Datasets:
Publish Ropedia task-suite derived artifacts
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- DATA_NOTICE.md +25 -0
- README.md +71 -0
- assets/task_architectures.svg +216 -0
- assets/task_suite_infographic.png +3 -0
- docs/.nojekyll +1 -0
- docs/assets/charts/cross_modal_retrieval.svg +29 -0
- docs/assets/charts/episode_task_scores.svg +53 -0
- docs/assets/charts/feature_blocks.svg +68 -0
- docs/assets/charts/model_macro_f1.svg +29 -0
- docs/assets/pipeline_diagram.png +3 -0
- docs/assets/pipeline_diagram.svg +63 -0
- docs/assets/task_architectures.svg +216 -0
- docs/assets/task_suite_infographic.png +3 -0
- docs/assets/task_suite_infographic_base.png +3 -0
- docs/data/summary_metrics.json +392 -0
- docs/index.html +629 -0
- notes/all_modalities_model.md +148 -0
- notes/episode_task_suite.md +176 -0
- notes/min_action_model.md +85 -0
- notes/reproducibility_audit.md +124 -0
- requirements.txt +8 -0
- results/episode_task_suite/available_modalities.json +83 -0
- results/episode_task_suite/caption_grounding/metrics.json +15 -0
- results/episode_task_suite/contact_prediction/confusion_matrix.csv +2 -0
- results/episode_task_suite/contact_prediction/metrics.json +19 -0
- results/episode_task_suite/contact_prediction/per_class_metrics.csv +2 -0
- results/episode_task_suite/contact_prediction/predictions.csv +349 -0
- results/episode_task_suite/cross_modal_retrieval/metrics.json +15 -0
- results/episode_task_suite/feature_manifest.json +104 -0
- results/episode_task_suite/hand_trajectory_forecast/metrics.json +15 -0
- results/episode_task_suite/misalignment_detection/metrics.json +19 -0
- results/episode_task_suite/misalignment_detection/predictions.csv +693 -0
- results/episode_task_suite/modality_reconstruction/metrics.json +12 -0
- results/episode_task_suite/next_action/confusion_matrix.csv +19 -0
- results/episode_task_suite/next_action/metrics.json +24 -0
- results/episode_task_suite/next_action/per_class_metrics.csv +19 -0
- results/episode_task_suite/next_action/predictions.csv +349 -0
- results/episode_task_suite/object_relevance/metrics.json +14 -0
- results/episode_task_suite/object_relevance/object_vocab.json +36 -0
- results/episode_task_suite/object_relevance/predictions.csv +349 -0
- results/episode_task_suite/summary_report.json +236 -0
- results/episode_task_suite/temporal_order/metrics.json +19 -0
- results/episode_task_suite/temporal_order/predictions.csv +697 -0
- results/episode_task_suite/timeline_action/confusion_matrix.csv +19 -0
- results/episode_task_suite/timeline_action/metrics.json +24 -0
- results/episode_task_suite/timeline_action/per_class_metrics.csv +19 -0
- results/episode_task_suite/timeline_action/predictions.csv +344 -0
- results/episode_task_suite/timeline_subtask/confusion_matrix.csv +15 -0
- results/episode_task_suite/timeline_subtask/metrics.json +24 -0
- results/episode_task_suite/timeline_subtask/per_class_metrics.csv +15 -0
DATA_NOTICE.md
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# Data Notice
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This repository does not redistribute raw Ropedia / Xperience-10M data.
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To reproduce the experiments, download the public sample from Hugging Face:
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```bash
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hf download ropedia-ai/xperience-10m-sample \
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--repo-type dataset \
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--local-dir data/sample/xperience-10m-sample
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```
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Expected files:
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```text
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annotation.hdf5
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fisheye_cam0.mp4
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fisheye_cam1.mp4
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fisheye_cam2.mp4
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fisheye_cam3.mp4
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stereo_left.mp4
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stereo_right.mp4
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```
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Use of the dataset is governed by the original Ropedia / Xperience-10M dataset terms.
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README.md
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---
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license: other
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pretty_name: Ropedia Episode Task Suite Artifacts
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tags:
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- robotics
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- embodied-ai
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- multimodal
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- ropedia
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- xperience-10m
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- evaluation
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- baseline
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- retrieval
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task_categories:
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- robotics
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- time-series-forecasting
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- text-retrieval
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language:
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- en
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size_categories:
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- n<1K
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---
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# Ropedia Episode Task Suite Artifacts
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This dataset repo contains derived experiment artifacts for the public Ropedia / Xperience-10M sample episode.
