,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,17,3,0,25.0,25.0,15.0
280
+ xvla,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,35.0,30.0,5.0
281
+ xvla,object_ood_unseen_targets,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,19,1,0,25.0,25.0,5.0
282
+ xvla,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,85.0,85.0,0.0
283
+ xvla,object_ood_unseen_targets,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,75.0,70.0,25.0
284
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,80.0,80.0,0.0
285
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_basket,clutter,7,20,False,7,0,0,0.0,0.0,85.71428571428571
286
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,0,68.42105263157895,68.42105263157895,0.0
287
+ xvla,object_ood_unseen_targets,kitchenl,put_bottle_in_fridge,clutter,13,20,False,13,0,0,15.384615384615385,0.0,100.0
288
+ xvla,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,90.0,0.0
289
+ xvla,object_ood_unseen_targets,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,95.0,20.0,80.0
290
+ xvla,object_ood_combined,office,put_mouse_on_pad,clean,20,20,True,20,0,0,30.0,30.0,10.0
291
+ xvla,object_ood_combined,office,put_mouse_on_pad,clutter,0,20,False,0,0,0,,,
292
+ xvla,object_ood_combined,office,put_rubikscube_in_drawer,clean,20,20,True,20,0,0,10.0,10.0,20.0
293
+ xvla,object_ood_combined,office,put_rubikscube_in_drawer,clutter,19,20,False,18,1,1,5.2631578947368425,5.2631578947368425,78.94736842105263
294
+ xvla,object_ood_combined,office,put_stapler_next_to_mouse,clean,20,20,True,20,0,0,25.0,25.0,5.0
295
+ xvla,object_ood_combined,office,put_stapler_next_to_mouse,clutter,0,20,False,0,0,0,,,
296
+ xvla,object_ood_combined,study,move_cup,clean,20,20,True,20,0,0,20.0,20.0,0.0
297
+ xvla,object_ood_combined,study,move_cup,clutter,20,20,True,20,0,0,0.0,0.0,75.0
298
+ xvla,object_ood_combined,study,move_pen_to_box,clean,20,20,True,20,0,0,45.0,45.0,5.0
299
+ xvla,object_ood_combined,study,move_pen_to_box,clutter,14,20,False,14,0,0,42.857142857142854,21.428571428571427,71.42857142857143
300
+ xvla,object_ood_combined,study,move_seal_next_to_pencup,clean,20,20,True,20,0,0,30.0,30.0,0.0
301
+ xvla,object_ood_combined,study,move_seal_next_to_pencup,clutter,20,20,True,20,0,0,25.0,25.0,0.0
302
+ xvla,object_ood_combined,kitchens,drop_apple_in_bin_ks,clean,20,20,True,20,0,0,55.0,50.0,5.0
303
+ xvla,object_ood_combined,kitchens,drop_apple_in_bin_ks,clutter,20,20,True,20,0,0,10.0,5.0,30.0
304
+ xvla,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clean,20,20,True,20,0,0,25.0,25.0,0.0
305
+ xvla,object_ood_combined,kitchens,move_hamburger_onto_plate_ks,clutter,20,20,True,20,0,0,0.0,0.0,30.0
306
+ xvla,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clean,20,20,True,20,0,0,75.0,75.0,10.0
307
+ xvla,object_ood_combined,kitchens,place_bowl_in_dishrack_ks,clutter,20,20,True,20,0,0,40.0,35.0,45.0
308
+ xvla,object_ood_combined,kitchenl,put_bottle_in_basket,clean,20,20,True,19,1,0,85.0,85.0,5.0
309
+ xvla,object_ood_combined,kitchenl,put_bottle_in_basket,clutter,0,20,False,0,0,0,,,
310
+ xvla,object_ood_combined,kitchenl,put_bottle_in_fridge,clean,19,20,False,16,3,0,78.94736842105263,73.6842105263158,5.2631578947368425
311
+ xvla,object_ood_combined,kitchenl,put_bottle_in_fridge,clutter,0,20,False,0,0,0,,,
312
+ xvla,object_ood_combined,kitchenl,put_can_in_cabinet,clean,20,20,True,20,0,0,90.0,80.0,10.0
