| { |
| "schema": "axis_heldout20_benchmark_v1", |
| "name": "AXIS held-out 20", |
| "what_it_measures": "few-shot adaptation to a target setup: ~20 demonstrations of an unseen task, LoRA adaptation, evaluation on that same task under the SAME conditions the demonstrations contain. Not generalisation -- randomising at eval what the demos do not contain measures a regime this never trains for.", |
| "n_tasks": 20, |
| "n_operations": 12, |
| "adaptation_demos_per_task": 20, |
| "eval_episodes_per_task": 50, |
| "eval_requires": "--dual-sim (--eval-layouts has no object collision; objects fall off the table within ~120 steps and the scores are of a physically broken scene)", |
| "learnability_gate": { |
| "policy": "pi05_base + 20-demo LoRA", |
| "keep_if": "0.20 <= success_rate <= 0.80", |
| "why_two_sided": "the lower bound removes tasks that measure nothing -- the previous 10-task set had 4 of 6 evaluated tasks at 0/10; the upper removes tasks already solved, which leave no headroom to show improvement", |
| "status": "NOT YET RUN -- the task list below is CANDIDATES, not the final benchmark" |
| }, |
| "conditions": { |
| "vary_at_eval": [ |
| "object identity", |
| "object placement", |
| "placement jitter" |
| ], |
| "fix_at_eval": [ |
| "robot initial state", |
| "camera pose", |
| "visual appearance / lighting / texture" |
| ], |
| "why": "measured from the demonstration data: robot initial joints vary by at most 0.22 deg and the EE start by 1.8 mm across 856 and 1148 episodes, and domain_randomization contains only position deltas -- nothing visual. Eval must match what the demos contain." |
| }, |
| "excluded": { |
| "813": "layout generator fails after 50,000 attempts placing 4 objects in a 0.50 m box; surfaces as an empty error:build_scene: message, so it cannot be scored" |
| }, |
| "join_on": "(task_id, attempt_id) -- NEVER episode_index, which every build renumbers", |
| "tasks": [ |
| { |
| "task_id": 1459, |
| "operation": "insert", |
| "name": "fit lid onto container", |
| "demos_available": 31, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 1458, |
| "operation": "insert", |
| "name": "insert utensil into holder", |
| "demos_available": 42, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 868, |
| "operation": "pick", |
| "name": "pick single rigid object", |
| "demos_available": 40, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 815, |
| "operation": "place", |
| "name": "place with orientation", |
| "demos_available": 37, |
| "adaptation_demos": 20, |
| "join_origin": "action_match" |
| }, |
| { |
| "task_id": 1889, |
| "operation": "put_beside", |
| "name": "put the kiwi beside the banana", |
| "demos_available": 40, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 1891, |
| "operation": "put_beside", |
| "name": "put the orange beside the banana", |
| "demos_available": 39, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 945, |
| "operation": "put_into", |
| "name": "put both the potato and the pepper in the bowl", |
| "demos_available": 36, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 1046, |
| "operation": "put_into", |
| "name": "put the toy car into the basket", |
| "demos_available": 36, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 966, |
| "operation": "put_on", |
| "name": "put the eyeglasses case on the tissue box", |
| "demos_available": 39, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 1746, |
| "operation": "put_on", |
| "name": "put the cube block on the poker", |
| "demos_available": 40, |
| "adaptation_demos": 20, |
| "join_origin": "action_match" |
| }, |
| { |
| "task_id": 953, |
| "operation": "put_spatial", |
| "name": "put the muffin on the left side of the cup", |
| "demos_available": 33, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 929, |
| "operation": "put_spatial", |
| "name": "put the tea cup on the left side of the tea pot", |
| "demos_available": 37, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 811, |
| "operation": "reach", |
| "name": "reach target pose", |
| "demos_available": 40, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 1426, |
| "operation": "rearrange", |
| "name": "rearrange three items", |
| "demos_available": 30, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 1427, |
| "operation": "rearrange", |
| "name": "rearrange three items 2", |
| "demos_available": 30, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 1252, |
| "operation": "remove", |
| "name": "remove loose lid", |
| "demos_available": 37, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 866, |
| "operation": "rotate", |
| "name": "rotate the computer mouse", |
| "demos_available": 40, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 970, |
| "operation": "rotate", |
| "name": "rotate the eyeglasses case", |
| "demos_available": 38, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 809, |
| "operation": "separate", |
| "name": "separate the sandwich from the juice", |
| "demos_available": 40, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| }, |
| { |
| "task_id": 810, |
| "operation": "separate", |
| "name": "separate the sandwich from the napkin box", |
| "demos_available": 40, |
| "adaptation_demos": 20, |
| "join_origin": "published" |
| } |
| ] |
| } |
