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.gitattributes

@@ -67,3 +67,5 @@ assets/foundation-pipelines/source-photos/human-video-world-model-source.jpg fil
 assets/foundation-pipelines/source-photos/vision-language-action-source.jpg filter=lfs diff=lfs merge=lfs -text
 assets/foundation-pipelines/source-slides/human-video-world-model-slide.png filter=lfs diff=lfs merge=lfs -text
 assets/foundation-pipelines/source-slides/spatial-intelligence-slide.png filter=lfs diff=lfs merge=lfs -text
+results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/action_object_relation/confusion_matrix.csv filter=lfs diff=lfs merge=lfs -text
+results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/neural_mlp/action_object_relation/confusion_matrix.csv filter=lfs diff=lfs merge=lfs -text

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/action_object_relation/confusion_matrix.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86501d7096728e07dd2f9c085e5fdd410616452d242cca62dfc703eacfd92e4f
+size 34968163

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/action_object_relation/metrics.json

@@ -0,0 +1,462 @@
+{
+  "status": "pass",
+  "task": "action_object_relation",
+  "task_display_name": "Action Object Relation",
+  "model_family": "simple_centroid_metadata",
+  "source": "128_episode_qwen_jsonl_metadata",
+  "input_features": "frame/context metadata plus hashed prompt/options/main_task text; answer_json fields are excluded from inputs",
+  "split_policy": "train on train split, report val and held-out test split",
+  "num_train_windows": 25488,
+  "num_val_windows": 4569,
+  "num_test_windows": 4014,
+  "num_classes": 4149,
+  "num_train_classes": 3058,
+  "majority_baseline_accuracy": 0.0,
+  "history": [
+    {
+      "method": "train_class_centroid_cosine",
+      "reason": "train_class_count=3058 exceeds softmax_max_train_classes=256"
+    }
+  ],
+  "splits": {
+    "val": {
+      "accuracy": 0.0,
+      "balanced_accuracy": 0.0,
+      "macro_f1": 0.0,
+      "weighted_f1": 0.0,
+      "num_eval_windows": 4569,
+      "num_classes": 4149
+    },
+    "test": {
+      "accuracy": 0.0,
+      "balanced_accuracy": 0.0,
+      "macro_f1": 0.0,
+      "weighted_f1": 0.0,
+      "num_eval_windows": 4014,
+      "num_classes": 4149
+    }
+  },
+  "primary_metric": "macro_f1",
+  "primary_score": 0.0,
+  "unseen_test_class_count": 418,
+  "unseen_test_classes": [
+    "Hold smartphone|kettle+kitchen counter+sink+smartphone",
+    "Use smartphone|containers+kettle+kitchen counter+rice cooker+smartphone",
+    "Place smartphone on stand|saucepan+smartphone+smartphone stand+yellow jacket",
+    "Pick up dustpan|dustpan+smartphone",
+    "Move dustpan to side|dustpan",
+    "Hold container lid|dustpan+red plastic container lid",
+    "Move towards the stove|blue bowl+faucet+metal container+red bowl+sink",
+    "Move towards the stove|blue bowl+faucet+kettle+metal container+red bowl+sink",
+    "Open stove pot lid|blue bowl+cloth+faucet+red bowl+sink+soap dispenser+white bowl",
+    "Walking towards door|door+dustpan",
+    "Closing the door|door+dustpan",
+    "Picking up bottle|bottle",
+    "Wipe kitchen counter|door+laundry basket+mop",
+    "Rinse cloth in sink|cloth+sink+water faucet",
+    "Move towards kitchen area|cloth+sink",
+    "Place cloth on floor|cloth",
+    "Place cloth on floor|cloth+yellow circular object",
+    "Reach for cleaning supplies|bowls+chopping board+cleaning fluid bottle",
+    "Grasp cleaning bottle|bowls+chopping board+cleaning fluid bottle",
+    "Remove cleaning bottle|cleaning bottle+plastic bowls",
+    "Washing hands in sink|faucet+sink",
+    "Grasping cleaning cloth|cleaning cloth+countertop",
+    "Wiping countertop|cleaning cloth+countertop",
+    "Lift pot lid|pot+pot lid",
+    "Stir contents|cooking utensil+pot",
+    "Place lid back|pot+pot lid",
+    "Adjust pot position|pot",
+    "Move pot|faucet+pot+sink",
+    "Move pot|blue bowl+faucet+green basket+pot+red bowl+sink+towel",
+    "Place towel|pot+towel",
+    "Move phone|cardboard+smartphone+utility knife",
+    "Pick up utility knife|cardboard+utility knife",
+    "Start cutting|cardboard+utility knife",
+    "Cut cardboard|cardboard+desk+pen+ruler+utility knife",
+    "Cut along the marked line|cardboard+hand+utility knife",
+    "Reposition hand|cardboard+utility knife",
+    "Observe and walk through store|colleague+inventory boxes+shelves",
+    "Move to shelf|cardboard box+colleague+shelves",
+    "Move to shelf|cardboard box+colleague+empty shelf+shelves",
+    "Move to shelf|empty shelf",
+    "Inspect shelf condition|colleague+shelf",
+    "Observe colleague and workspace|price tag+shelves+watch",
+    "Observe colleague and workspace|cardboard box+colleague+price tag+shelves+watch",
+    "Observe colleague and workspace|cardboard box+colleague+shelves+watch",
+    "Walk towards shelves|cardboard boxes+red bin+shelving unit",
+    "Observe workspace|cardboard boxes+colleague+shelving unit",
+    "Approach boxes|cardboard boxes+colleague+shelving unit",
+    "Reach for wire hangers|cardboard box+wire hangers",
