diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/input_video.mp4 b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..416b48cc0390605b7b3850dc7d4cd9d4243fecb1 --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bea6fbc8ed0e8dd23d76bd50a9d27a075ad81ea30114b25d5eb279e6c4039663 +size 32438 diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/metadata.json b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6a8a8e5295fd582bc70a3f878a7a276ac075e677 --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/metadata.json @@ -0,0 +1,15894 @@ +{ + "task_id": "trapdoor_drop_0000", + "domain": "trapdoor_drop", + "generator": "G94_trapdoor_drop", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A ball rests on a trapdoor set into a raised platform. The trapdoor swings open downward on its hinge, removing the support; the ball falls straight down through the hole in the platform, lands on the floor below with a couple of small decaying bounces, and settles. Nothing remains suspended and nothing appears or vanishes.", + "parameters": { + "source_index": 140, + "source_script": "pb_task_00000140_pb_trapdoor_drop_0141_blender.py", + "seed": 89740, + "preview": false, + "applied_transforms": { + "recolor_material": { + "targets": 0 + }, + "apparatus": { + "tone": [ + 0.66, + 0.62, + 0.58 + ], + "n": 6 + }, + "light": null + } + }, + "task_contract": { + "subcategory": "trapdoor_swings_open_ball_falls_through", + "task_family": "permanence_physics", + "expected_final_state": { + "identity_preserved": true, + "color_preserved": true, + "size_preserved": true, + "count_conserved": true, + "physically_continuous_motion": true + }, + "failure_tags": [ + "object_disappears", + "object_teleports", + "object_changes_color", + "object_changes_size", + "wrong_physics", + "wrong_final_position", + "solid_object_penetration", + "identity_or_count_error" + ] + }, + "scoring_contract": { + "requires_target_video": true, + "requires_scene_state_graph": true 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"qvel": "[T, N*6] free-body generalized velocity: per body [vx vy vz wx wy wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 7, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/vrop/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000140_pb_trapdoor_drop_0141_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/prompt.txt b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..48869562e6d9568e0fa47bc6fefe1896cec477ab --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/prompt.txt @@ -0,0 +1 @@ +A ball rests on a trapdoor set into a raised platform. The trapdoor swings open downward on its hinge, removing the support; the ball falls straight down through the hole in the platform, lands on the floor below with a couple of small decaying bounces, and settles. Nothing remains suspended and nothing appears or vanishes. diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/target_video.mp4 b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b9810d7b0c41d4450f52229ddcbb3ddaf1c12044 --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7198880da96b6fb2ec75516ee4050b4cf88b87213d1ce78fe1d7aca27d5f246b +size 47869 diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/trajectory.npz b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..bcaa030fd35a56948cd69c06bff66125981413f9 --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0000/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc37323f1b7985cae7e8391508715b8a6e41a00deb68a3ed92d36862b6df60e3 +size 3935 diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/input_video.mp4 b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c79e41440b4859d2cb5fbe877d7c26c7ae0833b --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d496ebdf6c747251ab62efd0b9fb26be99d9707deeccd0cfd37514de62eb6ff5 +size 33600 diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/metadata.json b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d162dc515aa602cbf41c76b44fd4d10b9f1caa84 --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/metadata.json @@ -0,0 +1,15894 @@ +{ + "task_id": "trapdoor_drop_0001", + "domain": "trapdoor_drop", + "generator": "G94_trapdoor_drop", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A ball rests on a trapdoor set into a raised platform. The trapdoor swings open downward on its hinge, removing the support; the ball falls straight down through the hole in the platform, lands on the floor below with a couple of small decaying bounces, and settles. Nothing remains suspended and nothing appears or vanishes.", + "parameters": { + "source_index": 140, + "source_script": "pb_task_00000140_pb_trapdoor_drop_0141_blender.py", + "seed": 57933, + "preview": false, + "applied_transforms": { + "recolor_material": { + "targets": 0 + }, + "apparatus": { + "tone": [ + 0.55, + 0.57, + 0.62 + ], + "n": 6 + }, + "light": null + } + }, + "task_contract": { + "subcategory": "trapdoor_swings_open_ball_falls_through", + "task_family": "permanence_physics", + "expected_final_state": { + "identity_preserved": true, + "color_preserved": true, + "size_preserved": true, + "count_conserved": true, + "physically_continuous_motion": true + }, + "failure_tags": [ + "object_disappears", + "object_teleports", + "object_changes_color", + "object_changes_size", + "wrong_physics", + "wrong_final_position", + "solid_object_penetration", + "identity_or_count_error" + ] + }, + "scoring_contract": { + "requires_target_video": true, + "requires_scene_state_graph": true 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"qvel": "[T, N*6] free-body generalized velocity: per body [vx vy vz wx wy wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 7, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/vrop/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000140_pb_trapdoor_drop_0141_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/prompt.txt b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..48869562e6d9568e0fa47bc6fefe1896cec477ab --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/prompt.txt @@ -0,0 +1 @@ +A ball rests on a trapdoor set into a raised platform. The trapdoor swings open downward on its hinge, removing the support; the ball falls straight down through the hole in the platform, lands on the floor below with a couple of small decaying bounces, and settles. Nothing remains suspended and nothing appears or vanishes. diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/target_video.mp4 b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c618ae6016d10ebc15fc2b5e36aa52ff2655863c --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05b00a1e0fa6f1b5fd4ed71fbb648a8a177c5afd9fb19d7aa86a1f16fa53ec9f +size 47975 diff --git a/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/trajectory.npz b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..bcaa030fd35a56948cd69c06bff66125981413f9 --- /dev/null +++ b/eval/shard4/trapdoor_drop_task/trapdoor_drop_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc37323f1b7985cae7e8391508715b8a6e41a00deb68a3ed92d36862b6df60e3 +size 3935 diff --git a/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/input_video.mp4 b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8cbc823cf8b8f281207e8a1ec45e11b048e0bb8a --- /dev/null +++ b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b876f1ace251e077f89536c2a323ddf053d7fa45579f713e62eb44b6ff10c6a +size 49017 diff --git a/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/metadata.json b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ed29dd4631b64e76d59df1275762a84c6c59b373 --- /dev/null +++ b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/metadata.json @@ -0,0 +1,74389 @@ +{ + "task_id": "turnstile_timed_gate_0000", + "domain": "turnstile_timed_gate", + "generator": "G91_turnstile_timed_gate", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "Two balls roll along two parallel tracks toward two hinged flap gates, one per track. As each ball reaches its gate, the flap swings open on its vertical hinge (like a saloon door) to let the ball pass, then swings shut behind it while the ball rolls on. Both balls behave the same way. Neither ball is suspended and neither passes through a closed flap.", + "parameters": { + "source_index": 137, + "source_script": "pb_task_00000137_pb_turnstile_timed_gate_0138_blender.py", + "seed": 56442, + "preview": false, + "applied_transforms": { + "recolor_material": { + "targets": 2, + "groups": [ + { + "old": "blue", + "shape": "sphere", + "new": "black", + "metallic": 0.3, + "rough": 0.16, + "instances": 1 + }, + { + "old": "orange", + "shape": "sphere", + "new": "gray", + "metallic": 0.0, + "rough": 0.27, + "instances": 1 + } + ], + "color_map": { + "blue": "black", + "orange": "gray" + } + }, + "apparatus": { + "tone": [ + 0.48, + 0.52, + 0.58 + ], + "n": 32 + }, + "light": null + } + }, + "task_contract": { + "subcategory": "hinged_flap_gate_passage", + "task_family": "permanence_physics", + "expected_final_state": { + "identity_preserved": true, + "color_preserved": true, + "size_preserved": true, + "count_conserved": true, + "each_flap_gate_swings_open_then_shut": true, 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wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 34, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000137_pb_turnstile_timed_gate_0138_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/prompt.txt b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c3bfba047eeb52a141f9f0ae7823ca2bb123cb --- /dev/null +++ b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/prompt.txt @@ -0,0 +1 @@ +Two balls roll along two parallel tracks toward two hinged flap gates, one per track. As each ball reaches its gate, the flap swings open on its vertical hinge (like a saloon door) to let the ball pass, then swings shut behind it while the ball rolls on. Both balls behave the same way. Neither ball is suspended and neither passes through a closed flap. diff --git a/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/target_video.mp4 b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3fb119587f71054bf9e583ba714985cf611a080 --- /dev/null +++ b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc08f5608da01fbcd10876e0f2bdd6ff7dc1b5241f269fd1cd4e16c1ccb09579 +size 52734 diff --git a/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/trajectory.npz b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..7f6cde8c01387831b681640cab38f2b0f074e9bd --- /dev/null +++ b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0000/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d53de7ba598957f1f61b576613bafc45d9633e4915bccbae1201b76b46c44ddd +size 11611 diff --git a/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0001/input_video.mp4 b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0001/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..34046045f6ec95b7dc3348b7f48d8254a505324f --- /dev/null +++ b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0001/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6596d49d3c561faecda8a6870a99b13f675c4111af3387839f9853eb98814646 +size 51588 diff --git a/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0001/metadata.json b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7168c963beefcd19f0628169e5a3e811d9a1f457 --- /dev/null +++ b/eval/shard4/turnstile_timed_gate_task/turnstile_timed_gate_0001/metadata.json @@ -0,0 +1,74389 @@ +{ + "task_id": "turnstile_timed_gate_0001", + "domain": "turnstile_timed_gate", + "generator": "G91_turnstile_timed_gate", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "Two balls roll along two parallel tracks toward two hinged flap gates, one per track. As each ball reaches its gate, the flap swings open on its vertical hinge (like a saloon door) to let the ball pass, then swings shut behind it while the ball rolls on. Both balls behave the same way. 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As each ball reaches its gate, the flap swings open on its vertical hinge (like a saloon door) to let the ball pass, then swings shut behind it while the ball rolls on. Both balls behave the same way. 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"[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 14, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000154_pb_two_carts_cross_swap_0155_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/prompt.txt b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..2f14842758e9b3b75a9f9f87a562dd861acda256 --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/prompt.txt @@ -0,0 +1 @@ +Two identical covered carts sit at opposite ends of a table; an object is shown under the left cart's cover. The two carts roll toward each other, cross past one another in the middle, and continue to the opposite ends. The cart that started on the left is uncovered to show the object moved with it. diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/target_video.mp4 b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c70a84bd9fa4daf4070b39fffd94ab85f548d90e --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f08290b370263ad72405765d0a74c712f747d4c14de667b3d34be5787800343c +size 62212 diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/trajectory.npz b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..155ff32ae5627b35ac77804fce09a90b0ef17bd9 --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0000/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd02af340d1d2dc2e02d000694a258d4768338dd66a041dfb4398b49211c1e0c +size 10382 diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/input_video.mp4 b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d22632fc067d57cf85498e82e3f3d83636f3b2b --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e6826911ff5e581be63d13416a990d32df8b6f48056b4dce85811125b3d0609 +size 64475 diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/metadata.json b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a956dc21305396d5b81bdb580855219135843e23 --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/metadata.json @@ -0,0 +1,31061 @@ +{ + "task_id": "two_carts_cross_swap_0001", + "domain": "two_carts_cross_swap", + "generator": "G108_two_carts_cross_swap", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "Two identical covered carts sit at opposite ends of a table; an object is shown under the left cart's cover. 