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仿真评测结果总汇 (GR00T N1.7 / Genie-Envisioner)
生成时间:2026-05-25 19:20:58 UTC
本文件汇总全部实验:① GR00T pair-grid 硬/软口径 ② GR00T all_factor full-factor ③ conflict 双轴 env success(GR00T vs Genie)④ VLM(Gemini-2.5-flash)FDR 对照。
数值为成功率 %;pair-grid/all_factor 均为 3-seed 平均。
一、GR00T pair-grid(硬口径,3-seed)
color_size (HARD)
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| color_size_Lrandom_f12 |
24.1 |
27.3 |
24.5 |
25.3% |
| color_size_Lrandom_f18 |
35.6 |
34.7 |
34.3 |
34.8% |
| color_size_Lrandom_f6 |
7.9 |
10.2 |
6.9 |
8.3% |
| color_size_random_f12 |
13.4 |
15.3 |
11.6 |
13.4% |
| color_size_random_f18 |
27.3 |
32.9 |
28.2 |
29.4% |
| color_size_random_f6 |
9.7 |
9.3 |
10.6 |
9.8% |
| color_size_stair_f12 |
28.2 |
28.2 |
28.2 |
28.2% |
| color_size_stair_f18 |
26.9 |
27.8 |
25.9 |
26.8% |
| color_size_stair_f6 |
7.4 |
8.3 |
6.0 |
7.2% |
color_size (EASY)
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| color_size_Lrandom_f12 |
23.6 |
24.5 |
22.7 |
23.6% |
| color_size_Lrandom_f18 |
36.6 |
38.0 |
37.0 |
37.2% |
| color_size_Lrandom_f6 |
5.1 |
10.6 |
9.3 |
8.3% |
| color_size_random_f12 |
14.4 |
14.8 |
16.2 |
15.1% |
| color_size_random_f18 |
28.7 |
33.3 |
31.0 |
31.0% |
| color_size_random_f6 |
6.9 |
11.1 |
6.9 |
8.3% |
| color_size_stair_f12 |
29.2 |
27.8 |
29.6 |
28.8% |
| color_size_stair_f18 |
26.4 |
25.5 |
27.8 |
26.5% |
| color_size_stair_f6 |
9.3 |
8.3 |
6.5 |
8.0% |
color_spatial
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| color_spatial_Lrandom_f18 |
52.4 |
42.9 |
46.7 |
47.3% |
| color_spatial_random_f12 |
33.3 |
27.6 |
33.8 |
31.5% |
| color_spatial_random_f18 |
42.4 |
36.7 |
41.0 |
40.0% |
| color_spatial_random_f6 |
23.3 |
26.2 |
24.8 |
24.7% |
| color_spatial_stair_f18 |
54.8 |
45.7 |
52.9 |
51.1% |
| color_spatial_stair_f6 |
24.3 |
19.5 |
21.4 |
21.7% |
verb_spatial
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| verb_spatial_Lrandom_f12 |
31.9 |
29.5 |
32.4 |
31.2% |
| verb_spatial_Lrandom_f18 |
32.9 |
30.0 |
34.8 |
32.5% |
| verb_spatial_Lrandom_f6 |
22.4 |
31.0 |
27.1 |
26.8% |
| verb_spatial_random_f12 |
31.4 |
31.9 |
37.6 |
33.6% |
| verb_spatial_random_f18 |
26.2 |
24.3 |
23.3 |
24.6% |
| verb_spatial_random_f6 |
16.2 |
16.2 |
14.3 |
15.5% |
| verb_spatial_stair_f12 |
26.7 |
28.6 |
25.2 |
26.8% |
| verb_spatial_stair_f18 |
34.3 |
37.1 |
35.2 |
35.5% |
| verb_spatial_stair_f6 |
23.3 |
27.1 |
22.9 |
24.4% |
spatial_size
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| spatial_size_Lrandom_f12 |