+    "Extract wire hangers from box|cardboard box+wire hangers",
+    "Bundle display hooks|container+display hooks",
+    "Release hook|display hook",
+    "Walk towards other aisles|retail store aisle",
+    "Move through aisle|aisle floor+display hooks+metal shelving units",
+    "Pick up items from the shopping bag|cardboard boxes+red shopping bag+retail shelf",
+    "Place items on the shelf|packaged items+retail shelf",
+    "Place item on shelf|stationery package",
+    "Place item on shelf|shelf+stationery package",
+    "Adjust item on shelf|shelf+stationery package",
+    "Reach for another item|item+shelf",
+    "Reach for next item|packaged item+shelf",
+    "Mark cardboard piece|cardboard piece+marker+pouch",
+    "Mark cardboard piece|cardboard piece+marker",
+    "Place marked piece down|cardboard piece+marker",
+    "Pick up new cardboard piece|cardboard piece+marker",
+    "Place marked piece down|cardboard piece+marker+pencil case+ruler+scissors",
+    "Hold cardboard piece|cardboard pieces+marker+pencil case+ruler+scissors",
+    "Organize cardboard pieces|cardboard pieces+marker+pencil case+ruler+scissors",
+    "Cut cardboard piece|cardboard strip+scissors",
+    "Marking cardboard piece|cardboard pieces+marker+ruler+scissors",
+    "Release cardboard piece and gesture|cardboard piece+cardboard piles+marker+pouch+ruler+scissors",
+    "Move marker and adjust hand|cardboard pieces+marker",
+    "Identify next cardboard piece|cardboard pieces+marker",
+    "Observe and pause|cardboard pieces+marker+pencil case+ruler+scissors",
+    "Gesturing|cardboard pieces+marker+pencil case+ruler+scissors",
+    "Resume observation|cardboard pieces+marker+pencil case+ruler+scissors",
+    "Place canned food on shelf|can of vegetables+cardboard boxes+store shelf",
+    "Reach for next can|can of vegetables+cardboard boxes+store shelf",
+    "Pick up can|canned food+cardboard box",
+    "Hold canned food|box of cans+can of soup+shelf",
+    "Reach into box|box of cans",
+    "Pick up canned food|canned food+cardboard box",
+    "Retrieve next canned food item|canned food+cardboard box",
+    "Align canned food on shelf|canned food+cardboard box+retail shelf",
+    "Reach for next canned food|box+canned food+retail shelf",
+    "Retrieve canned food from box|box+canned food",
+    "Place another canned food on shelf|box+canned food",
+    "Place another canned food on shelf|box+canned food+retail shelf",
+    "Place another canned food on shelf|canned food+retail shelf",
+    "Adjust canned food on shelf|canned food+cardboard box+store shelf",
+    "Move hand away from shelf|canned food+cardboard box+store shelf",
+    "Place can on shelf|canned food+retail shelf",
+    "Move hand away|canned food+retail shelf",
+    "Open earbud case|earbud case",
+    "Pick up smartphone|cans+shelf+smartphone",
+    "Interact with smartphone|cans+shelf+smartphone",
+    "sort craft materials|paper pieces+scissors+smartphone",
+    "Manipulate craft piece|craft pieces+scissors+smartphone",
+    "Manipulate craft paper strips|paper strips+scissors+smartphone",
+    "Release scissors|craft paper strips+folded paper fan+scissors+smartphone",
+    "Operate smartphone|craft paper strips+folded paper fan+smartphone",
+    "Release smartphone|paper scraps+scissors+smartphone+table",
+    "Manipulate paper strip|craft materials+purple paper strip+scissors+smartphone",
+    "Release paper strip|craft beads+paper strip+scissors+smartphone",
+    "Release paper strip|craft beads+paper strip+scissors",
+    "Sort small craft pieces|paper strips+scissors+smartphone+star-shaped craft pieces",
+    "Open paper lantern|red paper honeycomb lantern",
+    "Fold paper lantern|red paper honeycomb lantern",
+    "Grasp lantern|red paper honeycomb lantern",
+    "Grasp lantern component|cardboard box+paper lantern+tape",
+    "Grasp lantern component|cardboard box+paper lantern",
+    "Align paper lantern edges|hands+red paper lantern",
+    "Adjust lantern string|red paper lantern+string",
+    "Release lantern|red paper lantern",
+    "Pick up packaged paper lantern component|cardboard box+packaged paper lantern component",
+    "Handle paper lantern component|cardboard box+paper lantern component+plastic bag+red paper lantern",
+    "Open folded paper lantern|cardboard box+red pleated paper lantern",
+    "Adjust lantern shape|red pleated paper lantern",
+    "Hold paper lantern|red paper lantern+sofa",
+    "Apply adhesive tape to lantern|adhesive tape+red paper lantern",
+    "Remove paper lantern part from packaging|paper lantern+red hand fan",
+    "Remove paper lantern part from packaging|paper lantern+paper lantern component+plastic packaging+red hand fan+red paper lanterns",
+    "Remove paper lantern part from packaging|paper lantern component+plastic packaging+red paper lanterns",
+    "Remove plastic packaging|packaging+paper lantern component",
+    "Open paper lantern component|paper lantern component",
+    "Expand paper lantern|adhesive tape roll+cardboard box+red paper lantern",
