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analysis__er60k_events_confusion.json

@@ -0,0 +1,434 @@
+{
+ "stem": "eval__fontaine_molmo2_er_60k_ddp4__step_060000__panel_curated_v0_k4l2_events",
+ "frames_scored": 8987,
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+ "presence_accuracy": 0.8567931456548348,
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+ ],
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+  "grasp_pickup": {
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+   "precision": 0.24,
+   "recall": 0.24
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+  "contact_collision": {
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+   "precision": 0.16666666666666666,
+   "recall": 0.08
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+   "precision": 0.3333333333333333,
+   "recall": 0.06382978723404255
+  },
+  "other": {
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+   "recall": 0.12871287128712872
+  }
+ },
+ "other_residue": {
+  "gt_top": [
+   [
+    "board state appears unchanged from the first frame",
+    2
+   ],
+   [
+    "arm raised high above the blocks, no approach to any block",
+    1
+   ],
+   [
+    "arm retreats to an upright pose with no block held",
+    1
+   ],
+   [
+    "cookie appears on the paper (scene set up mid-episode)",
+    1
+   ],
+   [
+    "board layout appears unchanged versus frame 1",
+    1
+   ],
+   [
+    "final board state looks nearly identical to the start; the move is not clearly verifiable",
+    1
+   ],
+   [
+    "arm retracts without any piece having been moved",
+    1
+   ],
+   [
+    "no observable change in scene",
+    1
+   ],
+   [
+    "arm withdraws without moving any piece",
+    1
+   ],
+   [
+    "arm retracts away from the board without moving a piece",
+    1
+   ],
+   [
+    "robot parked away from the workspace, board untouched",
+    1
+   ],
+   [
+    "arm retracts but board shows no clear piece displacement",
+    1
+   ],
+   [
+    "block reaches near corner of baseplate; release not clearly visible",
+    1
+   ],
+   [
+    "arm holds still, no further motion",
+    1
+   ],
+   [
+    "stick initially sits inside the bowl (pre-reset state)",
+    1
+   ]
+  ],
+  "model_top": [
+   [
+    "object 0,1; gripper 0,1",
+    77
+   ],
+   [
+    "object 0; gripper 0,1",
+    33
+   ],
+   [
+    "object 0; gripper 0",
+    23
+   ],
+   [
+    "object 0,1; gripper 0",
+    9
+   ],
+   [
+    "arm returns to home pose with cubes untouched",
+    6
+   ],
+   [
+    "bolt now lies on the mat instead of in the dish (scene reset)",
+    6
+   ],
+   [
+    "object 0; gripper none",
+    5
+   ],
+   [
+    "object 0; gripper 1",
+    5
+   ],
+   [
+    "arm returns to home pose with both cubes untouched",
+    4
+   ],
+   [
+    "arm returns home with no object moved",
+    3
+   ],
+   [
+    "robot arm not yet in frame",
+    3
+   ],
+   [
+    "arm returns to home with cubes untouched",
+    2
+   ],
+   [
+    "object none; gripper 0",
+    2
+   ],
+   [
+    "bolt now lies on the mat instead of on the dish (scene reset)",
+    2
+   ],
+   [
+    "bolt now lies on the mat instead of on the disc (scene state changed)",
+    2
+   ]
+  ]
+ }
+}