| { |
| "title": "Ropedia Xperience-10M Task Suite Evaluation Protocol", |
| "status": "pass", |
| "version": "2026-06-01", |
| "generated_at_utc": "2026-06-16T04:47:57+00:00", |
| "source_files": [ |
| "docs/data/summary_metrics.json", |
| "results/episode_task_suite/summary_report.json", |
| "results/episode_task_suite/windows.csv", |
| "results/episode_task_suite/feature_manifest.json", |
| "docs/data/task_suite_20.json", |
| "docs/data/tier2_task_suite.json", |
| "results/episode_task_suite/tier2_task_suite/tier2_task_suite_results.json" |
| ], |
| "scope": { |
| "validated_episode_count": 1, |
| "annotation": "data/sample/xperience-10m-sample/annotation.hdf5", |
| "num_frames": 5821, |
| "num_windows": 1161, |
| "feature_dim": 8546, |
| "window_frames": 20, |
| "stride_frames": 5, |
| "audio_featurized": true, |
| "raw_data_redistributed": false |
| }, |
| "task_suite": { |
| "status": "unified_public_sample_suite", |
| "task_count": 20, |
| "original_public_sample_tasks": 12, |
| "additional_public_sample_tasks": 8, |
| "unified_results": "docs/data/task_suite_20.json", |
| "legacy_additional_task_result_path": "docs/data/tier2_task_suite.json", |
| "legacy_path_note": "The tier2_task_suite path is retained for stable links only; tasks 13-20 are presented as part of the same 20-task suite." |
| }, |
| "split_policy": { |
| "name": "single_episode_chronological", |
| "train_fraction": 0.7, |
| "test_fraction": 0.3, |
| "why": "The split preserves time order so future episode segments are not mixed randomly into the train set.", |
| "limitation": "It is still one episode; cross-episode generalization is evaluated in the multi-episode stage." |
| }, |
| "feature_policy": { |
| "input_contract": "8,546-dimensional current feature vector", |
| "source_manifest": "results/episode_task_suite/feature_manifest.json", |
| "normalization": "Scalers are fit on train windows only for the baseline heads.", |
| "audio_status": "Audio is represented in the current feature vector." |
| }, |
| "baselines": [ |
| { |
| "name": "minimal", |
| "heads": [ |
| "softmax", |
| "binary logistic", |
| "multi-label logistic", |
| "ridge regression", |
| "ridge projection plus cosine ranking" |
| ], |
| "purpose": "Keep each task contract interpretable and easy to inspect." |
| }, |
| { |
| "name": "neural_mlp", |
| "heads": [ |
| "PyTorch MLP classifier", |
| "PyTorch MLP regressor", |
| "PyTorch MLP multi-label head" |
| ], |
| "purpose": "Check nonlinear gains before larger omni-model fine-tuning.", |
| "config": { |
| "name": "neural_mlp", |
| "type": "lightweight PyTorch MLP over shared window features", |
| "epochs": 80, |
| "hidden_dim": 128, |
| "batch_size": 128, |
| "learning_rate": 0.001, |
| "weight_decay": 0.0001, |
| "dropout": 0.1, |
| "device": "auto" |
| } |
| } |
| ], |
| "task_protocols": [ |
| { |
| "task": "timeline_action", |
| "task_display_name": "Action Recognition", |
| "origin": "original_public_sample_tasks", |
| "family": "supervised classification", |
| "unit": "single window", |
| "input": "current 20-frame all-feature window", |
| "target": "current action label", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "leakage_rule": "No future labels enter the input. Chronological split exposes unseen later action labels.", |
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| "num_windows": 1144, |
| "num_train_windows": 801, |
| "num_test_windows": 343 |
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| "neural_metric_source": "results/episode_task_suite/neural_mlp/timeline_action/metrics.json", |
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| "suite_label": "Task 01" |
| }, |
| { |
| "task": "timeline_subtask", |
| "task_display_name": "Procedure Step Recognition", |
| "origin": "original_public_sample_tasks", |
| "family": "supervised classification", |
| "unit": "single window", |
| "input": "current 20-frame all-feature window", |
| "target": "current subtask label", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "leakage_rule": "No future labels enter the input. Chronological split exposes unseen later subtask labels.", |