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It does **not** contain raw Ropedia videos or raw `annotation.hdf5`. Download raw data only from the official Ropedia / Hugging Face sources and follow their terms.
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## What Is Included
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- `results/**/*.json`: verified metrics and metadata
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- `results/**/*.csv`: predictions, confusion matrices, per-class metrics, windows, boundaries
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- `docs/assets/*.svg` and `docs/assets/*.png`: generated diagrams and charts
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- `docs/data/summary_metrics.json`: dashboard-readable summary bundle
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- `scripts/*.py`: reproduction scripts
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- `notes/*.md`: interpretation and reproducibility notes
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Large derived `.npz` arrays are intentionally kept in the companion model repo where the minimal baseline weights live:
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https://huggingface.co/cy0307/ropedia-minimal-task-baselines
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## Links
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| Resource | URL |
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| --- | --- |
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| Hugging Face Space | https://huggingface.co/spaces/cy0307/ropedia-episode-task-suite |
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| Minimal model repo | https://huggingface.co/cy0307/ropedia-minimal-task-baselines |
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| GitHub repo | https://github.com/ChaoYue0307/ropedia-episode-task-suite |
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| GitHub Pages dashboard | https://chaoyue0307.github.io/ropedia-episode-task-suite/ |
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| Ropedia website | https://ropedia.com/dataset |
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| Xperience-10M release page | https://ropedia.com/blog/20260316_xperience_10m |
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| Ropedia GitHub organization | https://github.com/Ropedia |
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| HOMIE Toolkit | https://github.com/Ropedia/HOMIE-toolkit |
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| Xperience-10M dataset | https://huggingface.co/datasets/ropedia-ai/xperience-10m |
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| Xperience-10M sample | https://huggingface.co/datasets/ropedia-ai/xperience-10m-sample |
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## Scope
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The artifacts validate one public sample episode:
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- 5,821 aligned frames
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- 1,161 sliding windows
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- 8,378 all-modality feature dimensions
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- 12 supervised/self-supervised task definitions
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- chronological 70/30 split
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For research claims, rerun the same scripts over many episodes and evaluate on held-out episodes.
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assets/task_architectures.svg
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assets/task_suite_infographic.png
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Git LFS Details
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docs/.nojekyll
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docs/assets/charts/cross_modal_retrieval.svg
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docs/assets/charts/episode_task_scores.svg
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docs/assets/charts/feature_blocks.svg
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docs/assets/charts/model_macro_f1.svg
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docs/assets/pipeline_diagram.png
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Git LFS Details