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"[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 14, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000154_pb_two_carts_cross_swap_0155_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/prompt.txt b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..2f14842758e9b3b75a9f9f87a562dd861acda256 --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/prompt.txt @@ -0,0 +1 @@ +Two identical covered carts sit at opposite ends of a table; an object is shown under the left cart's cover. The two carts roll toward each other, cross past one another in the middle, and continue to the opposite ends. The cart that started on the left is uncovered to show the object moved with it. diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/target_video.mp4 b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e77bf645d4577a29837a9b989f02b5f802c1a34 --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1edcb0c2388dc2e0d0e97d9a82ad7beb244609a8f8eb6e04d96b30a283f496f +size 61292 diff --git a/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/trajectory.npz b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..155ff32ae5627b35ac77804fce09a90b0ef17bd9 --- /dev/null +++ b/eval/shard4/two_carts_cross_swap_task/two_carts_cross_swap_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd02af340d1d2dc2e02d000694a258d4768338dd66a041dfb4398b49211c1e0c +size 10382 diff --git a/eval/shard4/vault_swing_door_task/vault_swing_door_0000/input_video.mp4 b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b194303bf05bdcfb1cf76af6e08d5df3843fcd48 --- /dev/null +++ b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf669546990181d46753d44daa1da05da018a405939896e592acd52f4b75b757 +size 86411 diff --git a/eval/shard4/vault_swing_door_task/vault_swing_door_0000/metadata.json b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7c1f69c7122dc5304db3f9e3288d35e0bf1e10d7 --- /dev/null +++ b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/metadata.json @@ -0,0 +1,24556 @@ +{ + "task_id": "vault_swing_door_0000", + "domain": "vault_swing_door", + "generator": "G116_vault_swing_door", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A heavy round vault door on a side hinge is closed over the front of a safe. The door swings open about its hinge to reveal an object resting inside the safe, unchanged. The safe body does not move; only the door swings.", + "parameters": { + "source_index": 162, + "source_script": "pb_task_00000162_pb_vault_swing_door_0163_blender.py", + "seed": 97066, + "preview": false, + "applied_transforms": { + "recolor_material": { + "targets": 1, + "groups": [ + { + "old": "orange", + "shape": "sphere", + "new": "navy", + "metallic": 0.85, + "rough": 0.28, + "instances": 1 + } + ], + "color_map": { + "orange": "navy" + } + }, + "apparatus": { + "tone": [ + 0.62, + 0.63, + 0.66 + ], + "n": 2 + }, + "light": null + } + }, + "task_contract": { + "subcategory": "vault_round_door_side_hinge_reveal", + "task_family": "permanence_physics", + "expected_final_state": { + "identity_preserved": true, + "color_preserved": true, + "size_preserved": true, + "count_conserved": true, + "physically_continuous_motion": true, + "no_teleportation": true + }, + "failure_tags": [ + "object_disappears", + "object_teleports", + "wrong_final_position", + "color_change", + 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"bodies": 11, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000162_pb_vault_swing_door_0163_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard4/vault_swing_door_task/vault_swing_door_0000/prompt.txt b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..ed69c4841be939b51f9b0d74ba35ec1b9353dc55 --- /dev/null +++ b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/prompt.txt @@ -0,0 +1 @@ +A heavy round vault door on a side hinge is closed over the front of a safe. The door swings open about its hinge to reveal an object resting inside the safe, unchanged. The safe body does not move; only the door swings. diff --git a/eval/shard4/vault_swing_door_task/vault_swing_door_0000/target_video.mp4 b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1e1417eb4dc16961fef06f711f33e1ae3f74bf1e --- /dev/null +++ b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:241a8aa7e677f85ea38d5436769a62b930cdec3f86ca677e7f73c15abf29a2de +size 83366 diff --git a/eval/shard4/vault_swing_door_task/vault_swing_door_0000/trajectory.npz b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf0092a7825dfe0e3973fb5a81d69e487524d27a --- /dev/null +++ b/eval/shard4/vault_swing_door_task/vault_swing_door_0000/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5063f75b2a69c0bf0634844ee7ba95cd46a0db791595a78b4baa769363f34b83 +size 5537 diff --git a/eval/shard4/vault_swing_door_task/vault_swing_door_0001/input_video.mp4 b/eval/shard4/vault_swing_door_task/vault_swing_door_0001/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f0b9988f7a52c8866e2a930d095eccec66e9e526 --- /dev/null +++ b/eval/shard4/vault_swing_door_task/vault_swing_door_0001/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5abcdd1d97b1d2622134d51b0035ab3509ad7647561f85ff1ecef68569914629 +size 88383 diff --git a/eval/shard4/vault_swing_door_task/vault_swing_door_0001/metadata.json b/eval/shard4/vault_swing_door_task/vault_swing_door_0001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b49356427b1e435db05d3f56c586ace0b8618b9a --- /dev/null +++ b/eval/shard4/vault_swing_door_task/vault_swing_door_0001/metadata.json @@ -0,0 +1,24556 @@ +{ + "task_id": "vault_swing_door_0001", + "domain": "vault_swing_door", + "generator": "G116_vault_swing_door", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A heavy round vault door on a side hinge is closed over the front of a safe. The door swings open about its hinge to reveal an object resting inside the safe, unchanged. The safe body does not move; only the door swings.", + "parameters": { + "source_index": 162, + "source_script": "pb_task_00000162_pb_vault_swing_door_0163_blender.py", + "seed": 99829, + "preview": false, + "applied_transforms": { + "recolor_material": { + "targets": 1, + "groups": [ + { + "old": "orange", + "shape": "sphere", + "new": "orange", + "metallic": 0.85, + "rough": 0.45, + "instances": 1 + } + ], + "color_map": { + "orange": "orange" + } + }, + "apparatus": { + "tone": [ + 0.62, + 0.63, + 0.66 + ], + "n": 2 + }, + "light": null + } + }, + "task_contract": { + "subcategory": "vault_round_door_side_hinge_reveal", + "task_family": "permanence_physics", + "expected_final_state": { + "identity_preserved": true, + "color_preserved": true, + "size_preserved": true, + "count_conserved": true, + "physically_continuous_motion": true, + "no_teleportation": true + }, + "failure_tags": [ + "object_disappears", + "object_teleports", + "wrong_final_position", + "color_change", + 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The door swings open about its hinge to reveal an object resting inside the safe, unchanged. 