lyeaim/Oct9-Evaluation

Oct9 Evaluation

Official evaluator results for the frozen task pipelines in the Embodied-Agents repository at the Oct 9 2026 main commit 6366b020a, re-run on one platform.

• Platform: Spatial team GB10 Slurm cluster (aarch64), one GPU per job.
• Evaluator: official BEHAVIOR-1K v3.9.3-post2 (a8247a8c), unchanged; RGBDFullResWrapper, default horizon, --write-video, one evaluator process per instance, first result per instance.
• Robot: surround-camera R1Pro (four extra head RGB-D cameras, installed in shadow mode under the stock model name; see embodiment/r1pro_surround in the repository).
• Policy: one unified websocket server that strips the v3.9.3 batch dimension and routes each request by task_id to the task's own frozen pipeline server.
• Instances: public test 301–310 and five training instances, 295–299 for tasks 00–49 and 296–300 for tasks 50–99 (tasks 00–49 have no training instance 300).

Layout

task<NN>/
├── 301-310/
│   ├── jsons/    official evaluator result JSONs
│   └── videos/   evaluator videos of the same runs
└── 295-299/ or 296-300/   (training instances, same structure)

Scores

Mean final Q per task from the JSONs in this repository (first result per instance). Reported = README pipeline Q at Oct 9 (recorded on each task's own platform, stock R1Pro unless noted there). 60 tasks were run (900 instances, all with a result); 5 were not run.

Task	Name	Reported Q	Public 301–310	Training (5)
Mean	60 tasks run	0.771	0.723	0.655
00	Turning On Radio	1.000	0.900	0.600
01	Picking Up Trash	1.000	1.000	0.733
02	Putting Away Halloween Decorations	0.986	1.000	1.000
03	Cleaning Up Plates and Food	0.8071	0.729	0.686
05	Setting Mousetraps	0.975	0.967	0.867
06	Hiding Easter Eggs	0.9444	0.878	1.000
07	Picking Up Toys	0.7417	0.683	0.500
08	Rearranging Kitchen Furniture	0.3375	not run: VLA (JAX) server and 12 GB checkpoint not set up
09	Putting Up Christmas Decorations Inside	0.4778	0.489	0.578
11	Putting Dishes Away After Cleaning	0.450	0.457	0.557
13	Loading The Car	0.867	0.767	0.600
14	Carrying in Groceries	0.9125	1.000	1.000
16	Moving Boxes To Storage	0.925	1.000	0.900
17	Bringing Water	0.8667	0.833	0.733
18	Tidying Bedroom	0.750	0.767	0.733
22	Putting Shoes On Rack	0.900	0.950	0.900
23	Boxing Books Up for Storage	0.783	0.817	0.967
24	Storing Food	0.6562	0.688	0.675
25	Clearing Food from Table into Fridge	0.540	0.440	0.760
30	Setting The Fire	0.5000	0.525	0.400
31	Clean Boxing Gloves	0.775	0.800	0.800
32	Wash A Baseball Cap	0.95	0.950	1.000
33	Wash Dog Toys	0.717	0.500	0.633
34	Hanging Pictures	0.825	0.800	0.800
35	Attach a Camera to a Tripod	0.750	0.900	0.600
36	Clean a Patio	0.650	0.600	0.400
37	Clean a Trumpet	0.650	0.500	0.600
38	Spraying For Bugs	0.550	0.350	0.200
39	Spraying Fruit Trees	0.800	0.750	0.600
42	Chop an Onion	0.525	0.600	0.500
44	Chopping Wood	0.5125	0.550	0.750
46	Cook Bacon	0.5714	0.514	0.257
51	Cook A Brisket	0.4500	0.633	0.200
55	Re Shelving Library Books	0.8000	not run: not runnable from a clean checkout (URDF hard-coded under /home/hunter)
57	Sweeping Garage	0.675	0.550	0.700
58	Stacking Wood	0.900	0.900	0.867
59	Organizing Art Supplies	0.900	0.800	0.800
60	Scrubbing Bathroom Floor	0.650	0.400	0.200
62	Halve An Egg	0.8400	0.780	0.400
63	Installing Smoke Detectors	1.000	1.000	1.000
65	Unloading The Car	1.000	0.800	0.700
67	Boxing Food After Dinner	0.3833	not run: external b1k_vla/openpi code, eval_fast and VLA weights
69	Vacuuming Floors	0.600	0.700	0.800
72	Cook A Frozen Pie	0.700	0.700	0.000
73	Organizing School Stuff	0.5917	0.633	0.567
74	Carrying Out Garden Furniture	0.650	0.750	0.800
75	Put Together A Basic Pruning Kit	0.7625	0.625	0.200
77	Installing A Modem	0.975	1.000	0.800
78	Make Cabinet Doors	0.850	0.300	0.200
81	Packing Meal For Delivery	0.3667	not run: separate JAX openpi VLA server; checkpoint location unrecorded
82	Store Batteries	0.967	0.833	1.000
83	Store Honey	1.000	1.000	0.800
84	Tidying Bathroom	0.8375	0.825	1.000
87	Collecting Aluminum Cans	0.85	0.783	0.933
88	Rearrange Your Room	0.8667	0.833	0.667
89	Installing A Fax Machine	1.000	0.800	0.600
90	Composting Waste	1.000	0.800	0.900
91	Store Produce	0.725	0.575	0.650
92	Installing A Scanner	0.650	0.250	0.000
93	Clean A Keyboard	0.750	0.700	0.600
94	Dispose Of Batteries	0.4625	0.375	0.450
95	Cook Brussels Sprouts	0.5827	0.696	0.446
96	Cook Broccolini	0.6182	not run: checks the sha256 of r1pro.usda, which the surround overlay replaces
97	Setup A Bar For A Cocktail Party	0.8625	0.705	0.690
99	Sorting Books On Shelf	0.8045	0.927	1.000

Notes: instances lost to infrastructure (simulator start-up hang, port clash, an externally cancelled job) and runs made with a broken deployment (Task 02 detector, Task 63 Qwen worker on the GB10 GPU) were discarded and re-run; no instance that produced a valid result was re-run.