38.1 |
30.0 |
33.3 |
33.8% |
| spatial_size_Lrandom_f18 |
32.4 |
35.7 |
33.8 |
33.9% |
| spatial_size_Lrandom_f6 |
24.3 |
21.0 |
24.8 |
23.3% |
| spatial_size_random_f12 |
37.6 |
33.3 |
34.3 |
35.0% |
| spatial_size_random_f18 |
27.6 |
30.5 |
28.1 |
28.7% |
| spatial_size_random_f6 |
21.4 |
17.6 |
24.3 |
21.1% |
| spatial_size_stair_f12 |
36.2 |
37.6 |
40.5 |
38.1% |
| spatial_size_stair_f18 |
46.7 |
46.7 |
51.0 |
48.1% |
spatial_object
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| spatial_object_Lrandom_f12 |
40.0 |
40.0 |
38.6 |
39.5% |
| spatial_object_Lrandom_f18 |
34.8 |
31.4 |
32.9 |
33.0% |
| spatial_object_random_f12 |
27.1 |
32.4 |
29.5 |
29.6% |
| spatial_object_random_f18 |
34.3 |
36.7 |
32.4 |
34.4% |
| spatial_object_random_f6 |
17.6 |
17.6 |
15.7 |
16.9% |
| spatial_object_stair_f12 |
30.5 |
39.0 |
34.8 |
34.7% |
| spatial_object_stair_f18 |
32.9 |
34.8 |
28.6 |
32.1% |
| spatial_object_stair_f6 |
28.6 |
32.9 |
26.2 |
29.2% |
verb_size
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| verb_size_Lrandom_f12 |
13.4 |
15.3 |
16.7 |
15.1% |
| verb_size_Lrandom_f18 |
22.2 |
23.6 |
23.6 |
23.1% |
| verb_size_Lrandom_f6 |
8.3 |
9.3 |
7.4 |
8.3% |
| verb_size_random_f12 |
23.1 |
24.5 |
25.0 |
24.2% |
| verb_size_random_f18 |
14.4 |
13.9 |
11.6 |
13.3% |
| verb_size_random_f6 |
10.2 |
8.8 |
7.4 |
8.8% |
| verb_size_stair1_f12 |
20.4 |
17.6 |
17.1 |
18.3% |
| verb_size_stair1_f18 |
17.6 |
16.2 |
18.5 |
17.4% |
二、GR00T all_factor (full-factor, pi0.5 对齐, 3-seed)
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| all_factor_Lrandom_f50_n100 |
46.5 |
43.5 |
49.5 |
46.5% |
| all_factor_Lrandom_f50_n200 |
44.0 |
43.0 |
36.0 |
41.0% |
| all_factor_Lrandom_f50_n400 |
45.5 |
48.0 |
47.5 |
47.0% |
| all_factor_Lrandom_n200 |
34.0 |
26.0 |
35.0 |
31.6% |
| all_factor_Lrandom_n400 |
31.0 |
33.0 |
37.0 |
33.6% |
| all_factor_Lrandom_n800 |
32.0 |
31.5 |
38.0 |
33.8% |
| all_factor_stairoriginal2_n200 |
38.5 |
35.0 |
38.5 |
37.3% |
| all_factor_stairverbsize_n200 |
36.5 |
32.5 |
38.0 |
35.6% |
| all_factor_stairverbsize_n400 |
44.5 |
41.5 |
38.5 |
41.5% |
| all_factor_stairverbsize_n800 |
29.0 |
31.5 |
32.0 |
30.8% |
| all_factor_stairvss_f50_n200 |
40.0 |
40.5 |
44.5 |
41.6% |
| all_factor_stairvss_f50_n400 |
42.0 |
43.0 |
43.5 |
42.8% |
| all_factor_stairvss_f50_n800 |
42.5 |
45.5 |
51.5 |
46.5% |
| all_factor_true_random_n200 |
36.0 |
31.0 |
34.5 |
33.8% |
| all_factor_true_random_n400 |
40.5 |
