value-model-benchmark-training-data / evaluation /simulation /test-30 /annotations /csvc_solutions.json
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| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 132, | |
| "end_frame_exclusive": 330, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 330, | |
| "end_frame_exclusive": 492, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "solution_index": 2, | |
| "episode_indices": [ | |
| 15, | |
| 17 | |
| ], | |
| "role": "diverse", | |
| "solution_kind": "diverse_repeat_group", | |
| "color_order": [ | |
| "purple", | |
| "yellow", | |
| "white" | |
| ], | |
| "semantic_order": [ | |
| "hang_purple", | |
| "hang_yellow", | |
| "hang_white" | |
| ], | |
| "independent_executions": 2, | |
| "evidence": "user_attestation", | |
| "instances": [ | |
| { | |
| "episode_index": 15, | |
| "subtask_segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 8, | |
| "end_frame_exclusive": 205, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 205, | |
| "end_frame_exclusive": 380, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 380, | |
| "end_frame_exclusive": 566, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 17, | |
| "subtask_segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 8, | |
| "end_frame_exclusive": 173, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 173, | |
| "end_frame_exclusive": 376, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 376, | |
| "end_frame_exclusive": 528, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| ] | |
| } | |
| ], | |
| "scoring": "Original semantic-gain-symmetric-ratio-v2: normal repeats collapse to one semantic median profile; diverse executions remain separate; no group averaging added." | |
| } | |