Add 128-episode raw-feature baseline results

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/input_report.json

@@ -0,0 +1,89 @@
+{
+  "load_report": {
+    "resolved_npz_files": 357,
+    "loaded_feature_rows": 34269,
+    "input_rows": 34269,
+    "dropped_rows": 0,
+    "missing_path_examples": [],
+    "feature_dim": 4430
+  },
+  "split_counts": {
+    "train": 25629,
+    "val": 4608,
+    "test": 4032
+  },
+  "feature_manifest": [
+    {
+      "name": "hand_left_joints",
+      "start": 0,
+      "end": 441,
+      "dim": 441
+    },
+    {
+      "name": "hand_right_joints",
+      "start": 441,
+      "end": 882,
+      "dim": 441
+    },
+    {
+      "name": "body_joints",
+      "start": 882,
+      "end": 1974,
+      "dim": 1092
+    },
+    {
+      "name": "body_contacts",
+      "start": 1974,
+      "end": 2121,
+      "dim": 147
+    },
+    {
+      "name": "camera_translation",
+      "start": 2121,
+      "end": 2142,
+      "dim": 21
+    },
+    {
+      "name": "camera_rotation_matrix",
+      "start": 2142,
+      "end": 2205,
+      "dim": 63
+    },
+    {
+      "name": "imu_accel_gyro",
+      "start": 2205,
+      "end": 2247,
+      "dim": 42
+    },
+    {
+      "name": "depth_confidence",
+      "start": 2247,
+      "end": 3227,
+      "dim": 980
+    },
+    {
+      "name": "audio_fisheye_cam0_aac",
+      "start": 3227,
+      "end": 3395,
+      "dim": 168
+    },
+    {
+      "name": "caption_objects_interaction_text",
+      "start": 3395,
+      "end": 4291,
+      "dim": 896
+    },
+    {
+      "name": "slam_point_cloud",
+      "start": 4291,
+      "end": 4313,
+      "dim": 22
+    },
+    {
+      "name": "calibration",
+      "start": 4313,
+      "end": 4430,
+      "dim": 117
+    }
+  ]
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/logs/gpu0_tasks01_05.log

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+[raw20] loading rows from results/omni_finetune/xperience10m_qwen3_omni_128ep_multiscale_cap96_v5_full8gpu_lora_dataset/dataset.jsonl
+[raw20] loading feature matrix for 34269 rows
+[raw20] loaded 34269 x 4430 features from 357 NPZ files
+[raw20] running timeline_action
+[raw20] running timeline_subtask
+[raw20] running transition_detection
+[raw20] running next_action
+[raw20] running hand_trajectory_forecast
+[raw20] done; wrote 10 result records to results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/logs/gpu0_tasks01_05_rerun.log

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+[raw20] loading rows from results/omni_finetune/xperience10m_qwen3_omni_128ep_multiscale_cap96_v5_full8gpu_lora_dataset/dataset.jsonl
+[raw20] loading feature matrix for 34269 rows
+[raw20] loaded 34269 x 4430 features from 357 NPZ files
+[raw20] running timeline_action
+[raw20] running timeline_subtask
+[raw20] running transition_detection
+[raw20] running next_action
+[raw20] running hand_trajectory_forecast
+[raw20] done; wrote 10 result records to results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/logs/gpu1_tasks06_10.log

@@ -0,0 +1,9 @@
+[raw20] loading rows from results/omni_finetune/xperience10m_qwen3_omni_128ep_multiscale_cap96_v5_full8gpu_lora_dataset/dataset.jsonl
+[raw20] loading feature matrix for 34269 rows
+[raw20] loaded 34269 x 4430 features from 357 NPZ files
+[raw20] running contact_prediction
+[raw20] running object_relevance
+[raw20] running caption_grounding
+[raw20] running cross_modal_retrieval
+[raw20] running modality_reconstruction
+[raw20] done; wrote 10 result records to results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/logs/gpu2_tasks11_15.log

@@ -0,0 +1,9 @@
+[raw20] loading rows from results/omni_finetune/xperience10m_qwen3_omni_128ep_multiscale_cap96_v5_full8gpu_lora_dataset/dataset.jsonl
+[raw20] loading feature matrix for 34269 rows
+[raw20] loaded 34269 x 4430 features from 357 NPZ files
+[raw20] running temporal_order
+[raw20] running misalignment_detection
+[raw20] running long_horizon_next_action
+[raw20] running next_subtask_forecast
+[raw20] running interaction_text_prediction
+[raw20] done; wrote 10 result records to results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/logs/gpu3_task16_rerun_4096cap.log