313
+ xvla,object_ood_combined,kitchenl,put_can_in_cabinet,clutter,20,20,True,20,0,0,85.0,45.0,50.0
xvla/perturbation/xvla_perturbation_averages.csv ADDED
@@ -0,0 +1,131 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ model,axis,condition,group,tasks,episodes,expected,complete,sr,hsr,cr
2
+ xvla,colloquial_polite,clean,office,3,60,60,True,28.333333333333332,26.666666666666668,11.666666666666666
3
+ xvla,colloquial_polite,clean,study,3,60,60,True,40.0,40.0,1.6666666666666667
4
+ xvla,colloquial_polite,clean,kitchens,3,60,60,True,46.666666666666664,46.666666666666664,1.6666666666666667
5
+ xvla,colloquial_polite,clean,kitchenl,3,60,60,True,40.0,40.0,13.333333333333334
6
+ xvla,colloquial_polite,clean,all,12,240,240,True,38.75,38.333333333333336,7.083333333333333
7
+ xvla,colloquial_polite,clutter,office,3,60,60,True,20.0,15.0,53.333333333333336
8
+ xvla,colloquial_polite,clutter,study,3,60,60,True,28.333333333333332,18.333333333333332,36.666666666666664
9
+ xvla,colloquial_polite,clutter,kitchens,3,60,60,True,43.333333333333336,41.666666666666664,16.666666666666668
10
+ xvla,colloquial_polite,clutter,kitchenl,3,60,60,True,40.0,13.333333333333334,85.0
11
+ xvla,colloquial_polite,clutter,all,12,240,240,True,32.916666666666664,22.083333333333332,47.916666666666664
12
+ xvla,commonsense_indirect,clean,office,3,60,60,True,25.0,23.333333333333332,8.333333333333334
13
+ xvla,commonsense_indirect,clean,study,3,60,60,True,26.666666666666668,26.666666666666668,1.6666666666666667
14
+ xvla,commonsense_indirect,clean,kitchens,3,60,60,True,40.0,40.0,5.0
15
+ xvla,commonsense_indirect,clean,kitchenl,3,60,60,True,46.666666666666664,46.666666666666664,8.333333333333334
16
+ xvla,commonsense_indirect,clean,all,12,240,240,True,34.583333333333336,34.166666666666664,5.833333333333333
17
+ xvla,commonsense_indirect,clutter,office,3,60,60,True,26.666666666666668,26.666666666666668,51.666666666666664
18
+ xvla,commonsense_indirect,clutter,study,3,60,60,True,10.0,8.333333333333334,41.666666666666664
19
+ xvla,commonsense_indirect,clutter,kitchens,3,60,60,True,33.333333333333336,28.333333333333332,20.0
20
+ xvla,commonsense_indirect,clutter,kitchenl,3,60,60,True,28.333333333333332,13.333333333333334,80.0
21
+ xvla,commonsense_indirect,clutter,all,12,240,240,True,24.583333333333332,19.166666666666668,48.333333333333336
22
+ xvla,reasoning_chain,clean,office,3,60,60,True,23.333333333333332,23.333333333333332,5.0
23
+ xvla,reasoning_chain,clean,study,3,60,60,True,45.0,45.0,1.6666666666666667
24
+ xvla,reasoning_chain,clean,kitchens,3,60,60,True,53.333333333333336,53.333333333333336,5.0
25
+ xvla,reasoning_chain,clean,kitchenl,3,60,60,True,50.0,48.333333333333336,5.0
26
+ xvla,reasoning_chain,clean,all,12,240,240,True,42.916666666666664,42.5,4.166666666666667
27
+ xvla,reasoning_chain,clutter,office,3,60,60,True,21.666666666666668,18.333333333333332,63.333333333333336
28
+ xvla,reasoning_chain,clutter,study,3,60,60,True,23.333333333333332,16.666666666666668,35.0
29
+ xvla,reasoning_chain,clutter,kitchens,3,60,60,True,35.0,33.333333333333336,16.666666666666668
30
+ xvla,reasoning_chain,clutter,kitchenl,3,60,60,True,33.333333333333336,13.333333333333334,85.0
31
+ xvla,reasoning_chain,clutter,all,12,240,240,True,28.333333333333332,20.416666666666668,50.0
32
+ xvla,distractor_context,clean,office,3,60,60,True,25.0,23.333333333333332,10.0
33