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docs/assets/pipeline_diagram.svg
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docs/assets/task_architectures.svg
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docs/assets/task_suite_infographic.png
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Git LFS Details
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docs/assets/task_suite_infographic_base.png
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Git LFS Details
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docs/data/summary_metrics.json
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{
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"models": {
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"motion_action": {
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"accuracy": 0.9828178694158075,
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"balanced_accuracy": 0.9643518518518519,
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"macro_f1": 0.96884342657456,
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"weighted_f1": 0.9824311468352843,
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"num_eval_windows": 291,
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"num_classes": 18,
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{
|
| 386 |
+
"name": "calibration",
|
| 387 |
+
"start": 8261,
|
| 388 |
+
"end": 8378,
|
| 389 |
+
"dim": 117
|
| 390 |
+
}
|
| 391 |
+
]
|
| 392 |
+
}
|
docs/index.html
ADDED
|
@@ -0,0 +1,629 @@
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|
| 1 |
+
<!doctype html>
|
| 2 |
+
<html lang="en">
|
| 3 |
+
<head>
|
| 4 |
+
<meta charset="utf-8">
|
| 5 |
+
<meta name="viewport" content="width=device-width, initial-scale=1">
|
| 6 |
+
<title>Ropedia Episode Task Suite</title>
|
| 7 |
+
<meta name="description" content="A polished all-modality task-suite repo for one public Ropedia / Xperience-10M sample episode.">
|
| 8 |
+
<style>
|
| 9 |
+
:root {
|
| 10 |
+
color-scheme: light;
|
| 11 |
+
--ink: #10141f;
|
| 12 |
+
--muted: #5b6475;
|
| 13 |
+
--line: #dce2ec;
|
| 14 |
+
--soft-line: #edf1f6;
|
| 15 |
+
--page: #ffffff;
|
| 16 |
+
--panel: #f8fafc;
|
| 17 |
+
--blue: #1f63e9;
|
| 18 |
+
--cyan: #008b9a;
|
| 19 |
+
--green: #0a7f55;
|
| 20 |
+
--amber: #b65b04;
|
| 21 |
+
--red: #b42318;
|
| 22 |
+
--shadow: 0 18px 55px rgba(24, 34, 54, 0.10);
|
| 23 |
+
--radius: 8px;
|
| 24 |
+
--max: 1180px;
|
| 25 |
+
}
|
| 26 |
+
|
| 27 |
+
* { box-sizing: border-box; }
|
| 28 |
+
html { scroll-behavior: smooth; }
|
| 29 |
+
body {
|
| 30 |
+
margin: 0;
|
| 31 |
+
font-family: Inter, ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
|
| 32 |
+
color: var(--ink);
|
| 33 |
+
background: var(--page);
|
| 34 |
+
line-height: 1.5;
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
a { color: inherit; }
|
| 38 |
+
.wrap { width: min(var(--max), calc(100% - 48px)); margin: 0 auto; }
|
| 39 |
+
|
| 40 |
+
.site-nav {
|
| 41 |
+
position: sticky;
|
| 42 |
+
top: 0;
|
| 43 |
+
z-index: 20;
|
| 44 |
+
background: rgba(255,255,255,0.92);
|
| 45 |
+
backdrop-filter: blur(18px);
|
| 46 |
+
border-bottom: 1px solid var(--soft-line);
|
| 47 |
+
}
|
| 48 |
+
.nav-inner {
|
| 49 |
+
height: 64px;
|
| 50 |
+
display: flex;
|
| 51 |
+
align-items: center;
|
| 52 |
+
justify-content: space-between;
|
| 53 |
+
gap: 24px;
|
| 54 |
+
}
|
| 55 |
+
.brand {
|
| 56 |
+
display: flex;
|
| 57 |
+
align-items: center;
|
| 58 |
+
gap: 12px;
|
| 59 |
+
font-weight: 760;
|
| 60 |
+
letter-spacing: 0;
|
| 61 |
+
text-decoration: none;
|
| 62 |
+
}
|
| 63 |
+
.mark {
|
| 64 |
+
width: 34px;
|
| 65 |
+
height: 34px;
|
| 66 |
+
border: 1px solid #c8d4e6;
|
| 67 |
+
display: grid;
|
| 68 |
+
place-items: center;
|
| 69 |
+
color: var(--blue);
|
| 70 |
+
background: #fff;
|
| 71 |
+
box-shadow: 0 8px 22px rgba(31, 99, 233, 0.12);
|
| 72 |
+
}
|
| 73 |
+
.nav-links {
|
| 74 |
+
display: flex;
|
| 75 |
+
align-items: center;
|
| 76 |
+
gap: 20px;
|
| 77 |
+
font-size: 14px;
|
| 78 |
+
color: #394255;
|
| 79 |
+
}
|
| 80 |
+
.nav-links a { text-decoration: none; }
|
| 81 |
+
.nav-links a:hover { color: var(--blue); }
|
| 82 |
+
.nav-action {
|
| 83 |
+
border: 1px solid var(--ink);
|
| 84 |
+
background: var(--ink);
|
| 85 |
+
color: white;
|
| 86 |
+
height: 36px;
|
| 87 |
+