@@ -0,0 +1,5 @@
+[raw20] loading rows from results/omni_finetune/xperience10m_qwen3_omni_128ep_multiscale_cap96_v5_full8gpu_lora_dataset/dataset.jsonl
+[raw20] loading feature matrix for 34269 rows
+[raw20] loaded 34269 x 4430 features from 357 NPZ files
+[raw20] running action_object_relation
+[raw20] done; wrote 2 result records to results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/logs/gpu3_tasks16_20.log

@@ -0,0 +1,9 @@
+[raw20] loading rows from results/omni_finetune/xperience10m_qwen3_omni_128ep_multiscale_cap96_v5_full8gpu_lora_dataset/dataset.jsonl
+[raw20] loading feature matrix for 34269 rows
+[raw20] loaded 34269 x 4430 features from 357 NPZ files
+[raw20] running action_object_relation
+[raw20] running object_set_forecast
+[raw20] running imu_to_hand_pose
+[raw20] running camera_view_sync_retrieval
+[raw20] running time_to_transition
+[raw20] done; wrote 10 result records to results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/metrics_summary.csv

@@ -0,0 +1,3 @@
+task,task_display_name,model_family,status,primary_metric,primary_score,metric_direction,reason,error
+action_object_relation,Action Object Relation,simple_raw128_centroid,pass,macro_f1,0.0,higher,,
+action_object_relation,Action Object Relation,neural_mlp_raw128,pass,macro_f1,0.0,higher,,

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/metrics_summary_all.csv

@@ -0,0 +1,41 @@
+task,model_family,status,primary_metric,primary_score,metric_direction,reason,error
+action_object_relation,neural_mlp_raw128,pass,macro_f1,0.0,higher,,
+action_object_relation,simple_raw128_centroid,pass,macro_f1,0.0,higher,,
+camera_view_sync_retrieval,neural_mlp_raw128,unsupported,mrr,,higher,"128-episode NPZ manifest has camera pose plus audio/depth/caption features, but no two explicit video-view feature blocks for camera-view synchronization",
+camera_view_sync_retrieval,simple_raw128_ridge,unsupported,mrr,,higher,"128-episode NPZ manifest has camera pose plus audio/depth/caption features, but no two explicit video-view feature blocks for camera-view synchronization",
+caption_grounding,neural_mlp_raw128,pass,mrr,0.0063402121886610985,higher,,
+caption_grounding,simple_raw128_ridge,pass,mrr,0.011150892823934555,higher,,
+contact_prediction,neural_mlp_raw128,pass,macro_f1,1.0,higher,,
+contact_prediction,simple_raw128_centroid,pass,macro_f1,0.886990707397193,higher,,
+cross_modal_retrieval,neural_mlp_raw128,pass,mrr,0.002535284962505102,higher,,
+cross_modal_retrieval,simple_raw128_ridge,pass,mrr,0.003459817497059703,higher,,
+hand_trajectory_forecast,neural_mlp_raw128,pass,mae,0.18475216627120972,lower,,
+hand_trajectory_forecast,simple_raw128_ridge,pass,mae,0.2729249894618988,lower,,
+imu_to_hand_pose,neural_mlp_raw128,pass,mae,0.252998411655426,lower,,
+imu_to_hand_pose,simple_raw128_ridge,pass,mae,0.22941437363624573,lower,,
+interaction_text_prediction,neural_mlp_raw128,unsupported,macro_f1,,higher,raw 128-episode annotation.hdf5 interaction text is not present in the JSONL export; only hashed caption_objects_interaction_text features are available,
+interaction_text_prediction,simple_raw128_centroid,unsupported,macro_f1,,higher,raw 128-episode annotation.hdf5 interaction text is not present in the JSONL export; only hashed caption_objects_interaction_text features are available,
+long_horizon_next_action,neural_mlp_raw128,pass,macro_f1,0.001063859887389299,higher,,
+long_horizon_next_action,simple_raw128_centroid,pass,macro_f1,0.0024280172369056294,higher,,
+misalignment_detection,neural_mlp_raw128,pass,macro_f1,0.8272709077974252,higher,,
+misalignment_detection,simple_raw128_centroid,pass,macro_f1,0.4958867673901769,higher,,
+modality_reconstruction,neural_mlp_raw128,pass,r2,-1.3974418160502369,higher,,
+modality_reconstruction,simple_raw128_ridge,pass,r2,-1.3450960391924882,higher,,
+next_action,neural_mlp_raw128,pass,macro_f1,0.0018477984371755407,higher,,
+next_action,simple_raw128_centroid,pass,macro_f1,0.003285273363482094,higher,,
+next_subtask_forecast,neural_mlp_raw128,pass,macro_f1,0.0,higher,,
+next_subtask_forecast,simple_raw128_centroid,pass,macro_f1,0.0,higher,,
+object_relevance,neural_mlp_raw128_multilabel,pass,micro_f1,0.1765890386972509,higher,,
+object_relevance,simple_raw128_ridge_multilabel,pass,micro_f1,0.0655376369662084,higher,,
+object_set_forecast,neural_mlp_raw128_multilabel,pass,micro_f1,0.17523098630012288,higher,,
+object_set_forecast,simple_raw128_ridge_multilabel,pass,micro_f1,0.06469493412657774,higher,,
+temporal_order,neural_mlp_raw128,pass,macro_f1,0.8030047098504103,higher,,
+temporal_order,simple_raw128_centroid,pass,macro_f1,0.49824413370686593,higher,,
+time_to_transition,neural_mlp_raw128,pass,mae,42.374061584472656,lower,,
+time_to_transition,simple_raw128_ridge,pass,mae,52.32759094238281,lower,,
+timeline_action,neural_mlp_raw128,pass,macro_f1,0.0014955083181204041,higher,,
+timeline_action,simple_raw128_centroid,pass,macro_f1,0.002915061325704321,higher,,
+timeline_subtask,neural_mlp_raw128,pass,macro_f1,7.35632183908046e-05,higher,,
+timeline_subtask,simple_raw128_centroid,pass,macro_f1,0.0,higher,,
+transition_detection,neural_mlp_raw128,pass,macro_f1,0.4902206914147213,higher,,
+transition_detection,simple_raw128_centroid,pass,macro_f1,0.4203613574238283,higher,,

