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evaluation/paper_results_grab/1_ours_0/sampling_cphoi.yaml
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| 1 |
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_target_: cphoi.CPHOIInferenceConfig
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| 2 |
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model_path: /home/dcor/roeyron/trumans_utils/src/Experiments/cphoi_05011024_c15p100_v0/model000120000.pt
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| 3 |
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out_dir: /home/dcor/roeyron/trumans_utils/results/cphoi_paper_experiments_fixed_keep_object_static/6_wo_jitter_loss_0
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batch_size_gen: 2
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device: 0
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sampler_config:
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_target_: cphoi.samplers.samplers.TestSampler
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n_samples: -1
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split_name: test
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seed: 1
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guidance_param: 3.0
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n_simplify_object: 3000
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th_contact_force: 0.5
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n_simplify_hands: 1000
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dno_options_phase1:
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_target_: optimize_latent.dno.DNOOptions
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| 17 |
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num_opt_steps: 200
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| 18 |
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lr: 0.7
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| 19 |
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lr_warm_up_steps: 20
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perturb_scale: 1.0e-05
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| 21 |
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diff_penalty_scale: 1.0e-07
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| 22 |
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dno_options_phase2:
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| 23 |
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_target_: optimize_latent.dno.DNOOptions
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| 24 |
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num_opt_steps: 200
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| 25 |
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lr: 0.7
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| 26 |
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lr_warm_up_steps: 20
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| 27 |
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perturb_scale: 1.0e-05
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| 28 |
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diff_penalty_scale: 1.0e-07
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| 29 |
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decorrelate_scale: 10
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dno_loss_coefficients_phase1:
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keep_object_static: 0.4
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above_table: 0.2
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specific_6dof: 0.2
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| 34 |
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dno_loss_coefficients_phase2:
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contact: 0.95
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penetration: 0.05
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jitter_joints: 0.0
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above_table: 0.2
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side_table: 0.2
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use_dno_object: true
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| 41 |
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use_dno_body: true
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| 42 |
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anim_setup: NO_MESH
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result_phases_to_animate:
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- phase0
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| 45 |
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- phase1
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- phase2
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- final
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result_phases_to_save:
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- phase0
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- phase1
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- phase2
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| 52 |
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- final
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| 53 |
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anim_save_every_n_gens: 10
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| 54 |
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use_classifier_guidance: null
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| 55 |
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classifier_guidance_steps: null
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| 56 |
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classifier_guidance_lr: null
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| 57 |
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output_dir: null
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| 58 |
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n_frames: null
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| 59 |
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grab_dataset_path: /home/dcor/roeyron/trumans_utils/DATASETS/DATA_GRAB_RETARGETED
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| 60 |
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autoregressive_include_prefix: true
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| 61 |
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save_result_pickle: true
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| 62 |
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replace_cps_with_nearest_neighbors: false
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| 63 |
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experiment_dir: /home/dcor/roeyron/trumans_utils/src/Experiments/cphoi_05011024_c15p100_v0
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| 64 |
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train:
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| 65 |
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adam_beta2: 0.999
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| 66 |
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autoregressive_include_prefix: false
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| 67 |
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avg_model_beta: 0.9999
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| 68 |
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batch_size: 64
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| 69 |
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cond_mask_prob: 0.1
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| 70 |
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context_len: 15
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| 71 |
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data_load_lim: null
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| 72 |
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dataset: ''
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| 73 |
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debug_mode: false
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| 74 |
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device: 0
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| 75 |
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diffusion_steps: 8
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| 76 |
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eval_during_training: false
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| 77 |
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feature_names: cphoi
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| 78 |
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fps: 20
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| 79 |
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gen_during_training: false
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| 80 |
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grab_dataset_path: /home/dcor/roeyron/trumans_utils/DATASETS/DATA_GRAB_RETARGETED
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| 81 |
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guidance_param: 7.5
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| 82 |
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keyframe_cond_type: ''
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| 83 |
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lambda_fc: 0.0
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| 84 |