+    "Align edges of paper lantern|hands+red paper lantern",
+    "Reach for craft items|smartphone+star-shaped craft items+table",
+    "Sort craft items|star-shaped craft items+table",
+    "Move smartphone|craft beads+paper strips+smartphone",
+    "Place hand on table|craft beads+paper strips+smartphone",
+    "Use smartphone|charging cable+paper strips+power bank+smartphone+star-shaped paper crafts",
+    "Browse smartphone screen|paper strips+smartphone+star ornaments",
+    "Scroll smartphone screen|paper stars+paper strips+smartphone",
+    "Put down smartphone|paper stars+paper strips+smartphone",
+    "Put down smartphone|paper stars+paper strips+power bank+smartphone",
+    "Put down smartphone|power bank+smartphone",
+    "Place smartphone down|quilling paper strips+small paper stars+smartphone",
+    "Place smartphone down|power bank+quilling paper strips+small paper stars+smartphone",
+    "Hold smartphone|quilling paper strips+small blue beads+smartphone",
+    "Manipulate paper strip|purple paper strip+quilling paper pile+smartphone",
+    "Pick up puzzle piece|jigsaw puzzle+puzzle piece",
+    "Place piece into puzzle|jigsaw puzzle+puzzle piece",
+    "Manipulate puzzle piece|jigsaw puzzle+puzzle piece",
+    "Manipulate puzzle pieces|puzzle box+puzzle mat+puzzle pieces",
+    "Place puzzle piece|puzzle board+puzzle piece",
+    "Observe puzzle progress|hand+jigsaw puzzle",
+    "Search for puzzle piece|jigsaw puzzle+puzzle pieces",
+    "Release puzzle piece|jigsaw puzzle+puzzle box+puzzle pieces",
+    "Adjust puzzle piece|jigsaw puzzle+puzzle box+puzzle pieces",
+    "Reach for puzzle piece|puzzle board+puzzle box+puzzle pieces",
+    "Attempt to fit puzzle piece|puzzle piece",
+    "Attempt to fit puzzle piece|puzzle board+puzzle piece",
+    "Sort puzzle pieces|jigsaw puzzle pieces+table",
+    "Walking across the room|chair+fire extinguisher+office+table",
+    "Approaching the table|beads+chairs+table",
+    "Preparing to craft|beads+chairs+table",
+    "Preparing to craft|beads+chairs+papers+pen+table",
+    "Preparing to craft|beads+papers+pen+table",
+    "Picking up crafting material|beads+papers+pen+table",
+    "Picking up crafting material|beads+papers+pen+smartphone+table+yellow strip",
+    "Picking up crafting material|beads+smartphone+table+yellow strip",
+    "Use phone|beads+paper+power bank+smartphone",
+    "Pick up small piece of material|blue crafting material+hand",
+    "Manipulate material|blue crafting material+hand",
+    "Place material|bead design+blue crafting material+hand",
+    "Manipulate yellow strip|beads+cell phone+pen+yellow strip",
+    "Manipulating paper strips|beads+blue paper strip+yellow paper strip",
+    "Manipulate paper strip|container with tools+table+yellow paper strip",
+    "Manipulate paper strip|yellow paper strip",
+    "Manipulate bead|bead piles+container+paper strips+yellow bead",
+    "Manipulate beads|blue beads+power bank+smartphone+yellow beads",
+    "Use phone while crafting|beads+pencil holder+smartphone+yellow paper strip",
+    "Place phone down|beads+pencil holder+smartphone+yellow paper strip",
+    "Hold and manipulate paper strip|beads+mobile phone+power bank+yellow paper strip",
+    "Interact with smartphone|beads+smartphone+yellow paper strip",
+    "Sort buttons|buttons+table",
+    "Arrange buttons|red buttons+smartphone+table",
+    "Arrange buttons in a line|buttons+phone+table",
+    "Sort and arrange buttons|buttons+smartphones+soda can+table",
+    "Sort and arrange buttons|buttons+smartphones+table",
+    "Pick up button|buttons+table",
+    "Pick up button|buttons+hand+table",
+    "Place button|buttons+hand+smartphone+table",
+    "Sort button|buttons+cell phone",
+    "Sort and adjust button line|buttons+smartphone+table",
+    "Use smartphone|buttons+chair+smartphone+table",
+    "Use smartphone|buttons+smartphone+table",
+    "Sort and place buttons|buttons+coca-cola can+smartphone",
+    "Sort and place buttons|buttons+smartphone",
+    "Walking in the hallway|hallway+people+tables+vr headsets",
+    "Approaching and pressing the door switch|glass door+switch+wall",
+    "Entering the VR training room|doorway+person+table",
+    "Entering the VR training room|doorway+person+table+vr headset",
+    "Entering the VR training room|person+table+vr headset",
+    "Greeting/acknowledging participants|person+table+vr headset",
+    "Move through the training room|chairs+fire extinguisher+tables+vr headsets",
+    "Move through the training room|chairs+fire extinguisher+people+slippers+tables+vr headsets",
+    "Move through the training room|fire extinguisher+people+slippers+tables+vr headsets",
+    "Manipulate plastic strips|desk+plastic strips+water bottle",
+    "Manipulate plastic strip|purple plastic strip+storage bin+water bottle",
+    "Hold and bend plastic strip|bottle+purple plastic strip+stationery box",
+    "Bend and manipulate plastic strip|plastic strip+stationary box+table+water bottle",
+    "Bend and manipulate plastic strip|plastic strip",
+    "Fold plastic strip|container with tools+purple plastic strip+water bottle+white table",