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/action_object_relation/metrics.json

@@ -0,0 +1,62 @@
+{
+  "task": "action_object_relation",
+  "task_display_name": "Action Object Relation",
+  "task_family": "classification",
+  "model_family": "neural_mlp_raw128",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "sensor features excluding hashed caption text",
+  "primary_metric": "macro_f1",
+  "metric_direction": "higher",
+  "status": "pass",
+  "device": "cuda",
+  "history": [
+    {
+      "epoch": 1,
+      "loss": 7.840090205664913,
+      "train_accuracy": 0.02232423101067169
+    },
+    {
+      "epoch": 5,
+      "loss": 1.9252043012845315,
+      "train_accuracy": 0.4901129943502825
+    },
+    {
+      "epoch": 10,
+      "loss": 0.8283010613446855,
+      "train_accuracy": 0.6963669177652229
+    },
+    {
+      "epoch": 15,
+      "loss": 0.5116730567724991,
+      "train_accuracy": 0.7887633396107973
+    },
+    {
+      "epoch": 20,
+      "loss": 0.37476183882840236,
+      "train_accuracy": 0.8343926553672316
+    },
+    {
+      "epoch": 25,
+      "loss": 0.2903947299819882,
+      "train_accuracy": 0.8655053358443189
+    }
+  ],
+  "num_train_windows": 25488,
+  "num_test_windows": 4014,
+  "num_classes": 4149,
+  "num_train_classes": 3058,
+  "input_dim": 3534,
+  "fit_input_dim": 2048,
+  "selected_column_count": 2048,
+  "splits": {
+    "test": {
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+      "balanced_accuracy": 0.0,
+      "macro_f1": 0.0,
+      "weighted_f1": 0.0,
+      "num_eval_windows": 4014,
+      "num_classes": 4149
+    }
+  },
+  "primary_score": 0.0
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/camera_view_sync_retrieval/metrics.json