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The card is flicked out sideways fast; the ball, left unsupported, drops straight down into the cup below. 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The card is flicked out sideways fast; the ball, left unsupported, drops straight down into the cup below. 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expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 2, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000185_pb_ball_shoves_block_slide_0186_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/ball_shoves_block_slide_task/ball_shoves_block_slide_0000/prompt.txt b/eval/shard5/ball_shoves_block_slide_task/ball_shoves_block_slide_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..93b4b88e98e2057ed7956591d620669eba3fe193 --- /dev/null +++ b/eval/shard5/ball_shoves_block_slide_task/ball_shoves_block_slide_0000/prompt.txt @@ -0,0 +1 @@ +A ball rolls across a flat surface toward a block resting upright on the table. The ball reaches the block's near face and, on contact, the block slides forward across the table, staying upright, and decelerates to rest a short distance ahead. The ball slows and stops near the block's starting position after the strike. 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target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 6, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/vrop/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000182_pb_ball_strikes_pendulum_0183_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/ball_strikes_pendulum_task/ball_strikes_pendulum_0001/prompt.txt b/eval/shard5/ball_strikes_pendulum_task/ball_strikes_pendulum_0001/prompt.txt new file mode 100644 index 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A second ball rolls in along the table and strikes the hanging ball at the bottom of its arc. On impact the hanging ball swings up and away along its pendulum arc, decelerating as it rises, reaches an apex, then swings back and oscillates with steadily decaying amplitude, settling back to hanging at rest. The rolling ball slows and stops at contact. 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On impact the block tips over away from the ball, rotating about its far bottom edge, and falls flat onto the floor with a small settling bounce. The ball rebounds slightly off the block and eases to a stop near where it struck. 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[x y z qw qx qy qz]", + "qvel": "[T, N*6] free-body generalized velocity: per body [vx vy vz wx wy wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 13, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000176_pb_bomb_bay_doors_drop_0177_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/bomb_bay_doors_drop_task/bomb_bay_doors_drop_0000/prompt.txt b/eval/shard5/bomb_bay_doors_drop_task/bomb_bay_doors_drop_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..16d704587f71b005437896f9905f5f77b68f34f8 --- /dev/null +++ b/eval/shard5/bomb_bay_doors_drop_task/bomb_bay_doors_drop_0000/prompt.txt @@ -0,0 +1 @@ +A ball rests centered on two small doors that meet in the middle, set flush into a raised platform with a hole beneath. 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pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 7, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000190_pb_double_flap_top_box_0191_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/double_flap_top_box_task/double_flap_top_box_0001/prompt.txt b/eval/shard5/double_flap_top_box_task/double_flap_top_box_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..c69366e137b51c627208995649c4a37409cca3c4 --- /dev/null +++ b/eval/shard5/double_flap_top_box_task/double_flap_top_box_0001/prompt.txt @@ -0,0 +1 @@ +A closed gray box sits on a table. Its top is formed by two flaps hinged on opposite top edges. Both flaps swing outward and up together, revealing a single cyan ball resting inside, and hold open for a moment. The two flaps then swing back down and close over the ball. 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"[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 4, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000193_pb_drop_leaf_shelf_0194_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/drop_leaf_shelf_task/drop_leaf_shelf_0001/prompt.txt b/eval/shard5/drop_leaf_shelf_task/drop_leaf_shelf_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..756c48bf472d8a33c628df06462e519405389baf --- /dev/null +++ b/eval/shard5/drop_leaf_shelf_task/drop_leaf_shelf_0001/prompt.txt @@ -0,0 +1 @@ +A ball rests on a shelf hinged at the back wall, held out horizontally like a drop-leaf table. The shelf swings down about its wall hinge, removing the support; the ball slides off the front edge and falls to the floor, bouncing before it settles. 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names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 6, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000192_pb_hanging_ball_release_drop_0193_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/hanging_ball_release_drop_task/hanging_ball_release_drop_0000/prompt.txt b/eval/shard5/hanging_ball_release_drop_task/hanging_ball_release_drop_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..d8f115f0d65eaf0fd3dbccc00568dda8c3a54d3a --- /dev/null +++ b/eval/shard5/hanging_ball_release_drop_task/hanging_ball_release_drop_0000/prompt.txt @@ -0,0 +1 @@ +A ball hangs at rest in the air on a thin string beneath an overhead beam, held by a small hook. The hook releases and the string goes slack, so the ball drops straight down to the floor, bounces a couple of times, and settles. 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the table. 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the table. A second ball rolls across the flat surface and strikes the resting ball. On impact the resting ball is knocked off the stand, launching into a short forward arc, then falls, lands on the floor and rolls to a stop. The rolling ball halts at the stand after the strike. 