+ xvla,distractor_context,clean,study,3,60,60,True,35.0,35.0,1.6666666666666667
34
+ xvla,distractor_context,clean,kitchens,3,60,60,True,50.0,50.0,5.0
35
+ xvla,distractor_context,clean,kitchenl,3,60,60,True,40.0,38.333333333333336,3.3333333333333335
36
+ xvla,distractor_context,clean,all,12,240,240,True,37.5,36.666666666666664,5.0
37
+ xvla,distractor_context,clutter,office,3,60,60,True,23.333333333333332,20.0,61.666666666666664
38
+ xvla,distractor_context,clutter,study,3,60,60,True,26.666666666666668,23.333333333333332,26.666666666666668
39
+ xvla,distractor_context,clutter,kitchens,3,60,60,True,36.666666666666664,33.333333333333336,15.0
40
+ xvla,distractor_context,clutter,kitchenl,3,60,60,True,31.666666666666668,13.333333333333334,80.0
41
+ xvla,distractor_context,clutter,all,12,240,240,True,29.583333333333332,22.5,45.833333333333336
42
+ xvla,multi_object_distraction,clean,office,3,60,60,True,28.333333333333332,25.0,11.666666666666666
43
+ xvla,multi_object_distraction,clean,study,3,60,60,True,31.666666666666668,31.666666666666668,0.0
44
+ xvla,multi_object_distraction,clean,kitchens,3,60,60,True,33.333333333333336,31.666666666666668,8.333333333333334
45
+ xvla,multi_object_distraction,clean,kitchenl,3,60,60,True,41.666666666666664,40.0,5.0
46
+ xvla,multi_object_distraction,clean,all,12,240,240,True,33.75,32.083333333333336,6.25
47
+ xvla,multi_object_distraction,clutter,office,3,60,60,True,23.333333333333332,20.0,66.66666666666667
48
+ xvla,multi_object_distraction,clutter,study,3,60,60,True,20.0,13.333333333333334,31.666666666666668
49
+ xvla,multi_object_distraction,clutter,kitchens,3,60,60,True,35.0,33.333333333333336,20.0
50
+ xvla,multi_object_distraction,clutter,kitchenl,3,60,60,True,33.333333333333336,15.0,81.66666666666667
51
+ xvla,multi_object_distraction,clutter,all,12,240,240,True,27.916666666666668,20.416666666666668,50.0
52
+ xvla,vision_blur,clean,office,3,60,60,True,21.666666666666668,18.333333333333332,10.0
53
+ xvla,vision_blur,clean,study,3,60,60,True,41.666666666666664,41.666666666666664,1.6666666666666667
54
+ xvla,vision_blur,clean,kitchens,3,60,60,True,45.0,45.0,6.666666666666667
55
+ xvla,vision_blur,clean,kitchenl,3,60,60,True,86.66666666666667,86.66666666666667,0.0
56
+ xvla,vision_blur,clean,all,12,240,240,True,48.75,47.916666666666664,4.583333333333333
57
+ xvla,vision_blur,clutter,office,3,60,60,True,20.0,13.333333333333334,68.33333333333333
58
+ xvla,vision_blur,clutter,study,3,60,60,True,21.666666666666668,15.0,28.333333333333332
59
+ xvla,vision_blur,clutter,kitchens,3,60,60,True,43.333333333333336,38.333333333333336,16.666666666666668
60
+ xvla,vision_blur,clutter,kitchenl,3,60,60,True,43.333333333333336,6.666666666666667,86.66666666666667
61
+ xvla,vision_blur,clutter,all,12,240,240,True,32.083333333333336,18.333333333333332,50.0
62
+ xvla,vision_lighting,clean,office,3,60,60,True,23.333333333333332,20.0,13.333333333333334
63
+ xvla,vision_lighting,clean,study,3,60,60,True,40.0,40.0,1.6666666666666667
64
+ xvla,vision_lighting,clean,kitchens,3,59,60,False,35.59322033898305,35.59322033898305,1.694915254237288
65
+ xvla,vision_lighting,clean,kitchenl,3,60,60,True,81.66666666666667,81.66666666666667,3.3333333333333335
66
+ xvla,vision_lighting,clean,all,12,239,240,False,45.18828451882845,44.35146443514645,5.02092050209205
67
+ xvla,vision_lighting,clutter,office,3,60,60,True,26.666666666666668,10.0,65.0