padding: 0 14px;
|
| 88 |
+
display: inline-flex;
|
| 89 |
+
align-items: center;
|
| 90 |
+
gap: 8px;
|
| 91 |
+
text-decoration: none;
|
| 92 |
+
font-weight: 650;
|
| 93 |
+
border-radius: 6px;
|
| 94 |
+
}
|
| 95 |
+
|
| 96 |
+
.hero {
|
| 97 |
+
border-bottom: 1px solid var(--soft-line);
|
| 98 |
+
background:
|
| 99 |
+
linear-gradient(90deg, rgba(31,99,233,0.08) 1px, transparent 1px),
|
| 100 |
+
linear-gradient(0deg, rgba(31,99,233,0.06) 1px, transparent 1px);
|
| 101 |
+
background-size: 54px 54px;
|
| 102 |
+
}
|
| 103 |
+
.hero-inner {
|
| 104 |
+
min-height: 680px;
|
| 105 |
+
display: grid;
|
| 106 |
+
grid-template-columns: minmax(0, 1.03fr) minmax(420px, 0.97fr);
|
| 107 |
+
gap: 46px;
|
| 108 |
+
align-items: center;
|
| 109 |
+
padding: 64px 0 54px;
|
| 110 |
+
}
|
| 111 |
+
h1 {
|
| 112 |
+
margin: 0;
|
| 113 |
+
font-size: clamp(46px, 7vw, 86px);
|
| 114 |
+
line-height: 0.95;
|
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|
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+
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|
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+
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|
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+
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|
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+
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|
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|
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+
.nav-links { display: none; }
|
| 390 |
+
}
|
| 391 |
+
@media (max-width: 640px) {
|
| 392 |
+
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|
| 393 |
+
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|
| 394 |
+
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|
| 395 |
+
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|
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+
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|
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+
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|
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+
</style>
|
| 399 |
+
</head>
|
| 400 |
+
<body>
|
| 401 |
+
<nav class="site-nav">
|
| 402 |
+
<div class="wrap nav-inner">
|
| 403 |
+
<a class="brand" href="#top" aria-label="Ropedia Episode Task Suite home">
|
| 404 |
+
<span class="mark" aria-hidden="true">R</span>
|
| 405 |
+
<span>Ropedia Episode Task Suite</span>
|
| 406 |
+
</a>
|
| 407 |
+
<div class="nav-links" aria-label="Page navigation">
|
| 408 |
+
<a href="#pipeline">Pipeline</a>
|
| 409 |
+
<a href="#models">Models</a>
|
| 410 |
+
<a href="#architectures">Arch</a>
|
| 411 |
+
<a href="#tasks">Tasks</a>
|
| 412 |
+
<a href="#features">Signals</a>
|
| 413 |
+
<a href="#artifacts">Artifacts</a>
|
| 414 |
+
<a class="nav-action" href="https://github.com/ChaoYue0307/ropedia-episode-task-suite">GitHub</a>
|
| 415 |
+
</div>
|
| 416 |
+
</div>
|
| 417 |
+
</nav>
|
| 418 |
+
|
| 419 |
+
<header class="hero" id="top">
|
| 420 |
+
<div class="wrap hero-inner">
|
| 421 |
+
<div>
|
| 422 |
+
<h1>One embodied episode, twelve ways to learn from it.</h1>
|
| 423 |
+
<p class="hero-copy">
|
| 424 |
+
A polished, reproducible task suite for the public Ropedia / Xperience-10M sample:
|
| 425 |
+
all-modality features, supervised baselines, self-supervised probes, metrics, artifacts,
|
| 426 |
+
and a clear path from single-episode debugging to real cross-episode evaluation.
|
| 427 |
+
</p>
|
| 428 |
+
<div class="hero-actions">
|
| 429 |
+
<a class="button primary" href="#tasks">Explore tasks</a>
|
| 430 |
+
<a class="button" href="https://github.com/ChaoYue0307/ropedia-episode-task-suite">View repository</a>
|
| 431 |
+
<a class="button" href="data/summary_metrics.json">Open summary JSON</a>
|
| 432 |
+
</div>
|
| 433 |
+
<div class="hero-stats">
|
| 434 |
+
<div class="stat"><strong>5,821</strong><span>frames in sample episode</span></div>
|
| 435 |
+
<div class="stat"><strong>1,161</strong><span>20-frame windows</span></div>
|
| 436 |
+
<div class="stat"><strong>8,378</strong><span>all-modality feature dimensions</span></div>
|
| 437 |
+
<div class="stat"><strong>12</strong><span>end-to-end task definitions</span></div>
|
| 438 |
+
</div>
|
| 439 |
+
</div>
|
| 440 |
+
<div class="hero-panel" aria-label="Signal summary">
|