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flap, a hinged panel on a bracket stand, held level by a latch pin under its free end. The pin is pulled out sideways; released, the flap flips down about its hinge and the ball loses its support and falls straight down to the floor, bouncing before it settles. The pin is pulled before the flap drops. 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"trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000181_pb_lever_launch_transfer_0182_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/lever_launch_transfer_task/lever_launch_transfer_0000/prompt.txt b/eval/shard5/lever_launch_transfer_task/lever_launch_transfer_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..50ffa0e298932f373ebdf7f0ee6b28012f383c9c --- /dev/null +++ b/eval/shard5/lever_launch_transfer_task/lever_launch_transfer_0000/prompt.txt @@ -0,0 +1 @@ +A ball drops onto the raised end of a see-saw lever resting on a fulcrum. The impact drives that end down and swings the other end up, launching a second ball that was resting on it into a short arc through the air. The launched ball rises, then falls back and settles on the floor, while the dropped ball ends resting on the lowered end. 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"n_frames": 120, + "midpoint_index": 60, + "split_index": 60, + "method": "midpoint" + }, + "trajectory": { + "file": "trajectory.npz", + "fields": { + "xpos": "[T, N, 3] world body positions", + "xquat": "[T, N, 4] world body orientation, [w, x, y, z]", + "qpos": "[T, N*7] free-body generalized coords: per body [x y z qw qx qy qz]", + "qvel": "[T, N*6] free-body generalized velocity: per body [vx vy vz wx wy wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 4, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000181_pb_lever_launch_transfer_0182_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/lever_launch_transfer_task/lever_launch_transfer_0001/prompt.txt b/eval/shard5/lever_launch_transfer_task/lever_launch_transfer_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..50ffa0e298932f373ebdf7f0ee6b28012f383c9c --- /dev/null +++ b/eval/shard5/lever_launch_transfer_task/lever_launch_transfer_0001/prompt.txt @@ -0,0 +1 @@ +A ball drops onto the raised end of a see-saw lever resting on a fulcrum. The impact drives that end down and swings the other end up, launching a second ball that was resting on it into a short arc through the air. The launched ball rises, then falls back and settles on the floor, while the dropped ball ends resting on the lowered end. 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mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 2, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/vrop/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000186_pb_light_ball_rebounds_off_heavy_0187_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/light_ball_rebounds_off_heavy_task/light_ball_rebounds_off_heavy_0001/prompt.txt b/eval/shard5/light_ball_rebounds_off_heavy_task/light_ball_rebounds_off_heavy_0001/prompt.txt new file mode 100644 index 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On impact the light ball rebounds backward, reversing direction and rolling back the way it came before settling, while the heavy ball only creeps forward slightly. 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On impact the rack breaks apart - the balls scatter outward along diverging directions and roll to rest - while the striker slows. 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object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 7, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000183_pb_pool_rack_break_0184_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/pool_rack_break_task/pool_rack_break_0001/prompt.txt b/eval/shard5/pool_rack_break_task/pool_rack_break_0001/prompt.txt new file mode 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On impact the rack breaks apart - the balls scatter outward along diverging directions and roll to rest - while the striker slows. All balls remain, the total count is conserved, and no ball passes through another. diff --git a/eval/shard5/pool_rack_break_task/pool_rack_break_0001/target_video.mp4 b/eval/shard5/pool_rack_break_task/pool_rack_break_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..05e876b2f9e915e5762b2e04e8f159b90077e367 --- /dev/null +++ b/eval/shard5/pool_rack_break_task/pool_rack_break_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af926f521d5670cf8480d5eb6e548195ceda61487c060b2d3930d309f9067b20 +size 55037 diff --git a/eval/shard5/pool_rack_break_task/pool_rack_break_0001/trajectory.npz b/eval/shard5/pool_rack_break_task/pool_rack_break_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..7a36b0c93af867e93c7b6ae6f5b0da299a756d20 --- /dev/null +++ b/eval/shard5/pool_rack_break_task/pool_rack_break_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:518a84a568324f4a77bc71809d40d227a06e93186cafbc3218f2b357f591f9e0 +size 26076 diff --git a/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0000/input_video.mp4 b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..083dacb76744948388cee09d1472f4d1d4d86315 --- /dev/null +++ b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df3c5613ee0dcd2dbe428c741ee57e62af80da2bcce6318906446ceca8c89407 +size 34335 diff --git a/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0000/metadata.json b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e534b046722495a86ceb383864ccc52e25619f94 --- /dev/null +++ b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0000/metadata.json @@ -0,0 +1,7232 @@ +{ + "task_id": "rising_bollard_stop_0000", + "domain": "rising_bollard_stop", + "generator": "G127_rising_bollard_stop", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A ball rolls along the table toward a spot at constant speed. Before it arrives, a solid cylindrical bollard rises up out of the floor into the ball's path. 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+ "stats": { + "frames": 120, + "bodies": 3, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000173_pb_rising_bollard_stop_0174_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/prompt.txt b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..00470d0b84d75b0fc522c196ff34827196f201a2 --- /dev/null +++ b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/prompt.txt @@ -0,0 +1 @@ +A ball rolls along the table toward a spot at constant speed. Before it arrives, a solid cylindrical bollard rises up out of the floor into the ball's path. The ball reaches the bollard and stops against it, blocked, decelerating to rest on contact without passing through or overlapping the post. diff --git a/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/target_video.mp4 b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..140d915cb35cc008e46a9478d36a26f17bef95f8 --- /dev/null +++ b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9587ab130e740e01162dfbfc739852d4f03af99fb3c4eee967c789af32164057 +size 27289 diff --git