+    "Manipulate paper decoration|paper cone+paper decoration+smartphone+water bottle",
+    "Manipulate paper edge|hands+paper cone+puzzle box+smartphone+water bottle",
+    "Placing paper strip|paper cone+phone+puzzle box+water bottle",
+    "Placing paper strip|adhesive strip+paper cone+phone+puzzle box+water bottle",
+    "Placing paper strip|adhesive strip+paper cone+phone",
+    "Manipulate paper strip|paper cone+paper strip+puzzle box+smartphone+water bottle",
+    "Securing paper structure|decorative stars+paper strips+smartphone+water bottle",
+    "Securing paper structure|decorative stars+paper cone+paper strip+paper strips+puzzle box+smartphone+water bottle",
+    "Securing paper structure|paper cone+paper strip+puzzle box+smartphone+water bottle",
+    "Manipulate adhesive strip|adhesive strip+paper sheets+puzzle box+smartphone+water bottle",
+    "Secure paper edges with adhesive|adhesive strip+paper cone pieces+puzzle box+smartphone+water bottle",
+    "Sort beads|paper+pen+smartphone+star-shaped beads",
+    "Record count|paper+pen+star-shaped beads",
+    "Sort beads and write count|paper+pen+power bank+smartphone+star-shaped beads",
+    "Counting and organizing beads|cardboard squares+paper+pen+star-shaped beads",
+    "Pick up star bead|cardboard squares+mobile phone+paper+pen+power bank+star beads",
+    "Place and count bead|paper+pen+star beads",
+    "Sort star-shaped beads|marker+mobile phone+paper+power bank+star-shaped beads",
+    "Write count on paper|marker+mobile phone+paper+power bank+star-shaped beads",
+    "Hold beads|paper+pen+power bank+smartphone+star-shaped beads",
+    "Arrange star beads|paper+pen+power bank+smartphone+star beads",
+    "Pick up pen|paper+pen+star beads",
+    "Counting star beads|paper+pen+star beads",
+    "Retrieving more beads|paper+pen+star beads",
+    "Write on paper|cardboard square+paper+pen+star beads",
+    "Adjust paper|cardboard square+paper+pen+star beads",
+    "Gather star beads|cardboard squares+mobile phone+paper+pen+power bank+star beads",
+    "Arrange star beads for counting|paper+pen+star beads",
+    "Sort and count beads|paper+pen+star beads",
+    "Hold container lid|red plastic container lid",
+    "Move towards the stove|faucet+kettle+sink",
+    "Closing the door|door",
+    "Wipe kitchen counter|bowl+cloth+countertop+door+laundry basket+mop+plate+pot+sink",
+    "Wipe kitchen counter|bowl+cloth+countertop+plate+pot+sink",
+    "Place cloth on floor|yellow circular object",
+    "Move pot|blue bowl+green basket+pot+red bowl+towel",
+    "Cut cardboard|cardboard+desk+metal ruler+pen+ruler+utility knife",
+    "Cut cardboard|cardboard+desk+metal ruler+utility knife",
+    "Cut cardboard|cardboard+desk+metal ruler+phone+utility knife",
+    "Cut cardboard|cardboard+phone+utility knife",
+    "Cut cardboard|cardboard+phone+utility knife+water bottle",
+    "Cut cardboard|cardboard+utility knife+water bottle",
+    "Cut cardboard|cardboard+table+utility knife+water bottle",
+    "Cut cardboard|cardboard+table+utility knife",
+    "Observe and walk through store|cardboard box+colleague+inventory boxes+shelves",
+    "Inspect shelf condition|shelf",
+    "Approach boxes|cardboard boxes+colleague+red bin+shelving unit",
+    "Extract wire hangers from box|wire hangers",
+    "Release hook|display hook+wire shelf",
+    "Release hook|wire shelf",
+    "Place items on the shelf|packaged items+retail shelf+shopping bag+stationery package",
+    "Pick up new cardboard piece|cardboard piece+marker+pencil case+ruler+scissors",
+    "Place marked piece down|cardboard piece+cardboard stack+marker",
+    "Cut cardboard piece|cardboard pile+cardboard strip+scissors",
+    "Marking cardboard piece|cardboard pieces+marker+ruler",
+    "Reach for next canned food|box+canned food",
+    "Pick up canned food|canned food+plastic crate",
+    "Interact with smartphone|cans+cereal box+shelf+smartphone",
+    "Manipulate craft piece|blue fan craft piece+craft pieces+purple craft pieces+scissors+smartphone+yellow craft pieces",
+    "Manipulate craft piece|blue fan craft piece+purple craft pieces+scissors+smartphone+yellow craft pieces",
+    "Manipulate craft paper strips|blue paper fan+paper strips+scissors+smartphone",
+    "Operate smartphone|craft paper strips+folded paper fan+paper scraps+scissors+smartphone+table",
+    "Operate smartphone|paper scraps+scissors+smartphone+table",
+    "Release paper strip|beads+craft beads+paper strip+phone+scissors+table",
+    "Release paper strip|beads+paper strip+phone+scissors+table",
+    "Sort small craft pieces|craft pieces+paper strips+scissors+smartphone+star-shaped craft pieces+table",
+    "Sort small craft pieces|craft pieces+scissors+smartphone+table",
+    "Open paper lantern|cardboard storage box+red paper honeycomb lantern",
+    "Grasp lantern component|paper lantern",
+    "Remove paper lantern part from packaging|paper lantern component+plastic packaging",
+    "Put down smartphone|paper quilling strips+power bank+smartphone+star beads",