68
+ xvla,vision_lighting,clutter,study,3,60,60,True,23.333333333333332,15.0,51.666666666666664
69
+ xvla,vision_lighting,clutter,kitchens,3,60,60,True,25.0,23.333333333333332,41.666666666666664
70
+ xvla,vision_lighting,clutter,kitchenl,3,60,60,True,53.333333333333336,13.333333333333334,85.0
71
+ xvla,vision_lighting,clutter,all,12,240,240,True,32.083333333333336,15.416666666666666,60.833333333333336
72
+ xvla,vision_pixel_shift,clean,office,3,60,60,True,28.333333333333332,28.333333333333332,18.333333333333332
73
+ xvla,vision_pixel_shift,clean,study,3,60,60,True,68.33333333333333,68.33333333333333,1.6666666666666667
74
+ xvla,vision_pixel_shift,clean,kitchens,3,60,60,True,55.0,55.0,1.6666666666666667
75
+ xvla,vision_pixel_shift,clean,kitchenl,3,60,60,True,91.66666666666667,88.33333333333333,5.0
76
+ xvla,vision_pixel_shift,clean,all,12,240,240,True,60.833333333333336,60.0,6.666666666666667
77
+ xvla,vision_pixel_shift,clutter,office,3,60,60,True,16.666666666666668,13.333333333333334,58.333333333333336
78
+ xvla,vision_pixel_shift,clutter,study,3,60,60,True,55.0,41.666666666666664,38.333333333333336
79
+ xvla,vision_pixel_shift,clutter,kitchens,3,60,60,True,40.0,36.666666666666664,16.666666666666668
80
+ xvla,vision_pixel_shift,clutter,kitchenl,3,60,60,True,46.666666666666664,1.6666666666666667,91.66666666666667
81
+ xvla,vision_pixel_shift,clutter,all,12,240,240,True,39.583333333333336,23.333333333333332,51.25
82
+ xvla,vision_combined,clean,office,3,60,60,True,28.333333333333332,26.666666666666668,18.333333333333332
83
+ xvla,vision_combined,clean,study,3,60,60,True,68.33333333333333,68.33333333333333,3.3333333333333335
84
+ xvla,vision_combined,clean,kitchens,3,59,60,False,45.76271186440678,45.76271186440678,0.0
85
+ xvla,vision_combined,clean,kitchenl,3,60,60,True,83.33333333333333,83.33333333333333,0.0
86
+ xvla,vision_combined,clean,all,12,239,240,False,56.48535564853557,56.06694560669456,5.439330543933054
87
+ xvla,vision_combined,clutter,office,3,60,60,True,28.333333333333332,11.666666666666666,66.66666666666667
88
+ xvla,vision_combined,clutter,study,3,60,60,True,43.333333333333336,30.0,43.333333333333336
89
+ xvla,vision_combined,clutter,kitchens,3,60,60,True,26.666666666666668,20.0,41.666666666666664
90
+ xvla,vision_combined,clutter,kitchenl,3,60,60,True,50.0,16.666666666666668,80.0
91
+ xvla,vision_combined,clutter,all,12,240,240,True,37.083333333333336,19.583333333333332,57.916666666666664
92
+ xvla,object_ood_appearance,clean,office,3,60,60,True,35.0,35.0,10.0
93
+ xvla,object_ood_appearance,clean,study,3,60,60,True,46.666666666666664,46.666666666666664,1.6666666666666667
94
+ xvla,object_ood_appearance,clean,kitchens,3,60,60,True,50.0,48.333333333333336,3.3333333333333335
95
+ xvla,object_ood_appearance,clean,kitchenl,3,60,60,True,90.0,83.33333333333333,6.666666666666667
96
+ xvla,object_ood_appearance,clean,all,12,240,240,True,55.416666666666664,53.333333333333336,5.416666666666667
97
+ xvla,object_ood_appearance,clutter,office,3,60,60,True,36.666666666666664,30.0,56.666666666666664
98
+ xvla,object_ood_appearance,clutter,study,3,60,60,True,31.666666666666668,25.0,33.333333333333336
99
+ xvla,object_ood_appearance,clutter,kitchens,3,60,60,True,36.666666666666664,35.0,10.0
100
+ xvla,object_ood_appearance,clutter,kitchenl,3,60,60,True,43.333333333333336,6.666666666666667,93.33333333333333
101