a/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/trajectory.npz b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..a6af8fa2b8e87f4e951154738ecda6b042fb5ecd --- /dev/null +++ b/eval/shard5/rising_bollard_stop_task/rising_bollard_stop_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38159ab562f8f2fdb5ad93037cb640927b886fe2cc4c063a60d580dbaa5454ea +size 5250 diff --git a/eval/shard5/rising_sleeve_cover_task/rising_sleeve_cover_0000/input_video.mp4 b/eval/shard5/rising_sleeve_cover_task/rising_sleeve_cover_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4048dec93458422e5f40c50cd893ea34c23d8661 --- /dev/null +++ b/eval/shard5/rising_sleeve_cover_task/rising_sleeve_cover_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb9352145df959ade58a2c99320408c40c277ca9d38ae7b94d9c1ff154c2c2ad +size 47858 diff --git a/eval/shard5/rising_sleeve_cover_task/rising_sleeve_cover_0000/metadata.json b/eval/shard5/rising_sleeve_cover_task/rising_sleeve_cover_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7121cc12708be77119b1be3092b17742c65629d1 --- /dev/null +++ b/eval/shard5/rising_sleeve_cover_task/rising_sleeve_cover_0000/metadata.json @@ -0,0 +1,18068 @@ +{ + "task_id": "rising_sleeve_cover_0000", + "domain": "rising_sleeve_cover", + "generator": "G124_rising_sleeve_cover", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A single object rests on a small round base. An open cylindrical sleeve starts low around the base with the object visible above its rim, then rises straight up to fully engulf and hide the object, holds, then lowers back down to reveal the object unchanged in position and appearance.", + "parameters": { + "source_index": 170, + "source_script": "pb_task_00000170_pb_rising_sleeve_cover_0171_blender.py", + "seed": 15421, + "preview": false, + "applied_transforms": { + "recolor_material": { + "targets": 1, + "groups": [ + { + "old": "red", + "shape": "cube", + "new": "teal", + "metallic": 0.85, + "rough": 0.28, + "instances": 1 + } + ], + "color_map": { + "red": "teal" + } + }, + "apparatus": { + "tone": [ + 0.66, + 0.62, + 0.58 + ], + "n": 2 + }, + "light": null + } + }, + "task_contract": { + "subcategory": "rising_sleeve_cover_coverage", + "task_family": "permanence_physics", + "expected_final_state": { + "identity_preserved": true, + "color_preserved": true, + "size_preserved": true, + "count_conserved": true, + 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diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/prompt.txt b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..495c569c123d7d044d6b72b57bd3636d582e4f8e --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/prompt.txt @@ -0,0 +1 @@ +A ball rests centered on a square hatch panel set flush into a raised platform, filling a hole. The hatch slides sideways fully clear of the hole, removing the support, so the ball free-falls straight down through the opening to the floor below, where it bounces and settles, with nothing left suspended. diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/target_video.mp4 b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b20347669d3936c3a77cfb9a3b9c9d42e1193863 --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:494dee4fc9667eb3419e58495da875a4c4061d07a2fb2fb4bdf405b0e2790152 +size 33581 diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/trajectory.npz b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..636c9a4ff4bbf82a3db1b2535ef2f28a94ca34e8 --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0000/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cefdf3b0ec64f69fdbf62adaaf99b8398b1ad4ff67d74d46455237a8c0835a0e +size 6743 diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/input_video.mp4 b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..da4c08178377dfe77bcdd15fa7cd849cf3c675ea --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b786d59407b716babaefdda55ed29ade6c1ef6f16f97d0ebe308224b882ec7d2 +size 46674 diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/metadata.json b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..78bcc248887f35f1a7438e5a5ec7b1415a8f7ab2 --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/metadata.json @@ -0,0 +1,24557 @@ +{ + "task_id": "sliding_hatch_drop_0001", + "domain": "sliding_hatch_drop", + "generator": "G129_sliding_hatch_drop", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A ball rests centered on a square hatch panel set flush into a raised platform, filling a hole. 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y, z]", + "qpos": "[T, N*7] free-body generalized coords: per body [x y z qw qx qy qz]", + "qvel": "[T, N*6] free-body generalized velocity: per body [vx vy vz wx wy wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 11, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000175_pb_sliding_hatch_drop_0176_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/prompt.txt b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..495c569c123d7d044d6b72b57bd3636d582e4f8e --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/prompt.txt @@ -0,0 +1 @@ +A ball rests centered on a square hatch panel set flush into a raised platform, filling a hole. The hatch slides sideways fully clear of the hole, removing the support, so the ball free-falls straight down through the opening to the floor below, where it bounces and settles, with nothing left suspended. diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/target_video.mp4 b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75405865cd28316e39bb39b1a7e84862312f3a98 --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:830b761a7f1d97a6116c7ba43372fc19af90109b15ea7e35422c82b204ee9728 +size 35553 diff --git a/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/trajectory.npz b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..636c9a4ff4bbf82a3db1b2535ef2f28a94ca34e8 --- /dev/null +++ b/eval/shard5/sliding_hatch_drop_task/sliding_hatch_drop_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cefdf3b0ec64f69fdbf62adaaf99b8398b1ad4ff67d74d46455237a8c0835a0e +size 6743 diff --git a/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0000/input_video.mp4 b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f422e8e2506ab832abf20c8d87aea081b0b768bd --- /dev/null +++ b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c181bc9532daeace38d449b811cc0db72fc63925ef8f17d6e2a44df7230083ca +size 40589 diff --git a/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0000/metadata.json b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b76cd70c942e88590c157cec0d68a16bcc5740 --- /dev/null +++ b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0000/metadata.json @@ -0,0 +1,5061 @@ +{ + "task_id": "snap_pillar_topple_0000", + "domain": "snap_pillar_topple", + "generator": "G149_snap_pillar_topple", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A ball rests on top of a single slender pillar. 