+    "Put down smartphone|paper quilling strips+smartphone+star beads",
+    "Place smartphone down|beads+charging bank+power bank+quilling paper strips+small paper stars+smartphone",
+    "Place smartphone down|beads+charging bank+smartphone",
+    "Manipulate puzzle pieces|puzzle mat+puzzle pieces",
+    "Pick up puzzle piece|jigsaw puzzle+puzzle pieces",
+    "Attempt to fit puzzle piece|puzzle board+puzzle box+puzzle piece",
+    "Manipulating paper strips|blue paper strip+yellow paper strip",
+    "Manipulate beads|blue beads+smartphone+yellow beads",
+    "Sort buttons|buttons+smartphone+table",
+    "Approaching and pressing the door switch|glass door+switch",
+    "Greeting/acknowledging participants|chair+person+table+vr headset",
+    "Greeting/acknowledging participants|chair+person+table",
+    "Fold plastic strip|container+container with tools+plastic bottle+plastic strip+purple plastic strip+water bottle+white table",
+    "Fold plastic strip|container+plastic bottle+plastic strip",
+    "Manipulate paper edge|hands+paper cone+phone+puzzle box+smartphone+water bottle",
+    "Manipulate paper edge|paper cone+phone+puzzle box+water bottle",
+    "Placing paper strip|paper cone+phone",
+    "Placing paper strip|paper cone+paper strip+phone+puzzle box+water bottle",
+    "Manipulate paper strip|jigsaw puzzle box+paper cone+paper strip+phone+puzzle box+smartphone+water bottle",
+    "Manipulate paper strip|jigsaw puzzle box+paper strip+phone+water bottle",
+    "Secure paper edges with adhesive|adhesive strip+paper cone+paper cone pieces+puzzle box+smartphone+water bottle",
+    "Secure paper edges with adhesive|adhesive strip+paper cone+puzzle box+smartphone+water bottle",
+    "Hold smartphone|bowl+food container+kettle+kitchen counter+sink+smartphone",
+    "Move towards the stove|blue bowl+countertop+faucet+floor+metal container+red bowl+sink",
+    "Open stove pot lid|blue bowl+cloth+faucet+pot+pot lid+red bowl+sink+soap dispenser+stove+white bowl",
+    "Open stove pot lid|pot+pot lid+stove",
+    "Grasp cleaning bottle|bowls+chopping board+cleaning bottle+cleaning fluid bottle+plastic bowls",
+    "Grasping cleaning cloth|cleaning cloth",
+    "Place towel|faucet+metal pot+pot+sink+towel",
+    "Place towel|faucet+metal pot+sink+towel",
+    "Cut cardboard|cardboard+utility knife",
+    "Cut cardboard|cardboard+hand+utility knife",
+    "Cut cardboard|cardboard+smartphone+utility knife",
+    "Observe and walk through store|cardboard box+colleague+shelves",
+    "Inspect shelf condition|cardboard boxes+shelf",
+    "Inspect shelf condition|cardboard boxes+shelf+shelves+watch",
+    "Extract wire hangers from box|box of hangers+wire hangers",
+    "Bundle display hooks|display hooks",
+    "Bundle display hooks|display hooks+shelf",
+    "Bundle display hooks|display hook+display hooks+shelf+wire shelf",
+    "Move through aisle|aisle floor+display hooks+employees+metal shelving units+stocking containers",
+    "Pick up items from the shopping bag|red shopping bag+retail shelf",
+    "Adjust item on shelf|hand+packaged item+shelf+stationery package",
+    "Adjust item on shelf|hand+packaged item+shelf",
+    "Place item on shelf|packaged goods+retail shelf",
+    "Reach for another item|item+packaged item+shelf",
+    "Reach for another item|packaged item+shelf",
+    "Reach for next item|multi-colored product pack+packaged item+shelf+store shelf",
+    "Reach for next item|multi-colored product pack+person+store shelf",
+    "Mark cardboard piece|cardboard piece+marker+pencil case+ruler+scissors",
+    "Mark cardboard piece|cardboard piece+cardboard stack+marker+pencil case+ruler+scissors",
+    "Mark cardboard piece|cardboard piece+cardboard stack+marker",
+    "Mark cardboard piece|cardboard pieces+marker",
+    "Place marked piece down|cardboard pieces+marker",
+    "Mark cardboard piece|cardboard pile+cardboard strip+marker+ruler",
+    "Cut cardboard piece|cardboard piece+cardboard strip+scissors",
+    "Cut cardboard piece|cardboard piece+scissors",
+    "Mark cardboard piece|cardboard pieces+marker+metal ruler+scissors",
+    "Mark cardboard piece|cardboard piece+cardboard pieces+marker+metal ruler+pencil case+ruler+scissors",
+    "Place canned food on shelf|canned food+cardboard box+retail shelf",
+    "Reach for next can|canned food+cardboard box",
+    "Place canned food on shelf|canned food+cardboard box+store shelf",
+    "Reach for next can|canned food+cardboard box+retail shelf",
+    "Place canned food on shelf|canned food+retail shelf",
+    "Place canned food on shelf|box+canned food+retail shelf",
+    "Place canned food on shelf|box+canned food+store shelf",
+    "Hold earbud case|box of products+earbud case+shelf",
+    "Interact with smartphone|cereal box+shelf+smartphone",
+    "sort craft materials|craft material+paper pieces+phone+scissors+smartphone+table",
+    "sort craft materials|craft material+phone+scissors+table",
+    "Manipulate paper strip|craft beads+craft materials+paper strip+purple paper strip+scissors+smartphone",
+    "Manipulate paper strip|craft beads+paper strip+scissors+smartphone",