@@ -0,0 +1,13 @@
+{
+  "task": "camera_view_sync_retrieval",
+  "task_display_name": "Camera View Sync Retrieval",
+  "task_family": "retrieval",
+  "model_family": "neural_mlp_raw128",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "not run",
+  "primary_metric": "mrr",
+  "metric_direction": "higher",
+  "status": "unsupported",
+  "reason": "128-episode NPZ manifest has camera pose plus audio/depth/caption features, but no two explicit video-view feature blocks for camera-view synchronization",
+  "primary_score": null
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/caption_grounding/metrics.json

@@ -0,0 +1,52 @@
+{
+  "task": "caption_grounding",
+  "task_display_name": "Language Grounding",
+  "task_family": "retrieval",
+  "model_family": "neural_mlp_raw128",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "non-caption sensor blocks projected to hashed caption/object/interaction block",
+  "primary_metric": "mrr",
+  "metric_direction": "higher",
+  "status": "pass",
+  "device": "cuda",
+  "history": [
+    {
+      "epoch": 1,
+      "loss": 0.9730807784066104
+    },
+    {
+      "epoch": 5,
+      "loss": 0.8797651895419402
+    },
+    {
+      "epoch": 10,
+      "loss": 0.8487889279395084
+    },
+    {
+      "epoch": 15,
+      "loss": 0.8318103914064764
+    },
+    {
+      "epoch": 20,
+      "loss": 0.821267495579444
+    },
+    {
+      "epoch": 25,
+      "loss": 0.8125992868655396
+    }
+  ],
+  "num_train_windows": 25629,
+  "num_test_windows": 4032,
+  "input_dim": 3534,
+  "fit_input_dim": 2048,
+  "target_dim": 896,
+  "splits": {
+    "test": {
+      "mrr": 0.0063402121886610985,
+      "top1": 0.002232142857142857,
+      "median_rank": 1392.0,
+      "num_queries": 4032
+    }
+  },
+  "primary_score": 0.0063402121886610985
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/contact_prediction/metrics.json

@@ -0,0 +1,62 @@
+{
+  "task": "contact_prediction",
+  "task_display_name": "Contact State Prediction",
+  "task_family": "classification",
+  "model_family": "neural_mlp_raw128",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "sensor features excluding hashed caption text",
+  "primary_metric": "macro_f1",
+  "metric_direction": "higher",
+  "status": "pass",
+  "device": "cuda",
+  "history": [
+    {
+      "epoch": 1,
+      "loss": 0.02249114251404696,
+      "train_accuracy": 0.9850950095594834
+    },
+    {
+      "epoch": 5,
+      "loss": 3.892005114592888e-06,
+      "train_accuracy": 1.0
+    },
+    {
+      "epoch": 10,
+      "loss": 1.6485579969316457e-06,
+      "train_accuracy": 1.0
+    },
+    {
+      "epoch": 15,
+      "loss": 7.494956065371638e-07,
+      "train_accuracy": 1.0
+    },
+    {
+      "epoch": 20,
+      "loss": 3.961833819914944e-07,
+      "train_accuracy": 1.0
+    },
+    {
+      "epoch": 25,
+      "loss": 3.9328009280915035e-07,
+      "train_accuracy": 1.0
+    }
+  ],
+  "num_train_windows": 25629,
+  "num_test_windows": 4032,
+  "num_classes": 2,
+  "num_train_classes": 2,
+  "input_dim": 3534,
+  "fit_input_dim": 2048,
+  "selected_column_count": 2048,
+  "splits": {
+    "test": {
+      "accuracy": 1.0,
+      "balanced_accuracy": 1.0,
+      "macro_f1": 1.0,
+      "weighted_f1": 1.0,
+      "num_eval_windows": 4032,
+      "num_classes": 2
+    }
+  },
+  "primary_score": 1.0
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/cross_modal_retrieval/metrics.json