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"trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000195_pb_snap_pillar_topple_0196_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/prompt.txt b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..86b3a14e94e82f3e6ec7f9874848398bc4957631 --- /dev/null +++ b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/prompt.txt @@ -0,0 +1 @@ +A ball rests on top of a single slender pillar. The pillar topples over sideways, rotating about its base away from under the ball. Losing its support, the ball drops nearly straight down to the floor and bounces to rest. It is never suspended in mid-air. diff --git a/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/target_video.mp4 b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eac078bfd7e13d8ff16d507c7da29a555ec4fd42 --- /dev/null +++ b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b13c205024d0354c9b0957a6c4e57248473e92e632520e76168e035b6b394fc +size 25292 diff --git a/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/trajectory.npz b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..d01cacacfbc918b626e5a6c95835bf9aeae6639b --- /dev/null +++ b/eval/shard5/snap_pillar_topple_task/snap_pillar_topple_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd0674183b860b63b81ed66a7d6765f737dd069eef01004ff0bf80dc01d5b509 +size 5586 diff --git a/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/input_video.mp4 b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8927ea44d912bcf31e1887d8f2ff207dfb1a99ce --- /dev/null +++ b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f21d7aef7d2d20cd2a883619a6894d6dc4ab455984d9dc69a664b2226e3e6d3 +size 81746 diff --git a/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/metadata.json b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..669e23c6f4633af7237886e09ca6aca7778b2128 --- /dev/null +++ b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/metadata.json @@ -0,0 +1,33230 @@ +{ + "task_id": "stacked_drawers_reveal_0000", + "domain": "stacked_drawers_reveal", + "generator": "G131_stacked_drawers_reveal", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A small chest with two stacked drawers sits on a table. A single colored ball rests inside the lower drawer. The lower drawer slides straight OUT toward the viewer, carrying the ball with it, until the ball is plainly visible resting inside the open drawer; it holds open briefly, then the drawer slides back IN, hiding the ball inside the closed chest, then slides OUT again to reveal the SAME ball. 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"target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000177_pb_stacked_drawers_reveal_0178_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/prompt.txt b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..4e203e7a2baffca1eec19195f7c586faa223b3a7 --- /dev/null +++ b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0000/prompt.txt @@ -0,0 +1 @@ +A small chest with two stacked drawers sits on a table. A single colored ball rests inside the lower drawer. The lower drawer slides straight OUT toward the viewer, carrying the ball with it, until the ball is plainly visible resting inside the open drawer; it holds open briefly, then the drawer slides back IN, hiding the ball inside the closed chest, then slides OUT again to reveal the SAME ball. 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A single colored ball rests inside the lower drawer. The lower drawer slides straight OUT toward the viewer, carrying the ball with it, until the ball is plainly visible resting inside the open drawer; it holds open briefly, then the drawer slides back IN, hiding the ball inside the closed chest, then slides OUT again to reveal the SAME ball. 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"video_split": { + "mode": "half", + "n_frames": 120, + "midpoint_index": 60, + "split_index": 60, + "method": "midpoint" + }, + "trajectory": { + "file": "trajectory.npz", + "fields": { + "xpos": "[T, N, 3] world body positions", + "xquat": "[T, N, 4] world body orientation, [w, x, y, z]", + "qpos": "[T, N*7] free-body generalized coords: per body [x y z qw qx qy qz]", + "qvel": "[T, N*6] free-body generalized velocity: per body [vx vy vz wx wy wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 15, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000177_pb_stacked_drawers_reveal_0178_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0001/prompt.txt b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..4e203e7a2baffca1eec19195f7c586faa223b3a7 --- /dev/null +++ b/eval/shard5/stacked_drawers_reveal_task/stacked_drawers_reveal_0001/prompt.txt @@ -0,0 +1 @@ +A small chest with two stacked drawers sits on a table. A single colored ball rests inside the lower drawer. The lower drawer slides straight OUT toward the viewer, carrying the ball with it, until the ball is plainly visible resting inside the open drawer; it holds open briefly, then the drawer slides back IN, hiding the ball inside the closed chest, then slides OUT again to reveal the SAME ball. 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A ball rolls up to the closed arm and is stopped -- it decelerates to rest against the arm, unable to pass. 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A ball rolls up to the closed arm and is stopped -- it decelerates to rest against the arm, unable to pass. The arm stays down the whole time (the blocked case): the ball cannot get through. diff --git a/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0000/target_video.mp4 b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0000/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad1e7f2fdce9d405325224b0235327d7f04870e6 --- /dev/null +++ b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0000/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd45c615fc3d7f89c066cd60baede5ca3c1f4570cfeec0ec4076725cb057cee6 +size 33574 diff --git a/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0000/trajectory.npz b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0000/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..dc7b97a2d7f37a653a7c69ff974494ed302f360c --- /dev/null +++ b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0000/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d80465a3eca524ae6697edf52aee0b83ee0ed5bae53410e27813582a6b44b37 +size 4998 diff --git a/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/input_video.mp4 b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ebf302c7461b5bc6becfe5ab7754030463d22594 --- /dev/null +++ b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:980d1ba38780f689481c0e2f394568b27da0b8393f776dd507fbd9bd3584cbbf +size 42544 diff --git a/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/metadata.json b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c52be15755685e7f501050dd2ce6aa188c5fb86e --- /dev/null +++ b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/metadata.json @@ -0,0 +1,11568 @@ +{ + "task_id": "swing_arm_barrier_stop_0001", + "domain": "swing_arm_barrier_stop", + "generator": "G128_swing_arm_barrier_stop", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A horizontal parking-gate barrier arm, hinged at one end on a post, is down across a flat track, blocking it. A ball rolls up to the closed arm and is stopped -- it decelerates to rest against the arm, unable to pass. 