+    "Manipulate paper strip|paper strip+scissors+smartphone+table",
+    "Manipulate paper strip|paper strip+table",
+    "Sort small craft pieces|craft pieces+scissors+smartphone",
+    "Sort small craft pieces|blue card stack+craft pieces+scissors+small craft pieces+smartphone",
+    "Sort small craft pieces|blue card stack+scissors+small craft pieces+smartphone",
+    "Grasp lantern|cardboard box+red paper honeycomb lantern",
+    "Open paper lantern|red paper lantern",
+    "Align paper lantern edges|hands+red honeycomb paper lantern+red paper lantern",
+    "Align paper lantern edges|hands+red honeycomb paper lantern",
+    "Align paper lantern edges|hands+paper lantern+red honeycomb paper lantern",
+    "Align paper lantern edges|hands+paper lantern",
+    "Open folded paper lantern|red pleated paper lantern",
+    "Browse smartphone screen|paper stars+paper strips+smartphone+star ornaments",
+    "Browse smartphone screen|paper stars+paper strips+smartphone",
+    "Manipulate paper strip|purple paper strip+quilling paper pile+smartphone+table",
+    "Manipulate paper strip|purple paper strip+smartphone+table",
+    "Manipulate puzzle piece|jigsaw puzzle+puzzle box+puzzle piece",
+    "Manipulate puzzle pieces|jigsaw puzzle+puzzle box+puzzle mat+puzzle pieces",
+    "Manipulate puzzle pieces|jigsaw puzzle+puzzle box",
+    "Observe puzzle progress|hand+jigsaw puzzle+puzzle box",
+    "Pick up puzzle piece|jigsaw puzzle+puzzle piece+puzzle pieces",
+    "Pick up puzzle piece|puzzle piece",
+    "Sort puzzle pieces|jigsaw puzzle+jigsaw puzzle pieces+puzzle pieces+table",
+    "Sort puzzle pieces|jigsaw puzzle+puzzle pieces",
+    "Sort puzzle pieces|jigsaw puzzle+puzzle box+puzzle pieces",
+    "Use phone|beads+power bank+smartphone",
+    "Manipulate yellow strip|beads+cell phone+pen+yellow paper strip+yellow strip",
+    "Manipulate yellow strip|beads+yellow paper strip",
+    "Manipulate yellow strip|yellow paper strip",
+    "Manipulating paper strips|yellow paper strip",
+    "Manipulating paper strips|beads+cup+smartphone+yellow paper strip",
+    "Manipulate paper strip|beads+paper strip+pen holder+table+yellow paper strip",
+    "Manipulate bead|bead+bead piles+container+paper strips+pen holder+table+yellow bead",
+    "Manipulate bead|bead+bead piles+pen holder+table",
+    "Manipulate bead|bead+bead piles+table",
+    "Hold and manipulate paper strip|beads+mobile phone+paper strip+power bank+smartphone+yellow paper strip",
+    "Hold and manipulate paper strip|beads+paper strip+power bank+smartphone",
+    "Arrange buttons|buttons+coca-cola can+person wearing vr headset+red buttons+smartphone+table",
+    "Arrange buttons|buttons+coca-cola can+person wearing vr headset+smartphone+table",
+    "Sort and arrange buttons|buttons+phone+smartphones+soda can+table",
+    "Sort and arrange buttons|buttons+phone+soda can+table",
+    "Sort button|buttons+cell phone+multi-colored button pile+orange buttons+red buttons",
+    "Sort button|multi-colored button pile+orange buttons+red buttons",
+    "Use smartphone|buttons+smartphone+soda can+table",
+    "Use smartphone|buttons+smartphone+soda can",
+    "Sort and place buttons|buttons+smartphone+table",
+    "Manipulate plastic strip|plastic strip+storage bin+water bottle",
+    "Fold plastic strip|container+plastic bottle+plastic strip+scissors+storage bin+water bottle",
+    "Fold plastic strip|plastic strip+scissors+storage bin+water bottle",
+    "Fold plastic strip|container+hands+plastic strip+scissors+storage bin+water bottle",
+    "Fold plastic strip|container+hands+plastic strip+water bottle",
+    "Fold plastic strip|hands+plastic strip",
+    "Fold plastic strip|craft supply box+hands+plastic strip+water bottle",
+    "Fold plastic strip|craft supply box+plastic strip+water bottle",
+    "Manipulate paper decoration|paper cone+smartphone",
+    "Manipulate paper strip|jigsaw puzzle box+paper strip+phone+puzzle box+smartphone+water bottle",
+    "Manipulate paper strip|paper strip+puzzle box+smartphone+water bottle",
+    "Manipulate adhesive strip|adhesive strip+paper cone pieces+paper sheets+puzzle box+smartphone+water bottle",
+    "Manipulate adhesive strip|adhesive strip+paper cone pieces+puzzle box+smartphone+water bottle",
+    "Manipulate adhesive strip|adhesive strip+puzzle box+smartphone+water bottle",
+    "Secure paper edges with adhesive|adhesive strip+paper cone",
+    "Sort beads|paper+pen+star-shaped beads",
+    "Record count|paper+pen+smartphone+star-shaped beads",
+    "Counting and organizing beads|paper+pen+star-shaped beads",
+    "Place and count bead|marker+paper+pen+star beads+star-shaped beads",
+    "Place and count bead|marker+paper+star-shaped beads",
+    "Write count on paper|marker+mobile phone+paper+pen+power bank+smartphone+star-shaped beads",
+    "Write count on paper|paper+pen+power bank+smartphone+star-shaped beads",
+    "Hold beads|paper+pen+smartphone+star-shaped beads",
+    "Hold beads|paper+pen+star-shaped beads",
+    "Sort and count beads|cell phone+paper+pen+star beads"
+  ]
+}

