result.md

# 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