@@ -0,0 +1,52 @@
+{
+  "task": "cross_modal_retrieval",
+  "task_display_name": "Cross-Modal Retrieval",
+  "task_family": "retrieval",
+  "model_family": "neural_mlp_raw128",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "all non-depth sensor blocks projected to depth-confidence block",
+  "primary_metric": "mrr",
+  "metric_direction": "higher",
+  "status": "pass",
+  "device": "cuda",
+  "history": [
+    {
+      "epoch": 1,
+      "loss": 0.7975420301166781
+    },
+    {
+      "epoch": 5,
+      "loss": 0.5641444217256827
+    },
+    {
+      "epoch": 10,
+      "loss": 0.5163868686951831
+    },
+    {
+      "epoch": 15,
+      "loss": 0.4953940257414378
+    },
+    {
+      "epoch": 20,
+      "loss": 0.4823577042322097
+    },
+    {
+      "epoch": 25,
+      "loss": 0.4730072832515932
+    }
+  ],
+  "num_train_windows": 25629,
+  "num_test_windows": 4032,
+  "input_dim": 3450,
+  "fit_input_dim": 2048,
+  "target_dim": 980,
+  "splits": {
+    "test": {
+      "mrr": 0.002535284962505102,
+      "top1": 0.0,
+      "median_rank": 1893.5,
+      "num_queries": 4032
+    }
+  },
+  "primary_score": 0.002535284962505102
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/hand_trajectory_forecast/metrics.json

@@ -0,0 +1,52 @@
+{
+  "task": "hand_trajectory_forecast",
+  "task_display_name": "Hand Trajectory Forecasting",
+  "task_family": "regression",
+  "model_family": "neural_mlp_raw128",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "current non-hand/non-caption features; target hand joint feature block +20 frames",
+  "primary_metric": "mae",
+  "metric_direction": "lower",
+  "status": "pass",
+  "device": "cuda",
+  "history": [
+    {
+      "epoch": 1,
+      "loss": 0.8031348615485111
+    },
+    {
+      "epoch": 5,
+      "loss": 0.5183512075500258
+    },
+    {
+      "epoch": 10,
+      "loss": 0.3657062302656374
+    },
+    {
+      "epoch": 15,
+      "loss": 0.28521906561420884
+    },
+    {
+      "epoch": 20,
+      "loss": 0.24974514583392887
+    },
+    {
+      "epoch": 25,
+      "loss": 0.22191785270443581
+    }
+  ],
+  "num_train_windows": 25502,
+  "num_test_windows": 4015,
+  "input_dim": 2652,
+  "fit_input_dim": 2048,
+  "target_dim": 882,
+  "splits": {
+    "test": {
+      "mae": 0.18475216627120972,
+      "rmse": 0.43915748596191406,
+      "r2": 0.11917128475110383,
+      "mean_l2": 9.090903282165527
+    }
+  },
+  "primary_score": 0.18475216627120972
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/imu_to_hand_pose/metrics.json

@@ -0,0 +1,52 @@
+{
+  "task": "imu_to_hand_pose",
+  "task_display_name": "Imu To Hand Pose",
+  "task_family": "regression",
+  "model_family": "neural_mlp_raw128",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "IMU acceleration/gyroscope block reconstructs hand-joint blocks",
+  "primary_metric": "mae",
+  "metric_direction": "lower",
+  "status": "pass",
+  "device": "cuda",
+  "history": [
+    {
+      "epoch": 1,
+      "loss": 0.9585941261004479
+    },
+    {
+      "epoch": 5,
+      "loss": 0.9127171490970956
+    },
+    {
+      "epoch": 10,
+      "loss": 0.8793233014191721
+    },
+    {
+      "epoch": 15,
+      "loss": 0.844667680290311
+    },
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/interaction_text_prediction/metrics.json

@@ -0,0 +1,13 @@
+{
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+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/long_horizon_next_action/metrics.json

@@ -0,0 +1,62 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/misalignment_detection/metrics.json

@@ -0,0 +1,62 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/modality_reconstruction/metrics.json

@@ -0,0 +1,52 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/next_action/metrics.json

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+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/next_subtask_forecast/metrics.json

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+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/object_relevance/metrics.json

@@ -0,0 +1,51 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/object_set_forecast/metrics.json

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+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/temporal_order/metrics.json

@@ -0,0 +1,62 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/time_to_transition/metrics.json

@@ -0,0 +1,52 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/timeline_action/metrics.json

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+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/timeline_subtask/metrics.json

@@ -0,0 +1,62 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/neural_mlp_raw128/transition_detection/metrics.json

@@ -0,0 +1,62 @@
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/run_summary.json

@@ -0,0 +1,43 @@
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/run_summary_all.json

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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/simple_raw128/action_object_relation/metrics.json

@@ -0,0 +1,38 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/simple_raw128/caption_grounding/metrics.json

@@ -0,0 +1,25 @@
+{
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results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/simple_raw128/contact_prediction/metrics.json

@@ -0,0 +1,38 @@
+{
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+  "primary_score": 0.886990707397193
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/simple_raw128/cross_modal_retrieval/metrics.json