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/imu_to_hand_pose/metrics.json

@@ -0,0 +1,9 @@
+{
+  "status": "unsupported_without_raw_128_feature_blocks",
+  "task": "imu_to_hand_pose",
+  "task_display_name": "Imu To Hand Pose",
+  "primary_metric": "mae",
+  "primary_score": null,
+  "reason": "requires raw IMU and hand-joint feature blocks, which are not in the public 128 JSONL metadata package",
+  "source": "128_episode_qwen_jsonl_metadata"
+}

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/interaction_text_prediction/metrics.json

@@ -0,0 +1,9 @@
+{
+  "status": "unsupported_without_raw_128_feature_blocks",
+  "task": "interaction_text_prediction",
+  "task_display_name": "Interaction Text Prediction",
+  "primary_metric": "macro_f1",
+  "primary_score": null,
+  "reason": "requires raw annotation.hdf5 caption interaction text; the public 128 JSONL keeps only structured labels and derived metadata",
+  "source": "128_episode_qwen_jsonl_metadata"
+}

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/neural_mlp/action_object_relation/confusion_matrix.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86727a7cacade5dfb022efc0b01f8904716fb884f7aa5ae7ae50b333ece9f17e
+size 34968166

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/next_subtask_forecast/metrics.json

@@ -0,0 +1,161 @@
+{
+  "status": "pass",
+  "task": "next_subtask_forecast",
+  "task_display_name": "Next Subtask Forecast",
+  "model_family": "simple_centroid_metadata",
+  "source": "128_episode_qwen_jsonl_metadata",
+  "input_features": "frame/context metadata plus hashed prompt/options/main_task text; answer_json fields are excluded from inputs",
+  "split_policy": "train on train split, report val and held-out test split",
+  "num_train_windows": 25068,
+  "num_val_windows": 4496,
+  "num_test_windows": 3951,
+  "num_classes": 891,
+  "num_train_classes": 651,
+  "majority_baseline_accuracy": 0.0,
+  "history": [
+    {
+      "method": "train_class_centroid_cosine",
+      "reason": "train_class_count=651 exceeds softmax_max_train_classes=256"
+    }
+  ],
+  "splits": {
+    "val": {
+      "accuracy": 0.008229537366548042,
+      "balanced_accuracy": 0.008995728828680025,
+      "macro_f1": 0.004833440317659898,
+      "weighted_f1": 0.0051651447031868655,
+      "num_eval_windows": 4496,
+      "num_classes": 891
+    },
+    "test": {
+      "accuracy": 0.0007593014426727411,
+      "balanced_accuracy": 0.0013333333333333333,
+      "macro_f1": 0.0001206030150753769,
+      "weighted_f1": 6.8680532503062e-05,
+      "num_eval_windows": 3951,
+      "num_classes": 891
+    }
+  },
+  "primary_metric": "macro_f1",
+  "primary_score": 0.0001206030150753769,
+  "unseen_test_class_count": 117,
+  "unseen_test_classes": [
+    "Using a smartphone",
+    "Tidying workspace",
+    "Handling container lid",
+    "Approaching the stove",
+    "Checking cooking pot",
+    "Moving around the kitchen",
+    "Wiping counter",
+    "Cleaning cloth maintenance",
+    "Retrieving cleaning supplies",
+    "Cleaning kitchen surfaces",
+    "Cooking at the stove",
+    "Adjusting cookware",
+    "Prepare to cut cardboard",
+    "Cut cardboard",
+    "Cut along the marked line",
+    "Walk to shelf location",
+    "Inspect shelf condition",
+    "Approach inventory boxes",
+    "Extract wire hangers from inventory",
+    "Bundle display hooks",
+    "Install display hooks",
+    "Move to stocking area",
+    "Unpack and place items on shelf",
+    "Place and adjust items on shelf",
+    "Place and retrieve items for stocking",
+    "Labeling cardboard pieces",
+    "Observing and pausing",
+    "Placing canned goods on the shelf",
+    "Reaching into the box for more stock",
+    "Picking up and placing canned goods",
+    "Placing and retrieving canned goods",
+    "Aligning canned goods on the shelf",
+    "Stocking multiple cans on the shelf",
+    "Adjusting stock and finishing placement",
+    "Finalizing shelf organization",
+    "Handling earbud case",
+    "Checking smartphone",
+    "Sort craft materials into piles",
+    "Manipulate craft pieces",
+    "Release scissors and operate smartphone",
+    "Operate and release smartphone",
+    "Manipulate and release paper strips",
+    "Sort small craft pieces",
+    "Unfold paper lantern",
+    "Fold and grasp lantern",
+    "Grasp lantern component",
+    "Open paper lantern",
+    "Align paper lantern edges",
+    "Adjust lantern string and handle components",
+    "Handle paper lantern component",
+    "Expand and adjust lantern shape",
+    "Secure lantern with adhesive",
+    "Unpack additional lantern component",
+    "Remove packaging and prepare component",
+    "Expand paper lantern",
+    "Final alignment of lantern edges",
+    "Preparing craft area",
+    "Transitioning to smartphone usage",
+    "Browsing smartphone",
+    "Scrolling smartphone screen",
+    "Scrolling and setting down smartphone",
+    "Scrolling and placing smartphone down",
+    "Paper quilling craft",
+    "Pick up and place puzzle piece",
+    "Manipulate puzzle piece",
+    "Manipulate puzzle pieces",
+    "Place puzzle piece",
+    "Observe puzzle progress",
+    "Search for and pick up puzzle piece",
+    "Release and adjust puzzle piece",
+    "Reach for, pick up, and attempt to fit puzzle piece",
+    "Sort puzzle pieces",
+    "Walking to the crafting area",
+    "Preparing materials",
+    "Assembling material pieces",
+    "Manipulating yellow strips",
+    "Working with paper strips",
+    "Manipulating beads",
+    "Using phone and resuming work",
+    "Sort buttons by color",
+    "Arrange buttons",
+    "Arrange buttons in a line",
+    "Sort and arrange buttons",
+    "Pick up and place buttons",
+    "Sort buttons",
+    "Sort and adjust button line",
+    "Use smartphone",
+    "Sort and place buttons",
+    "Entering the training area",
+    "Greeting participants",
+    "Moving through the room",
+    "Initiating assembly",
+    "Handling plastic strip",
+    "Bending plastic strip",
+    "Manipulating plastic strip",
+    "Folding plastic strip",
+    "Manipulate paper decoration",
+    "Manipulate paper edge",
+    "Adjusting paper edge and placing strip",
+    "Adjusting and securing paper structure",
+    "Manipulate adhesive strip",
+    "Secure paper edges with adhesive",
+    "Sort and record bead counts",
+    "Sort and group beads",
+    "Pick, place, and count beads",
+    "Sort beads and record count",
+    "Count beads and retrieve more",
+    "Document bead counts",
+    "Organize and count beads",
+    "Finish cutting along the marked line and reposition",
+    "Setting up smartphone",
+    "Inspect shelf condition and observe surroundings",
+    "Place items on shelf",
+    "Retrieving and placing canned goods",
+    "Attempt to fit and place puzzle piece",
+    "Working with paper strips and using phone",
+    "Preparing plastic strip for folding"
+  ]
+}

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/object_set_forecast/metrics.json

@@ -0,0 +1,31 @@
+{
+  "status": "pass",
+  "task": "object_set_forecast",
+  "task_display_name": "Object Set Forecast",
+  "model_family": "simple_train_object_frequency",
+  "source": "128_episode_qwen_jsonl_metadata",
+  "input_features": "current-window frame/context metadata plus hashed prompt/options/main_task text; target object set +100 frames",
+  "split_policy": "object vocabulary and frequencies are learned from train split only",
+  "num_train_windows": 25068,
+  "num_val_windows": 4496,
+  "num_test_windows": 3951,
+  "num_objects": 256,
+  "splits": {
+    "val": {
+      "precision": 0.14030990510083036,
+      "recall": 0.30465228589826143,
+      "micro_f1": 0.19213197969543147,
+      "macro_f1": 0.005663415026937471,
+      "exact_match": 0.0
+    },
+    "test": {
+      "precision": 0.12140386400067493,
+      "recall": 0.3236253232879793,
+      "micro_f1": 0.17656983343047333,
+      "macro_f1": 0.004886090601149431,
+      "exact_match": 0.0
+    }
+  },
+  "primary_metric": "micro_f1",
+  "primary_score": 0.17656983343047333
+}

results/omni_finetune/a100_128_metadata_task_baselines_20260616_v2/object_set_forecast/object_vocab.json

