| [ | |
| { | |
| "episode_index": 0, | |
| "case_id": "sensor_failure_benchmark.range_noise.train.r000.reference", | |
| "condition_id": "range_noise.reference", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.train.r000", | |
| "split": "train", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20261024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "slip" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 1, | |
| "case_id": "sensor_failure_benchmark.range_noise.train.r000.challenge", | |
| "condition_id": "range_noise.challenge", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.train.r000", | |
| "split": "train", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "depth_noise", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20261024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "slip" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 2, | |
| "case_id": "sensor_failure_benchmark.target_missing.train.r000.reference", | |
| "condition_id": "target_missing.reference", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.train.r000", | |
| "split": "train", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20262024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "drop" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 3, | |
| "case_id": "sensor_failure_benchmark.target_missing.train.r000.challenge", | |
| "condition_id": "target_missing.challenge", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.train.r000", | |
| "split": "train", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "target_dropout", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20262024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "drop" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 4, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.train.r000.reference", | |
| "condition_id": "camera_interrupt.reference", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.train.r000", | |
| "split": "train", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20263024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "pose_offset" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 5, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.train.r000.challenge", | |
| "condition_id": "camera_interrupt.challenge", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.train.r000", | |
| "split": "train", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "camera_outage", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20263024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "pose_offset" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 6, | |
| "case_id": "sensor_failure_benchmark.compound_shift.train.r000.reference", | |
| "condition_id": "compound_shift.reference", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.train.r000", | |
| "split": "train", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20264024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "miss_grasp" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 7, | |
| "case_id": "sensor_failure_benchmark.compound_shift.train.r000.challenge", | |
| "condition_id": "compound_shift.challenge", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.train.r000", | |
| "split": "train", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "combined", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20264024, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "miss_grasp" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 8, | |
| "case_id": "sensor_failure_benchmark.range_noise.validation.r000.reference", | |
| "condition_id": "range_noise.reference", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20261124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "slip" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 9, | |
| "case_id": "sensor_failure_benchmark.range_noise.validation.r000.challenge", | |
| "condition_id": "range_noise.challenge", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "depth_noise", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20261124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "slip" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 10, | |
| "case_id": "sensor_failure_benchmark.target_missing.validation.r000.reference", | |
| "condition_id": "target_missing.reference", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20262124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "drop" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 11, | |
| "case_id": "sensor_failure_benchmark.target_missing.validation.r000.challenge", | |
| "condition_id": "target_missing.challenge", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "target_dropout", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20262124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "drop" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 12, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.validation.r000.reference", | |
| "condition_id": "camera_interrupt.reference", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20263124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "pose_offset" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 13, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.validation.r000.challenge", | |
| "condition_id": "camera_interrupt.challenge", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "camera_outage", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20263124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "pose_offset" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 14, | |
| "case_id": "sensor_failure_benchmark.compound_shift.validation.r000.reference", | |
| "condition_id": "compound_shift.reference", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20264124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "miss_grasp" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 15, | |
| "case_id": "sensor_failure_benchmark.compound_shift.validation.r000.challenge", | |
| "condition_id": "compound_shift.challenge", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "combined", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20264124, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "miss_grasp" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 16, | |
| "case_id": "sensor_failure_benchmark.range_noise.test.r000.reference", | |
| "condition_id": "range_noise.reference", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.test.r000", | |
| "split": "test", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20261224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "slip" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 17, | |
| "case_id": "sensor_failure_benchmark.range_noise.test.r000.challenge", | |
| "condition_id": "range_noise.challenge", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "depth_noise", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20261224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "slip" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 18, | |
| "case_id": "sensor_failure_benchmark.target_missing.test.r000.reference", | |
| "condition_id": "target_missing.reference", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.test.r000", | |
| "split": "test", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20262224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "drop" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 19, | |
| "case_id": "sensor_failure_benchmark.target_missing.test.r000.challenge", | |
| "condition_id": "target_missing.challenge", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "target_dropout", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20262224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "drop" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 20, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.test.r000.reference", | |
| "condition_id": "camera_interrupt.reference", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.test.r000", | |
| "split": "test", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20263224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "pose_offset" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 21, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.test.r000.challenge", | |
| "condition_id": "camera_interrupt.challenge", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "camera_outage", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20263224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "pose_offset" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 22, | |
| "case_id": "sensor_failure_benchmark.compound_shift.test.r000.reference", | |
| "condition_id": "compound_shift.reference", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.test.r000", | |
| "split": "test", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20264224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "miss_grasp" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| }, | |
| { | |
| "episode_index": 23, | |
| "case_id": "sensor_failure_benchmark.compound_shift.test.r000.challenge", | |
| "condition_id": "compound_shift.challenge", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile", | |
| "config": { | |
| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "coverage_split": "condition_holdout", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "combined", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
| "episodes": 1, | |
| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20264224, | |
| "camera_count": 1, | |
| "failure_types": [ | |
| "miss_grasp" | |
| ], | |
| "blender_samples": 16 | |
| } | |
| } | |
| ] |