File size: 1,963 Bytes
6b7016d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 | {
"schema": "axis_heldout_baseline_v1",
"policy": "pi05_base + 20-demo LoRA, constant LR 2.5e-5 after 100-step warmup, 20 epochs",
"protocol": "50 dual-sim rollouts per task, published eval seeds, 1500-step cap",
"data_state": "OLD render batch: appearance randomized per demo (TextureModder + LightingModder) and wrist camera at the superseded 52-degree rig. This is the BEFORE baseline the re-rendered benchmark will be compared against, not a benchmark result.",
"totals": {
"successes": 48,
"rollouts": 500,
"rate": 0.096,
"tasks_inside_gate": 0
},
"gate": "keep a task if 0.20 <= success <= 0.80",
"tasks": [
{
"task_id": 809,
"operation": "separate",
"successes": 0,
"n": 50,
"rate": 0.0,
"verdict": "below floor"
},
{
"task_id": 811,
"operation": "reach",
"successes": 41,
"n": 50,
"rate": 0.82,
"verdict": "above ceiling"
},
{
"task_id": 866,
"operation": "rotate",
"successes": 0,
"n": 50,
"rate": 0.0,
"verdict": "UNEVALUABLE (checker missing)"
},
{
"task_id": 868,
"operation": "pick",
"successes": 6,
"n": 50,
"rate": 0.12,
"verdict": "below floor"
},
{
"task_id": 945,
"operation": "put_into",
"successes": 0,
"n": 50,
"rate": 0.0,
"verdict": "below floor"
},
{
"task_id": 953,
"operation": "put_spatial",
"successes": 1,
"n": 50,
"rate": 0.02,
"verdict": "below floor"
},
{
"task_id": 966,
"operation": "put_on",
"successes": 0,
"n": 50,
"rate": 0.0,
"verdict": "below floor"
},
{
"task_id": 1426,
"operation": "rearrange",
"successes": 0,
"n": 50,
"rate": 0.0,
"verdict": "below floor"
},
{
"task_id": 1459,
"operation": "insert",
"successes": 0,
"n": 50,
"rate": 0.0,
"verdict": "below floor"
},
{
"task_id": 1889,
"operation": "put_beside",
"successes": 0,
"n": 50,
"rate": 0.0,
"verdict": "below floor"
}
]
} |