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lambda_rcxyz: 0.0
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| 85 |
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lambda_target_loc: 0.0
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| 86 |
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lambda_vel: 0.0
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| 87 |
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layers: 8
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| 88 |
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log_interval: 1000
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| 89 |
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lr: 0.0001
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| 90 |
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lr_anneal_steps: 0
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| 91 |
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mask_frames: true
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| 92 |
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multi_target_cond: false
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| 93 |
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noise_schedule: cosine
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| 94 |
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num_steps: 200000
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| 95 |
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overwrite: false
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| 96 |
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pcd_augment_jitter: true
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| 97 |
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pcd_augment_rot_z: true
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| 98 |
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pcd_n_points: 512
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| 99 |
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pred_len: 100
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| 100 |
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resume_checkpoint: ''
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| 101 |
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save_dir: /home/dcor/roeyron/trumans_utils/src/Experiments/cphoi_05011024_c15p100_v0
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| 102 |
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save_interval: 20000
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| 103 |
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seed: 42
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| 104 |
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sigma_small: true
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| 105 |
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spatial_condition: null
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| 106 |
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train_platform_type: WandBPlatform
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| 107 |
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unconstrained: false
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| 108 |
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use_ema: true
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| 109 |
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wandb_project: cphoi
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| 110 |
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weight_decay: 0.0
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| 111 |
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zero_prefix_prob: 0.0
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| 112 |
+
experiment_dir: /home/dcor/roeyron/trumans_utils/src/Experiments/cphoi_05011024_c15p100_v0
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| 113 |
+
model_path: /home/dcor/roeyron/trumans_utils/src/Experiments/cphoi_05011024_c15p100_v0/model000120000.pt
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evaluation/paper_results_grab/result_paths_per_experiment.json
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| 1 |
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{
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| 2 |
+
"1_ours_0": [
|
| 3 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0000__s10_airplane_fly_1__airplane__The_person_is_flying_a_airplane__final.pickle",
|
| 4 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0001__s10_airplane_pass_1__airplane__The_person_is_passing_a_airplane__final.pickle",
|
| 5 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0002__s10_alarmclock_pass_1__alarmclock__The_person_is_passing_a_alarmclock__final.pickle",
|
| 6 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0003__s10_alarmclock_see_1__alarmclock__The_person_is_interacting_with_a_alarmclock__final.pickle",
|
| 7 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0004__s10_apple_eat_1__apple__The_person_is_eating_a_apple__final.pickle",
|
| 8 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0005__s10_apple_pass_1__apple__The_person_is_passing_a_apple__final.pickle",
|
| 9 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0006__s10_banana_eat_1__banana__The_person_is_eating_a_banana__final.pickle",
|
| 10 |
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"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0007__s10_banana_pass_1__banana__The_person_is_passing_a_banana__final.pickle",
|
| 11 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0008__s10_banana_peel_1__banana__The_person_is_peeling_a_banana__final.pickle",
|
| 12 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0009__s10_banana_peel_2__banana__The_person_is_peeling_a_banana__final.pickle",
|
| 13 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0013__s10_bowl_drink_2__bowl__The_person_is_drinking_from_a_bowl__final.pickle",
|
| 14 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0010__s10_binoculars_pass_1__binoculars__The_person_is_passing_a_binoculars__final.pickle",
|
| 15 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0011__s10_binoculars_see_1__binoculars__The_person_is_interacting_with_a_binoculars__final.pickle",
|
| 16 |
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"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0012__s10_bowl_drink_1_Retake__bowl__The_person_is_drinking_from_a_bowl__final.pickle",
|
| 17 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0014__s10_bowl_pass_1__bowl__The_person_is_passing_a_bowl__final.pickle",
|
| 18 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0015__s10_camera_browse_1__camera__The_person_is_browseing_a_camera__final.pickle",
|
| 19 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0016__s10_camera_pass_1__camera__The_person_is_passing_a_camera__final.pickle",
|
| 20 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0017__s10_camera_takepicture_1__camera__The_person_is_takepictureing_a_camera__final.pickle",
|
| 21 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0018__s10_camera_takepicture_2__camera__The_person_is_takepictureing_a_camera__final.pickle",
|
| 22 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0019__s10_camera_takepicture_3__camera__The_person_is_takepictureing_a_camera__final.pickle",
|
| 23 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0020__s10_cubelarge_inspect_1__cubelarge__The_person_is_inspecting_a_large_cube__final.pickle",
|
| 24 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0021__s10_cubelarge_pass_1__cubelarge__The_person_is_passing_a_large_cube__final.pickle",
|
| 25 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0022__s10_cubemedium_inspect_1__cubemedium__The_person_is_inspecting_a_medium_cube__final.pickle",
|
| 26 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0023__s10_cubemedium_pass_1__cubemedium__The_person_is_passing_a_medium_cube__final.pickle",
|
| 27 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0024__s10_cubesmall_inspect_1__cubesmall__The_person_is_inspecting_a_small_cube__final.pickle",
|
| 28 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0025__s10_cubesmall_pass_1__cubesmall__The_person_is_passing_a_small_cube__final.pickle",
|
| 29 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0026__s10_cup_drink_1__cup__The_person_is_drinking_from_a_cup__final.pickle",
|
| 30 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0027__s10_cup_drink_2__cup__The_person_is_drinking_from_a_cup__final.pickle",
|
| 31 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0028__s10_cup_pass_1__cup__The_person_is_passing_a_cup__final.pickle",
|
| 32 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0029__s10_cup_pour_1__cup__The_person_is_pouring_a_cup__final.pickle",
|
| 33 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0030__s10_cylinderlarge_inspect_1__cylinderlarge__The_person_is_inspecting_a_large_cylinder__final.pickle",
|
| 34 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0031__s10_cylinderlarge_pass_1__cylinderlarge__The_person_is_passing_a_large_cylinder__final.pickle",
|
| 35 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0032__s10_cylindermedium_inspect_1__cylindermedium__The_person_is_inspecting_a_medium_cylinder__final.pickle",
|
| 36 |
+
"hoidini_data/evaluation/paper_results_grab/1_ours_0/cphoi__cphoi_05011024_c15p100_v0__model000120000__0033__s10_cylindermedium_pass_1__cylindermedium__The_person_is_passing_a_medium_cylinder__final.pickle",
|
| 37 |
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|
| 118 |
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|
| 119 |
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