38.0 |
36.0 |
38.1% |
| all_factor_true_random_n800 |
41.5 |
38.5 |
44.0 |
41.3% |
三、Conflict-experiment 双轴 env success (seed42, 200 ep)
每个实验两个因子的 success(模型把任务做对、且作用在正确因子目标上)。
| experiment |
GR00T 因子A |
GR00T 因子B |
Genie 因子A |
Genie 因子B |
| color_object |
15.0% |
14.0% |
11.7% |
6.7% |
| color_size |
47.0% |
29.5% |
1.5% |
0.0% |
| color_spatial |
5.5% |
39.5% |
10.5% |
38.5% |
| size_object |
18.5% |
29.5% |
0.0% |
0.0% |
| spatial_object |
9.0% |
22.0% |
1.5% |
16.2% |
| spatial_size |
1.0% |
25.0% |
30.5% |
18.5% |
| verb_color |
24.5% |
24.0% |
13.5% |
11.5% |
| verb_object |
8.0% |
31.5% |
4.9% |
3.2% |
| verb_size |
17.0% |
9.0% |
19.5% |
22.5% |
| verb_spatial |
38.5% |
4.0% |
7.0% |
14.5% |
四、VLM (Gemini-2.5-flash) FDR 对照
============================================================================================
Factor Dominance Rate (FDR) 三方对照 — FDR=(S_f1-S_f2)/(S_f1+S_f2), >0偏因子A <0偏因子B
env = 基于 ManiSkill 环境 success(每模型 200 episodes)
vlm = 基于 Gemini-2.5-flash 看视频判 factor_followed(每模型 400 视频/实验)
============================================================================================
experiment A/B env_GR00T env_genie vlm_GR00T vlm_genie
--------------------------------------------------------------------------------------------
color_object color/shape +0.034 +0.034 +0.228 +0.222
color_size color/size +0.229 +1.000 +0.524 +0.309
color_spatial color/spati -0.756 -0.571 +0.084 +0.365
size_object size/shape -0.229 +0.602 -0.241 -0.114
spatial_object spati/shape -0.419 -0.713 -0.095 -0.209
spatial_size spati/size -0.923 +0.245 +0.110 +0.237
verb_color verb/color +0.010 +0.080 -0.068 -0.220
verb_object verb/shape -0.595 -0.062 -0.253 -0.250
verb_size verb/size +0.308 -0.071 +0.251 +0.326
verb_spatial verb/spati +0.812 -0.349 -0.122 -0.142
--------------------------------------------------------------------------------------------
VLM 判定明细(N_f1 / N_f2 / neither|error,共400):
五、pi0 (openpi pi-zero) pair-grid (硬口径, 3-seed)
与 GR00T pair-grid 同口径(同色同形干扰项),但 sim_backend=cpu(pi0 server+GPU-sim 冲突)。注意 pi0 与 GR00T 推理栈不同,数值横向比 GR00T 仅供参考。
pi0 — color_spatial
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| color_spatial_Lrandom_f12 |
52.4 |
41.4 |
49.5 |
47.7% |
| color_spatial_Lrandom_f18 |
53.8 |
41.0 |
48.6 |
47.8% |
| color_spatial_Lrandom_f6 |
28.6 |
23.3 |
26.7 |
26.2% |
| color_spatial_random_f12 |
38.6 |
32.4 |
37.6 |
36.2% |
| color_spatial_random_f18 |
51.0 |
41.9 |
47.6 |
46.8% |
| color_spatial_random_f6 |
27.6 |
21.4 |