@@ -0,0 +1,25 @@
+{
+  "task": "cross_modal_retrieval",
+  "task_display_name": "Cross-Modal Retrieval",
+  "task_family": "retrieval",
+  "model_family": "simple_raw128_ridge",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "all non-depth sensor blocks projected to depth-confidence block",
+  "primary_metric": "mrr",
+  "metric_direction": "higher",
+  "status": "pass",
+  "num_train_windows": 25629,
+  "num_test_windows": 4032,
+  "input_dim": 3450,
+  "fit_input_dim": 2048,
+  "target_dim": 980,
+  "splits": {
+    "test": {
+      "mrr": 0.003459817497059703,
+      "top1": 0.000744047619047619,
+      "median_rank": 1797.5,
+      "num_queries": 4032
+    }
+  },
+  "primary_score": 0.003459817497059703
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/simple_raw128/hand_trajectory_forecast/metrics.json

@@ -0,0 +1,25 @@
+{
+  "task": "hand_trajectory_forecast",
+  "task_display_name": "Hand Trajectory Forecasting",
+  "task_family": "regression",
+  "model_family": "simple_raw128_ridge",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "current non-hand/non-caption features; target hand joint feature block +20 frames",
+  "primary_metric": "mae",
+  "metric_direction": "lower",
+  "status": "pass",
+  "num_train_windows": 25502,
+  "num_test_windows": 4015,
+  "input_dim": 2652,
+  "fit_input_dim": 2048,
+  "target_dim": 882,
+  "splits": {
+    "test": {
+      "mae": 0.2729249894618988,
+      "rmse": 0.5156853199005127,
+      "r2": -0.21456409310612812,
+      "mean_l2": 13.391268730163574
+    }
+  },
+  "primary_score": 0.2729249894618988
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/simple_raw128/imu_to_hand_pose/metrics.json

@@ -0,0 +1,25 @@
+{
+  "task": "imu_to_hand_pose",
+  "task_display_name": "Imu To Hand Pose",
+  "task_family": "regression",
+  "model_family": "simple_raw128_ridge",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "IMU acceleration/gyroscope block reconstructs hand-joint blocks",
+  "primary_metric": "mae",
+  "metric_direction": "lower",
+  "status": "pass",
+  "num_train_windows": 25629,
+  "num_test_windows": 4032,
+  "input_dim": 42,
+  "fit_input_dim": 42,
+  "target_dim": 882,
+  "splits": {
+    "test": {
+      "mae": 0.22941437363624573,
+      "rmse": 0.4729202091693878,
+      "r2": -0.018392341461985984,
+      "mean_l2": 11.224305152893066
+    }
+  },
+  "primary_score": 0.22941437363624573
+}

results/omni_finetune/a100_128_raw20_task_baselines_20260616T073954Z/simple_raw128/long_horizon_next_action/metrics.json

@@ -0,0 +1,38 @@
+{
+  "task": "long_horizon_next_action",
+  "task_display_name": "Long Horizon Next Action",
+  "task_family": "classification",
+  "model_family": "simple_raw128_centroid",
+  "source": "128_episode_raw_sensor_features",
+  "input_features": "current non-caption features; target action +100 frames",
+  "primary_metric": "macro_f1",
+  "metric_direction": "higher",
+  "status": "pass",
+  "num_train_windows": 25068,
+  "num_val_windows": 4496,
+  "num_test_windows": 3951,
+  "num_classes": 1211,
+  "num_train_classes": 887,
+  "input_dim": 3534,
+  "fit_input_dim": 2048,
+  "selected_column_count": 2048,
+  "splits": {
+    "val": {
+      "accuracy": 0.002224199288256228,
+      "balanced_accuracy": 0.003450987577971705,
+      "macro_f1": 0.0038119991336365605,
+      "weighted_f1": 0.0024887619404382845,
+      "num_eval_windows": 4496,
+      "num_classes": 1211
+    },
+    "test": {
+      "accuracy": 0.0030372057706909645,
+      "balanced_accuracy": 0.003899407470836042,
+      "macro_f1": 0.0024280172369056294,
+      "weighted_f1": 0.0025638705344299727,
+      "num_eval_windows": 3951,
+      "num_classes": 1211
+    }
+  },
+  "primary_score": 0.0024280172369056294
+}