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| "neural_metric_source": "results/episode_task_suite/neural_mlp/timeline_subtask/metrics.json", |
| "task_number": 2, |
| "suite_label": "Task 02" |
| }, |
| { |
| "task": "transition_detection", |
| "task_display_name": "Action Boundary Detection", |
| "origin": "original_public_sample_tasks", |
| "family": "temporal diagnostic", |
| "unit": "single window", |
| "input": "current 20-frame all-feature window", |
| "target": "action boundary versus steady", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "leakage_rule": "Boundary labels are targets only. Boundary timing is evaluated after prediction.", |
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| "neural_metric_source": "results/episode_task_suite/neural_mlp/transition_detection/metrics.json", |
| "task_number": 3, |
| "suite_label": "Task 03" |
| }, |
| { |
| "task": "next_action", |
| "task_display_name": "Next-Action Prediction", |
| "origin": "original_public_sample_tasks", |
| "family": "short-horizon prediction", |
| "unit": "single window", |
| "input": "current 20-frame all-feature window at time t", |
| "target": "action label at t + 20 frames", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "leakage_rule": "Future labels are shifted into targets only; model inputs remain current-window features.", |
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| "task_number": 4, |
| "suite_label": "Task 04" |
| }, |
| { |
| "task": "hand_trajectory_forecast", |
| "task_display_name": "Hand Trajectory Forecasting", |
| "origin": "original_public_sample_tasks", |
| "family": "trajectory regression", |
| "unit": "single window", |
| "input": "current all-feature window", |
| "target": "future left/right hand 3D joints for 10 frames", |
| "primary_metric": "mpjpe", |
| "higher_is_better": false, |
| "leakage_rule": "Future mocap coordinates are targets only, not inputs.", |
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| { |
| "task": "contact_prediction", |
| "task_display_name": "Contact State Prediction", |
| "origin": "original_public_sample_tasks", |
| "family": "binary classification", |
| "unit": "single window", |
| "input": "non-contact and non-caption feature blocks", |
| "target": "any body contact", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "leakage_rule": "Contact-derived fields and caption labels are excluded from inputs.", |
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| "neural_metric_source": "results/episode_task_suite/neural_mlp/contact_prediction/metrics.json", |
| "task_number": 6, |
| "suite_label": "Task 06" |
| }, |
| { |
| "task": "object_relevance", |
| "task_display_name": "Object Relevance Prediction", |
| "origin": "original_public_sample_tasks", |
| "family": "multi-label classification", |
| "unit": "single window", |
| "input": "non-caption feature blocks", |
| "target": "current relevant object set", |
| "primary_metric": "micro_f1", |
| "higher_is_better": true, |
| "leakage_rule": "Caption/object-label fields are excluded from inputs.", |
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| "neural_metric_source": "results/episode_task_suite/neural_mlp/object_relevance/metrics.json", |
| "task_number": 7, |
| "suite_label": "Task 07" |
| }, |
| { |
| "task": "caption_grounding", |
| "task_display_name": "Language Grounding", |
| "origin": "original_public_sample_tasks", |
| "family": "retrieval", |
| "unit": "caption query", |
| "input": "caption object/interaction query plus candidate sensor windows", |
| "target": "matching time window", |
| "primary_metric": "mrr", |
| "higher_is_better": true, |
| "leakage_rule": "Queries are ranked against held-out candidate windows; reported ranks are computed after model scoring.", |
| "counts": { |
| "num_queries": 348, |
| "num_train_windows": 813, |
| "num_test_windows": 348 |
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| "neural_metric_source": "results/episode_task_suite/neural_mlp/caption_grounding/metrics.json", |
| "task_number": 8, |
| "suite_label": "Task 08" |
| }, |
| { |