23.3 |
24.1% |
| color_spatial_stair_f12 |
49.0 |
38.1 |
42.4 |
43.1% |
| color_spatial_stair_f18 |
60.0 |
49.0 |
55.7 |
54.9% |
| color_spatial_stair_f6 |
31.0 |
24.8 |
28.6 |
28.1% |
pi0 — color_size
| ckpt |
s42 |
s40 |
s41 |
3-seed 均 |
| color_size_Lrandom_f12 |
27.3 |
- |
- |
1/3(部分) |
| color_size_Lrandom_f18 |
30.6 |
29.2 |
27.3 |
29.0% |
| color_size_Lrandom_f6 |
26.4 |
- |
- |
1/3(部分) |
| color_size_random_f12 |
- |
- |
- |
0/3(部分) |
| color_size_random_f18 |
28.7 |
25.9 |
23.1 |
25.9% |
| color_size_random_f6 |
- |
- |
- |
0/3(部分) |
| color_size_stair_f18 |
26.4 |
28.2 |
24.1 |
26.2% |
附:可复现配置(干扰项 / 口径明细)
公共设置(pair-grid 全实验)
- 环境:
VerbObjectColor-v1(ManiSkill),obs=rgb,control=pd_joint_pos
- task_difficulty=1.5,sim/render_backend=gpu,max_episode_steps=150,replan_steps=10
- 每 seed:cells × reps,target≈210 episodes;seeds={42,40,41}(3-seed 平均)
- 干扰项核心:同色(且多数同形 cube)干扰项,强制模型靠目标因子区分,而非靠颜色/形状走捷径
- spatial 锚点(xy,米)+ 抖动 ±0.012:
left(-0.10,0) right(0.10,0) middle(0,0) front(0,0.10) behind(0,-0.10)
color_size — HARD 口径
- verb=lift, shape=cube;指令
"Lift the {size} {color} cube."
- 干扰项 = 同色 cube,仅尺寸不同。(target_scale, [干扰scale...], 干扰数):
- small (0.72,[1.20],1) · large (1.34,[0.80],1) · smaller (0.82,[1.08],1) · larger (1.18,[0.92],1) · smallest (0.78,[1.00,1.24],2) · largest (1.26,[1.00,0.80],2)
color_size — EASY 口径
- 同 HARD 但干扰项恒为 1 个、对比拉大 ~2×:
- small (0.65,[1.35],1) · large (1.40,[0.65],1) · smaller (0.70,[1.30],1) · larger (1.30,[0.70],1) · smallest (0.65,[1.40],1) · largest (1.40,[0.65],1)
color_spatial — HARD 口径
- shape=cube,verb~{lift,grasp,push} 随机;指令
"{Verb} the {color} cube {spatial_phrase}."
- 干扰项 = 1 个同色 cube,放在不同 spatial 锚点;target_size_scale=1.0
verb_spatial — HARD 口径
- shape=cube,color 每 cell 随机;指令
"{Verb} the cube {spatial_phrase}."
- 干扰项 = 1 个同色 cube,放在不同 spatial 锚点
spatial_size — HARD 口径
- shape=cube,color&verb 随机;指令
"{Verb} the {size} cube {spatial_phrase}."
- 干扰项 = 1 个同色 cube,不同 spatial + 不同尺寸(目标偏小→干扰 scale=1.25;目标偏大→0.75)
spatial_object — HARD 口径
- color&verb 随机;指令
"{Verb} the {shape} {spatial_phrase}."
- 干扰项 = 1 个同色、不同形状物体,放在不同 spatial 锚点
verb_size — HARD 口径
- shape=cube,color 随机;指令
"{Verb} the {size} cube."
- 干扰项 = 同色 cube,仅尺寸不同(同 color_size HARD 的 HARD_SIZE 表)
all_factor — full-factor(对齐 pi0.5)
- 单指令全因子采样;sample_n=200, sample_seed=42, 200 episodes/seed
- max_episode_steps=500, no_distractor_prob=0.70, 默认 difficulty, sim=gpu;seeds={40,41,42}
pi0 pair-grid
- 与 GR00T pair-grid 同口径,但 sim_backend=cpu(pi0 server 与 GPU-sim 冲突);其余同上
