spec: match the render request -- 10 active + 10 conditional, data awaiting re-render

spec/benchmark_spec.json

@@ -1,195 +1,213 @@
 {
- "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"
+ "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
   ],
-  "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."
+  "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"
  },
- "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"
+ "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, which every build renumbers",
+ "join_on": "(task_id, attempt_id) -- never episode_index",
  "tasks": [
   {
-   "task_id": 1459,
-   "operation": "insert",
-   "name": "fit lid onto container",
-   "demos_available": 31,
+   "task_id": 809,
+   "operation": "separate",
+   "name": "separate the sandwich from the juice",
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.9229
   },
   {
-   "task_id": 1458,
-   "operation": "insert",
-   "name": "insert utensil into holder",
-   "demos_available": 42,
+   "task_id": 810,
+   "operation": "separate",
+   "name": "separate the sandwich from the napkin box",
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.922
   },
   {
-   "task_id": 868,
-   "operation": "pick",
-   "name": "pick single rigid object",
-   "demos_available": 40,
+   "task_id": 811,
+   "operation": "reach",
+   "name": "reach target pose",
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.932
   },
   {
    "task_id": 815,
    "operation": "place",
    "name": "place with orientation",
-   "demos_available": 37,
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "action_match"
+   "mean_reward_final": 0.9115
   },
   {
-   "task_id": 1889,
-   "operation": "put_beside",
-   "name": "put the kiwi beside the banana",
-   "demos_available": 40,
+   "task_id": 866,
+   "operation": "rotate",
+   "name": "rotate the computer mouse",
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.9028
   },
   {
-   "task_id": 1891,
-   "operation": "put_beside",
-   "name": "put the orange beside the banana",
-   "demos_available": 39,
+   "task_id": 868,
+   "operation": "pick",
+   "name": "pick single rigid object",
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "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",
-   "demos_available": 36,
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.922
   },
   {
-   "task_id": 1046,
-   "operation": "put_into",
-   "name": "put the toy car into the basket",
-   "demos_available": 36,
+   "task_id": 953,
+   "operation": "put_spatial",
+   "name": "put the muffin on the left side of the cup",
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.9151
   },
   {
    "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,
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "action_match"
+   "mean_reward_final": 0.9231
   },
   {
-   "task_id": 953,
-   "operation": "put_spatial",
-   "name": "put the muffin on the left side of the cup",
-   "demos_available": 33,
+   "task_id": 970,
+   "operation": "rotate",
+   "name": "rotate the eyeglasses case",
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.8546
   },
   {
-   "task_id": 929,
-   "operation": "put_spatial",
-   "name": "put the tea cup on the left side of the tea pot",
-   "demos_available": 37,
+   "task_id": 1046,
+   "operation": "put_into",
+   "name": "put the toy car into the basket",
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.9018
   },
   {
-   "task_id": 811,
-   "operation": "reach",
-   "name": "reach target pose",
-   "demos_available": 40,
+   "task_id": 1252,
+   "operation": "remove",
+   "name": "remove loose lid",
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.8896
   },
   {
    "task_id": 1426,
    "operation": "rearrange",
    "name": "rearrange three items",
-   "demos_available": 30,
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.9132
   },
   {
    "task_id": 1427,
    "operation": "rearrange",
    "name": "rearrange three items 2",
-   "demos_available": 30,
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.9097
   },
   {
-   "task_id": 1252,
-   "operation": "remove",
-   "name": "remove loose lid",
-   "demos_available": 37,
+   "task_id": 1458,
+   "operation": "insert",
+   "name": "insert utensil into holder",
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.917
   },
   {
-   "task_id": 866,
-   "operation": "rotate",
-   "name": "rotate the computer mouse",
-   "demos_available": 40,
+   "task_id": 1459,
+   "operation": "insert",
+   "name": "fit lid onto container",
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.904
   },
   {
-   "task_id": 970,
-   "operation": "rotate",
-   "name": "rotate the eyeglasses case",
-   "demos_available": 38,
+   "task_id": 1746,
+   "operation": "put_on",
+   "name": "put the cube block on the poker",
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.914
   },
   {
-   "task_id": 809,
-   "operation": "separate",
-   "name": "separate the sandwich from the juice",
-   "demos_available": 40,
+   "task_id": 1889,
+   "operation": "put_beside",
+   "name": "put the kiwi beside the banana",
+   "status": "active",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.917
   },
   {
-   "task_id": 810,
-   "operation": "separate",
-   "name": "separate the sandwich from the napkin box",
-   "demos_available": 40,
+   "task_id": 1891,
+   "operation": "put_beside",
+   "name": "put the orange beside the banana",
+   "status": "conditional",
    "adaptation_demos": 20,
-   "join_origin": "published"
+   "mean_reward_final": 0.9076
   }
  ]
 }