| "task": "cross_modal_retrieval", |
| "task_display_name": "Cross-Modal Retrieval", |
| "origin": "original_public_sample_tasks", |
| "family": "retrieval", |
| "unit": "sensor query", |
| "input": "motion, IMU, and camera query features", |
| "target": "matching depth/video window", |
| "primary_metric": "top5_accuracy", |
| "higher_is_better": true, |
| "leakage_rule": "Query-side and candidate-side feature blocks are split before projection/ranking.", |
| "counts": { |
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| "num_train_windows": 813, |
| "num_test_windows": 348 |
| }, |
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| "neural_primary_metric": 0.19827586206896552, |
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| "neural_metric_source": "results/episode_task_suite/neural_mlp/cross_modal_retrieval/metrics.json", |
| "task_number": 9, |
| "suite_label": "Task 09" |
| }, |
| { |
| "task": "modality_reconstruction", |
| "task_display_name": "Cross-Modal Reconstruction", |
| "origin": "original_public_sample_tasks", |
| "family": "cross-modal regression", |
| "unit": "single window", |
| "input": "motion, IMU, and camera features", |
| "target": "depth/video feature vector", |
| "primary_metric": "r2", |
| "higher_is_better": true, |
| "leakage_rule": "Target feature blocks are excluded from the input side.", |
| "counts": { |
| "num_train_windows": 813, |
| "num_test_windows": 348 |
| }, |
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| "minimal_metric_source": "results/episode_task_suite/modality_reconstruction/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/neural_mlp/modality_reconstruction/metrics.json", |
| "task_number": 10, |
| "suite_label": "Task 10" |
| }, |
| { |
| "task": "temporal_order", |
| "task_display_name": "Temporal Order Verification", |
| "origin": "original_public_sample_tasks", |
| "family": "pairwise diagnostic", |
| "unit": "adjacent window pair", |
| "input": "two adjacent windows", |
| "target": "correct versus reversed order", |
| "primary_metric": "f1", |
| "higher_is_better": true, |
| "leakage_rule": "Pairs are built after windowing; labels are synthetic order labels, not input features.", |
| "counts": { |
| "num_samples": 2320, |
| "num_train_samples": 1624, |
| "num_test_samples": 696 |
| }, |
| "minimal_primary_metric": 0.5399515738498789, |
| "neural_primary_metric": 0.8520179372197308, |
| "minimal_metric_source": "results/episode_task_suite/temporal_order/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/neural_mlp/temporal_order/metrics.json", |
| "task_number": 11, |
| "suite_label": "Task 11" |
| }, |
| { |
| "task": "misalignment_detection", |
| "task_display_name": "Multimodal Synchronization Detection", |
| "origin": "original_public_sample_tasks", |
| "family": "pairwise diagnostic", |
| "unit": "paired modality window", |
| "input": "motion side plus visual/depth side", |
| "target": "aligned versus shifted by 8 windows", |
| "primary_metric": "f1", |
| "higher_is_better": true, |
| "leakage_rule": "Shift labels are synthetic targets; shifted visual/depth blocks are generated after feature splitting.", |
| "counts": { |
| "num_samples": 2306, |
| "num_train_samples": 1614, |
| "num_test_samples": 692 |
| }, |
| "minimal_primary_metric": 0.5051698670605613, |
| "neural_primary_metric": 0.7152682255845944, |
| "minimal_metric_source": "results/episode_task_suite/misalignment_detection/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/neural_mlp/misalignment_detection/metrics.json", |
| "task_number": 12, |
| "suite_label": "Task 12" |
| }, |
| { |
| "task": "long_horizon_next_action", |
| "task_display_name": "Long-Horizon Next-Action Forecasting", |
| "origin": "additional_public_sample_tasks", |
| "family": "classification", |
| "unit": "single aligned window", |
| "input": "Current 20-frame non-caption multimodal window.", |
| "target": "Action label five seconds later.", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "minimal_primary_metric": 0.07499999999999998, |