+ xvla,object_ood_appearance,clutter,all,12,240,240,True,37.083333333333336,24.166666666666668,48.333333333333336
102
+ xvla,object_ood_unseen_obstacles,clean,office,3,60,60,True,25.0,23.333333333333332,6.666666666666667
103
+ xvla,object_ood_unseen_obstacles,clean,study,3,60,60,True,36.666666666666664,36.666666666666664,1.6666666666666667
104
+ xvla,object_ood_unseen_obstacles,clean,kitchens,3,60,60,True,45.0,45.0,6.666666666666667
105
+ xvla,object_ood_unseen_obstacles,clean,kitchenl,3,60,60,True,85.0,83.33333333333333,1.6666666666666667
106
+ xvla,object_ood_unseen_obstacles,clean,all,12,240,240,True,47.916666666666664,47.083333333333336,4.166666666666667
107
+ xvla,object_ood_unseen_obstacles,clutter,office,3,46,60,False,13.043478260869565,10.869565217391305,60.869565217391305
108
+ xvla,object_ood_unseen_obstacles,clutter,study,3,60,60,True,16.666666666666668,3.3333333333333335,61.666666666666664
109
+ xvla,object_ood_unseen_obstacles,clutter,kitchens,3,60,60,True,33.333333333333336,33.333333333333336,30.0
110
+ xvla,object_ood_unseen_obstacles,clutter,kitchenl,3,60,60,True,71.66666666666667,21.666666666666668,73.33333333333333
111
+ xvla,object_ood_unseen_obstacles,clutter,all,12,226,240,False,34.95575221238938,17.699115044247787,56.19469026548673
112
+ xvla,object_ood_unseen_targets,clean,office,3,60,60,True,18.333333333333332,18.333333333333332,6.666666666666667
113
+ xvla,object_ood_unseen_targets,clean,study,3,60,60,True,23.333333333333332,23.333333333333332,5.0
114
+ xvla,object_ood_unseen_targets,clean,kitchens,3,60,60,True,50.0,48.333333333333336,3.3333333333333335
115
+ xvla,object_ood_unseen_targets,clean,kitchenl,3,59,60,False,79.66101694915254,79.66101694915254,0.0
116
+ xvla,object_ood_unseen_targets,clean,all,12,239,240,False,42.67782426778243,42.25941422594142,3.7656903765690375
117
+ xvla,object_ood_unseen_targets,clutter,office,3,24,60,False,0.0,0.0,75.0
118
+ xvla,object_ood_unseen_targets,clutter,study,3,60,60,True,16.666666666666668,8.333333333333334,41.666666666666664
119
+ xvla,object_ood_unseen_targets,clutter,kitchens,3,60,60,True,41.666666666666664,40.0,15.0
120
+ xvla,object_ood_unseen_targets,clutter,kitchenl,3,40,60,False,52.5,10.0,87.5
121
+ xvla,object_ood_unseen_targets,clutter,all,12,184,240,False,30.434782608695652,17.934782608695652,47.28260869565217
122
+ xvla,object_ood_combined,clean,office,3,60,60,True,21.666666666666668,21.666666666666668,11.666666666666666
123
+ xvla,object_ood_combined,clean,study,3,60,60,True,31.666666666666668,31.666666666666668,1.6666666666666667
124
+ xvla,object_ood_combined,clean,kitchens,3,60,60,True,51.666666666666664,50.0,5.0
125
+ xvla,object_ood_combined,clean,kitchenl,3,59,60,False,84.7457627118644,79.66101694915254,6.779661016949152
126
+ xvla,object_ood_combined,clean,all,12,239,240,False,47.28033472803347,45.60669456066945,6.2761506276150625
127
+ xvla,object_ood_combined,clutter,office,3,19,60,False,5.2631578947368425,5.2631578947368425,78.94736842105263
128
+ xvla,object_ood_combined,clutter,study,3,54,60,False,20.37037037037037,14.814814814814815,46.2962962962963
129
+ xvla,object_ood_combined,clutter,kitchens,3,60,60,True,16.666666666666668,13.333333333333334,35.0
130
+ xvla,object_ood_combined,clutter,kitchenl,3,20,60,False,85.0,45.0,50.0
131
+ xvla,object_ood_combined,clutter,all,12,153,240,False,25.49019607843137,16.99346405228758,46.40522875816993