@@ -0,0 +1,258 @@
+[
+  "smartphone",
+  "scissors",
+  "cardboard",
+  "ruler",
+  "pen",
+  "table",
+  "water bottle",
+  "power bank",
+  "utility knife",
+  "phone",
+  "metal ruler",
+  "cardboard box",
+  "shelf",
+  "paper strip",
+  "hand",
+  "cardboard piece",
+  "cardboard pieces",
+  "cardboard sheet",
+  "desk",
+  "marker",
+  "star-shaped beads",
+  "beads",
+  "mobile phone",
+  "newspaper",
+  "purple paper strip",
+  "paper strips",
+  "paper stars",
+  "plastic container",
+  "mahjong tiles",
+  "cardboard strip",
+  "cleaning cloth",
+  "black marker",
+  "origami stars",
+  "hands",
+  "blue paper strip",
+  "canned goods",
+  "canned food",
+  "red marker",
+  "retail shelf",
+  "yellow paper strip",
+  "orange buttons",
+  "pen holder",
+  "notepad",
+  "paper star",
+  "cardboard squares",
+  "earbud case",
+  "shopping bag",
+  "yellow star-shaped objects",
+  "purple star-shaped objects",
+  "cardboard boxes",
+  "plastic jar",
+  "pens",
+  "cloth",
+  "blue pen",
+  "carpet",
+  "lucky stars pile",
+  "watch",
+  "paper",
+  "portable charger",
+  "store shelf",
+  "box cutter",
+  "vr headset",
+  "cardboard tray",
+  "cardboard square",
+  "earbuds case",
+  "box",
+  "black case",
+  "puzzle box",
+  "container",
+  "colorful beads",
+  "storage container",
+  "buttons",
+  "chair",
+  "wall",
+  "blue beads",
+  "cardboard stack",
+  "colored tiles",
+  "large cardboard sheet",
+  "cardboard base",
+  "grocery shelf",
+  "shelves",
+  "backpack",
+  "pile of lucky stars",
+  "wallet",
+  "person",
+  "papers",
+  "plastic bin",
+  "charging cable",
+  "red pen",
+  "black pen",
+  "purple paper",
+  "puzzle pieces",
+  "pencil case",
+  "light green fabric",
+  "red box",
+  "paper list",
+  "orange shopping bag",
+  "origami star",
+  "plush toy",
+  "floor",
+  "vacuum cleaner",
+  "display shelf",
+  "origami star pile",
+  "canned product",
+  "red buttons",
+  "paper sheet",
+  "pile of paper stars",
+  "chairs",
+  "puzzle piece",
+  "sticky note cube",
+  "cardboard tube",
+  "lucky stars",
+  "paper star pile",
+  "supplement bottle",
+  "jar",
+  "paper document",
+  "snack packages",
+  "black buttons",
+  "tray",
+  "retail items",
+  "quilling strips",
+  "orange cloth",
+  "assorted beads",
+  "paper stack",
+  "snack package",
+  "red scissors",
+  "electronic product box",
+  "quilled paper pieces",
+  "sink",
+  "cutter",
+  "electronic accessory box",
+  "cardboard base sheet",
+  "shelving unit",
+  "light blue paper strip",
+  "documents",
+  "green fabric",
+  "plastic storage bin",
+  "fabric",
+  "yellow container",
+  "cardboard triangles",
+  "red lid",
+  "plastic pieces",
+  "colored beads",
+  "clear plastic container",
+  "colored paper strips",
+  "lucky star",
+  "power adapter",
+  "plastic tray",
+  "colorful pieces",
+  "vacuum cleaner nozzle",
+  "electronic device",
+  "desks",
+  "red markers",
+  "vacuum nozzle",
+  "handbag",
+  "red case",
+  "blue tote bag",
+  "bead containers",
+  "router",
+  "grocery item",
+  "purple paper strips",
+  "smartphone box",
+  "jigsaw puzzle pieces",
+  "retail item",
+  "hallway",
+  "stool",
+  "fire extinguisher",
+  "people",
+  "jigsaw puzzle box",
+  "bag",
+  "white box",
+  "colorful paper pieces",
+  "white container",
+  "cardboard grid",
+  "storage bin",
+  "product box",
+  "document",
+  "keys",
+  "red carpet",
+  "snack pouch",
+  "scoop",
+  "trash bin",
+  "marker pen",
+  "cereal boxes",
+  "paper quilling strips stack",
+  "small star pile",
+  "small colored items",
+  "food items",
+  "stack of cardboard squares",
+  "paper craft set",
+  "tin can",
+  "can",
+  "cardboard container",
+  "pickle jar",
+  "pack of paper strips",
+  "green tube",
+  "light blue strip",
+  "cardboard sheets",
+  "cardboard cutout",
+  "paper towel",
+  "cutting mat",
+  "blue tile",
+  "plastic bag",
+  "paper bag",
+  "remote controller",
+  "instructional sign",
+  "tote bag",
+  "puzzle mat",
+  "soup cans",
+  "snack pouches",
+  "cardboard shape",
+  "pile of tiles",
+  "small white box",
+  "electronic cable packaging",
+  "white paper",
+  "glass jar",
+  "blue plastic stool",
+  "jigsaw puzzle",
+  "mahjong tile",
+  "price label",
+  "products",
+  "small cardboard pieces",
+  "handheld device",
+  "electronic item",
+  "colorful paper strips stack",
+  "recording sheet",
+  "origami paper stars",
+  "star collection",
+  "bin",
+  "button",
+  "cell phone",
+  "quilling paper strips",
+  "hexagonal cardboard pieces",
+  "small cardboard shapes",
+  "crate",
+  "retail item package",
+  "star count piles",
+  "packaged food product",
+  "shelf label",
+  "puzzle assembly",
+  "white gift box",
+  "puzzle",
+  "canned good",
+  "shelf display hook",
+  "faucet",
+  "bead pile",
+  "yellow folded paper star",
+  "wooden surface",
+  "square cardboard",
+  "cardboard scrap piles",
+  "quilling paper strip",
+  "gift bag",
+  "colorful paper strips",
+  "colorful paper stack",
+  "packaged grocery item",
+  "red button"
+]