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A ball rolls up to the closed arm and is stopped -- it decelerates to rest against the arm, unable to pass. The arm stays down the whole time (the blocked case): the ball cannot get through. diff --git a/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/target_video.mp4 b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..760172330759f6103b03e6418238f6cc001ceec0 --- /dev/null +++ b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c5e2552e317edd727db15e11b2606847ab46c8c9af3049e6f4d0ea0febea07a +size 32501 diff --git a/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/trajectory.npz b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..dc7b97a2d7f37a653a7c69ff974494ed302f360c --- /dev/null +++ b/eval/shard5/swing_arm_barrier_stop_task/swing_arm_barrier_stop_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d80465a3eca524ae6697edf52aee0b83ee0ed5bae53410e27813582a6b44b37 +size 4998 diff --git a/eval/shard5/tilt_platform_rolloff_task/tilt_platform_rolloff_0000/input_video.mp4 b/eval/shard5/tilt_platform_rolloff_task/tilt_platform_rolloff_0000/input_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59a771b0e599f1df38bc1a9ed0955ac3b5b2d200 --- /dev/null +++ b/eval/shard5/tilt_platform_rolloff_task/tilt_platform_rolloff_0000/input_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f83e95d48cdf7862acf462a4b486a888595e38aaf629d62e782a8cb4d946288 +size 48114 diff --git a/eval/shard5/tilt_platform_rolloff_task/tilt_platform_rolloff_0000/metadata.json b/eval/shard5/tilt_platform_rolloff_task/tilt_platform_rolloff_0000/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e00c2d3954625cad289d03f22090d2d3476be6 --- /dev/null +++ b/eval/shard5/tilt_platform_rolloff_task/tilt_platform_rolloff_0000/metadata.json @@ -0,0 +1,7227 @@ +{ + "task_id": "tilt_platform_rolloff_0000", + "domain": "tilt_platform_rolloff", + "generator": "G145_tilt_platform_rolloff", + "task_name": "permanence_physics", + "schema_version": "permanencebench-vbvr-meta-v6-generator", + "modality": "v2v", + "vbvr_compatibility": { + "v2v": { + "required_model_inputs": [ + "input_video.mp4", + "prompt.txt" + ], + "reference_outputs": [ + "target_video.mp4" + ] + } + }, + "prompt": "A ball rests on a flat platform held level on a pivot. 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The platform tilts down on one side; the ball rolls to the low edge, rolls off, and falls to the floor, bouncing before it settles. 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The top half lifts straight up and off with a slight twist, revealing the ball resting inside the bottom half; it holds open briefly, then the top half lowers back down and twists closed over the ball, then lifts off again to reveal the SAME ball. 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+ "xpos": "[T, N, 3] world body positions", + "xquat": "[T, N, 4] world body orientation, [w, x, y, z]", + "qpos": "[T, N*7] free-body generalized coords: per body [x y z qw qx qy qz]", + "qvel": "[T, N*6] free-body generalized velocity: per body [vx vy vz wx wy wz]", + "body_names": "[N] object names", + "body_roles": "[N] pb_role per body", + "is_target": "[N] bool target mask", + "fps": "scalar", + "frame_start": "scalar", + "frame_end": "scalar" + }, + "note": "Blender is not a reduced-coordinate engine; qpos/qvel expose each body as a FREE body (7-dof pose, 6-dof finite-differenced velocity), not true MuJoCo generalized coordinates.", + "stats": { + "frames": 120, + "bodies": 14, + "dof_per_body": 7 + } + }, + "output_files": { + "input_video": "input_video.mp4", + "target_video": "target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000171_pb_two_carts_reveal_empty_0172_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/two_carts_reveal_empty_task/two_carts_reveal_empty_0001/prompt.txt b/eval/shard5/two_carts_reveal_empty_task/two_carts_reveal_empty_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..224303800af2863ecc977e04c60e55102331e68c --- /dev/null +++ b/eval/shard5/two_carts_reveal_empty_task/two_carts_reveal_empty_0001/prompt.txt @@ -0,0 +1 @@ +Two identical covered carts sit at opposite ends of a table. Both covers lift to display their contents: a ball is under the left cart, the right cart is empty. The covers close, and the two carts roll toward each other, cross past one another in the middle, and continue to the opposite ends, the ball riding with its cart. 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"target_video.mp4", + "prompt": "prompt.txt", + "trajectory": "trajectory.npz", + "metadata": "metadata.json" + }, + "provenance": { + "generator_repo": "VR-Object-Permanence/generator", + "render_backend": "core/render.py", + "source_script": "pb_task_00000167_pb_wiper_screen_occlusion_0168_blender.py" + } +} \ No newline at end of file diff --git a/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/prompt.txt b/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..16fe77e8d6eb98d27884f50c3016d3e644b2f15f --- /dev/null +++ b/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/prompt.txt @@ -0,0 +1 @@ +A single object stands on a table. A tall vertical screen, hinged at its base on one side, sweeps horizontally across in front of the object like a windshield wiper -- fully covering the object at the middle of its sweep, then continuing on and uncovering it. The screen ends clear of the object, which is unchanged and in the same place. diff --git a/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/target_video.mp4 b/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/target_video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ff9dc192e68d48a332735ce2c196e3253ad0b22c --- /dev/null +++ b/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/target_video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91b3ecf6eca540c09703175080f68fd03ed620a79024ad5c46031b9f6bb222c0 +size 73704 diff --git a/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/trajectory.npz b/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/trajectory.npz new file mode 100644 index 0000000000000000000000000000000000000000..9864bba5058d4a07e37bc9e84ad190da80716d4c --- /dev/null +++ b/eval/shard5/wiper_screen_occlusion_task/wiper_screen_occlusion_0001/trajectory.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad3872694cbfbc82caf3bbceed34615c6976712f299235b270f2393368d2070e +size 3688