| "neural_primary_metric": 0.06545454545454546, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/long_horizon_next_action/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/long_horizon_next_action/metrics.json", |
| "meaning": "Tests whether the current state carries enough procedure context to forecast beyond the one-second core next-action task.", |
| "task_number": 13, |
| "suite_label": "Task 13" |
| }, |
| { |
| "task": "next_subtask_forecast", |
| "task_display_name": "Long-Horizon Next-Subtask Forecasting", |
| "origin": "additional_public_sample_tasks", |
| "family": "classification", |
| "unit": "single aligned window", |
| "input": "Current 20-frame non-caption multimodal window.", |
| "target": "Procedure subtask label five seconds later.", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "minimal_primary_metric": 0.04545454545454545, |
| "neural_primary_metric": 0.050724637681159424, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/next_subtask_forecast/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/next_subtask_forecast/metrics.json", |
| "meaning": "Moves from immediate action anticipation to higher-level procedure-state prediction.", |
| "task_number": 14, |
| "suite_label": "Task 14" |
| }, |
| { |
| "task": "interaction_text_prediction", |
| "task_display_name": "Interaction Text Prediction", |
| "origin": "additional_public_sample_tasks", |
| "family": "classification", |
| "unit": "single aligned window", |
| "input": "Current 20-frame sensor window with caption-text features removed.", |
| "target": "Raw annotation interaction phrase for the same window.", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "minimal_primary_metric": 0.04444444444444444, |
| "neural_primary_metric": 0.0380952380952381, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/interaction_text_prediction/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/interaction_text_prediction/metrics.json", |
| "meaning": "Uses the raw caption JSON interaction field as a language target instead of only the hashed text feature.", |
| "task_number": 15, |
| "suite_label": "Task 15" |
| }, |
| { |
| "task": "action_object_relation", |
| "task_display_name": "Action-Object Relation Prediction", |
| "origin": "additional_public_sample_tasks", |
| "family": "classification", |
| "unit": "single aligned window", |
| "input": "Current 20-frame sensor window with caption-text features removed.", |
| "target": "Joint action plus active object-set relation.", |
| "primary_metric": "macro_f1", |
| "higher_is_better": true, |
| "minimal_primary_metric": 0.0, |
| "neural_primary_metric": 0.0, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/action_object_relation/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/action_object_relation/metrics.json", |
| "meaning": "Evaluates whether a model can bind what action is happening to which objects are involved.", |
| "task_number": 16, |
| "suite_label": "Task 16" |
| }, |
| { |
| "task": "object_set_forecast", |
| "task_display_name": "Future Object-Set Forecasting", |
| "origin": "additional_public_sample_tasks", |
| "family": "multi_label", |
| "unit": "single aligned window", |
| "input": "Current 20-frame sensor window with caption-text features removed.", |
| "target": "Object set active five seconds later.", |
| "primary_metric": "micro_f1", |
| "higher_is_better": true, |
| "minimal_primary_metric": 0.16939890710382516, |
| "neural_primary_metric": 0.19718309859154928, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/object_set_forecast/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/object_set_forecast/metrics.json", |
| "meaning": "Predicts which objects will become relevant soon, not only which objects are relevant now.", |
| "task_number": 17, |
| "suite_label": "Task 17" |
| }, |
| { |
| "task": "imu_to_hand_pose", |
| "task_display_name": "IMU-to-Hand Pose Reconstruction", |
| "origin": "additional_public_sample_tasks", |
| "family": "regression", |
| "unit": "single aligned window", |
| "input": "Current IMU acceleration/gyroscope feature block only.", |
| "target": "Current left/right hand joint feature blocks.", |
