spec/benchmark_spec.json

{
 "schema": "axis_heldout_benchmark_v2",
 "name": "AXIS held-out benchmark",
 "SIZE": {
  "active_tasks": 10,
  "conditional_tasks": 10,
  "why": "A benchmark task must be absent from pretraining. Of 124 quality-eligible tasks only 11 are absent from the stage1_5k training ranges and the 11th (813) is unevaluable, so TEN is the ceiling against today's stage-1 models. The other ten are contaminated -- 157 episodes of the 5,000 -- and become usable only if a future stage-1 run excludes the held-out set.",
  "active": [
   809,
   811,
   866,
   868,
   945,
   953,
   966,
   1426,
   1459,
   1889
  ],
  "conditional": [
   810,
   815,
   929,
   970,
   1046,
   1252,
   1427,
   1458,
   1746,
   1891
  ]
 },
 "DATA_STATUS": {
  "state": "AWAITING RE-RENDER",
  "camera_rig": "current demos use the superseded rig (hand->cam [-0.074,0,0.0292], fovy 51.9); the pretraining corpus uses [0.05,0,0] / fovy 74.8",
  "appearance": "current demos are randomized per demo (TextureModder + LightingModder), so the 20 demos of a task span 20 visual worlds",
  "request": "render_request/ in this repo covers all 20 tasks"
 },
 "protocol": {
  "adaptation_demos_per_task": 20,
  "eval_episodes_per_task": 50,
  "eval_requires": "--dual-sim",
  "policy": "pi05_base + 20-demo LoRA, constant LR after 100-step warmup",
  "gate": "keep a task if 0.20 <= success <= 0.80"
 },
 "unevaluable": {
  "813": "layout generator fails after 50,000 attempts placing 4 objects in a 0.50 m box",
  "866": "declares DirectedRotationChecker, which is NOT in the checker registry; the harness substitutes AlwaysFalseChecker so the task returns 0/50 under any policy"
 },
 "join_on": "(task_id, attempt_id) -- never episode_index",
 "tasks": [
  {
   "task_id": 809,
   "operation": "separate",
   "name": "separate the sandwich from the juice",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9229
  },
  {
   "task_id": 810,
   "operation": "separate",
   "name": "separate the sandwich from the napkin box",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.922
  },
  {
   "task_id": 811,
   "operation": "reach",
   "name": "reach target pose",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.932
  },
  {
   "task_id": 815,
   "operation": "place",
   "name": "place with orientation",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9115
  },
  {
   "task_id": 866,
   "operation": "rotate",
   "name": "rotate the computer mouse",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9028
  },
  {
   "task_id": 868,
   "operation": "pick",
   "name": "pick single rigid object",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.942
  },
  {
   "task_id": 929,
   "operation": "put_spatial",
   "name": "put the tea cup on the left side of the tea pot",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.8942
  },
  {
   "task_id": 945,
   "operation": "put_into",
   "name": "put both the potato and the pepper in the bowl",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.922
  },
  {
   "task_id": 953,
   "operation": "put_spatial",
   "name": "put the muffin on the left side of the cup",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9151
  },
  {
   "task_id": 966,
   "operation": "put_on",
   "name": "put the eyeglasses case on the tissue box",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9231
  },
  {
   "task_id": 970,
   "operation": "rotate",
   "name": "rotate the eyeglasses case",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.8546
  },
  {
   "task_id": 1046,
   "operation": "put_into",
   "name": "put the toy car into the basket",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9018
  },
  {
   "task_id": 1252,
   "operation": "remove",
   "name": "remove loose lid",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.8896
  },
  {
   "task_id": 1426,
   "operation": "rearrange",
   "name": "rearrange three items",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9132
  },
  {
   "task_id": 1427,
   "operation": "rearrange",
   "name": "rearrange three items 2",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9097
  },
  {
   "task_id": 1458,
   "operation": "insert",
   "name": "insert utensil into holder",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.917
  },
  {
   "task_id": 1459,
   "operation": "insert",
   "name": "fit lid onto container",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.904
  },
  {
   "task_id": 1746,
   "operation": "put_on",
   "name": "put the cube block on the poker",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.914
  },
  {
   "task_id": 1889,
   "operation": "put_beside",
   "name": "put the kiwi beside the banana",
   "status": "active",
   "adaptation_demos": 20,
   "mean_reward_final": 0.917
  },
  {
   "task_id": 1891,
   "operation": "put_beside",
   "name": "put the orange beside the banana",
   "status": "conditional",
   "adaptation_demos": 20,
   "mean_reward_final": 0.9076
  }
 ]
}