| "primary_metric": "mae", |
| "higher_is_better": false, |
| "minimal_primary_metric": 0.042049407958984375, |
| "neural_primary_metric": 0.042562149465084076, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/imu_to_hand_pose/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/imu_to_hand_pose/metrics.json", |
| "meaning": "A sensor-bridge probe for how much hand configuration can be recovered from inertial motion alone.", |
| "task_number": 18, |
| "suite_label": "Task 18" |
| }, |
| { |
| "task": "camera_view_sync_retrieval", |
| "task_display_name": "Camera-View Synchronization Retrieval", |
| "origin": "additional_public_sample_tasks", |
| "family": "retrieval", |
| "unit": "held-out query window", |
| "input": "Fisheye camera-1 feature query projected into fisheye camera-3 feature space.", |
| "target": "The synchronized held-out camera-3 window.", |
| "primary_metric": "mrr", |
| "higher_is_better": true, |
| "minimal_primary_metric": 0.4943004846572876, |
| "neural_primary_metric": 0.24086658656597137, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/camera_view_sync_retrieval/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/camera_view_sync_retrieval/metrics.json", |
| "meaning": "Stress-tests multi-camera time alignment beyond the core cross-modal retrieval task.", |
| "task_number": 19, |
| "suite_label": "Task 19" |
| }, |
| { |
| "task": "time_to_transition", |
| "task_display_name": "Time-to-Next-Transition Regression", |
| "origin": "additional_public_sample_tasks", |
| "family": "regression", |
| "unit": "single aligned window", |
| "input": "Current 20-frame non-caption multimodal window.", |
| "target": "Frames until the next action-label boundary, capped at 200 frames.", |
| "primary_metric": "mae", |
| "higher_is_better": false, |
| "minimal_primary_metric": 10.53735637664795, |
| "neural_primary_metric": 10.55449390411377, |
| "minimal_metric_source": "results/episode_task_suite/tier2_task_suite/time_to_transition/metrics.json", |
| "neural_metric_source": "results/episode_task_suite/tier2_task_suite/neural_mlp/time_to_transition/metrics.json", |
| "meaning": "Turns boundary detection into a continuous timing estimate for procedural control.", |
| "task_number": 20, |
| "suite_label": "Task 20" |
| } |
| ], |
| "global_leakage_controls": [ |
| "Use chronological train/test splits instead of random window shuffling.", |
| "Fit scalers and learned projections on train windows only.", |
| "Keep future labels, future mocap, contact labels, object labels, and caption labels on the target side unless a task explicitly treats language as the query.", |
| "For cross-modal tasks, split query-side and candidate-side feature blocks before training and ranking.", |
| "Report unseen test classes when the chronological split exposes labels absent from the train segment." |
| ], |
| "current_limitations": [ |
| "Cross-episode generalization for Qwen3-Omni has a first verified diagnostic pilot, but strong model quality is not yet shown.", |
| "Feature-vector reconstruction is separate from pixel depth, mesh, NeRF, or Gaussian reconstruction.", |
| "The final verified Qwen3-Omni diagnostic result meets the strict-JSON target, but action/subtask held-out quality remains weak and needs error analysis before larger model-quality claims.", |
| "Full audio-visual representation learning still needs multi-episode training; the current report includes single-episode audio/no-audio ablations." |
| ], |
| "scale_up_gate": { |
| "required_before_next_omni_quality_pilot": [ |
| "selected prepared Xperience-10M episodes", |
| "held-out episode split with no train/test episode leakage", |
| "validation samples during training", |
| "manifest, training metadata, progress logs, metrics, predictions, and run report", |
| "held-out evaluation on test episodes rather than train windows" |
| ], |
| "current_status": "verified diagnostic result; strict-JSON quality target met, action/subtask quality still weak", |
| "evidence": [ |
| "docs/data/omni_finetune_verified_result.json", |
| "results/omni_finetune/verified_public/" |
| ] |
| } |
| } |
|
|