| 441 |
+
<div class="panel-top">
|
| 442 |
+
<span>all-modality feature allocation</span>
|
| 443 |
+
<span>window vector</span>
|
| 444 |
+
</div>
|
| 445 |
+
<div class="signal"><code>mocap</code><div class="track"><span style="--w:25.3%;--c:#1f63e9"></span></div><strong>2,121</strong></div>
|
| 446 |
+
<div class="signal"><code>camera+imu</code><div class="track"><span style="--w:1.5%;--c:#008b9a"></span></div><strong>126</strong></div>
|
| 447 |
+
<div class="signal"><code>depth</code><div class="track"><span style="--w:11.7%;--c:#0a7f55"></span></div><strong>980</strong></div>
|
| 448 |
+
<div class="signal"><code>video</code><div class="track"><span style="--w:49.1%;--c:#b65b04"></span></div><strong>4,116</strong></div>
|
| 449 |
+
<div class="signal"><code>language</code><div class="track"><span style="--w:10.7%;--c:#7b5d12"></span></div><strong>896</strong></div>
|
| 450 |
+
<div class="signal"><code>static</code><div class="track"><span style="--w:1.7%;--c:#475569"></span></div><strong>139</strong></div>
|
| 451 |
+
</div>
|
| 452 |
+
</div>
|
| 453 |
+
</header>
|
| 454 |
+
|
| 455 |
+
<main>
|
| 456 |
+
<section id="pipeline">
|
| 457 |
+
<div class="wrap">
|
| 458 |
+
<div class="section-head">
|
| 459 |
+
<h2>Pipeline from raw episode to task suite.</h2>
|
| 460 |
+
<p>Every script works from the same data contract: aligned multimodal windows, explicit labels, cached feature extraction, and artifact-first evaluation.</p>
|
| 461 |
+
</div>
|
| 462 |
+
<div class="two-col">
|
| 463 |
+
<img class="pipeline-image" src="assets/pipeline_diagram.svg" alt="Verified Ropedia all-modality pipeline diagram">
|
| 464 |
+
<div class="callout">
|
| 465 |
+
<h3>What this project proves</h3>
|
| 466 |
+
<p>It proves the full engineering loop: reading Ropedia sample data, aligning modalities, converting them into model-ready windows, defining meaningful tasks, producing metrics, and packaging every artifact for review.</p>
|
| 467 |
+
<br>
|
| 468 |
+
<h3>What it does not prove</h3>
|
| 469 |
+
<p>It does not claim general embodied intelligence. A single episode cannot support cross-environment generalization; that requires many episodes and held-out episode splits.</p>
|
| 470 |
+
</div>
|
| 471 |
+
</div>
|
| 472 |
+
</div>
|
| 473 |
+
</section>
|
| 474 |
+
|
| 475 |
+
<section id="models">
|
| 476 |
+
<div class="wrap">
|
| 477 |
+
<div class="section-head">
|
| 478 |
+
<h2>Baselines with transparent artifacts.</h2>
|
| 479 |
+
<p>Motion-only and all-modality classifiers use the same lightweight softmax model so the comparison stays readable on a laptop.</p>
|
| 480 |
+
</div>
|
| 481 |
+
<div class="models">
|
| 482 |
+
<article class="model"><h3>Motion-only action</h3><span class="score">0.9688</span><span class="meta">macro-F1, 18 classes</span></article>
|
| 483 |
+
<article class="model"><h3>All-modality action</h3><span class="score">0.9791</span><span class="meta">macro-F1, 8,378 features</span></article>
|
| 484 |
+
<article class="model"><h3>Motion-only subtask</h3><span class="score">0.9528</span><span class="meta">macro-F1, 14 classes</span></article>
|
| 485 |
+
<article class="model"><h3>All-modality subtask</h3><span class="score">0.9308</span><span class="meta">macro-F1, chronological caveats</span></article>
|
| 486 |
+
</div>
|
| 487 |
+
<img class="chart" src="assets/charts/model_macro_f1.svg" alt="Macro-F1 comparison chart">
|
| 488 |
+
</div>
|
| 489 |
+
</section>
|
| 490 |
+
|
| 491 |
+
<section id="architectures">
|
| 492 |
+
<div class="wrap">
|
| 493 |
+
<div class="section-head">
|
| 494 |
+
<h2>The 12 tasks use three minimal head families.</h2>
|
| 495 |
+
<p>The diagram separates the shared episode-window feature pipeline from the task-specific heads: linear softmax, ridge projection/regression, and multi-label logistic regression.</p>
|
| 496 |
+
</div>
|
| 497 |
+
<img class="architecture-image" src="assets/task_architectures.svg" alt="Verified minimal architecture diagram for all 12 Ropedia episode tasks">
|
| 498 |
+
</div>
|
| 499 |
+
</section>
|
| 500 |
+
|
| 501 |
+
<section id="tasks">
|
| 502 |
+
<div class="wrap">
|
| 503 |
+
<div class="section-head">
|
| 504 |
+
<h2>Single-episode tasks, deliberately scoped.</h2>
|
| 505 |
+
<p>These tasks turn one episode into a lab for temporal structure, modality alignment, retrieval, reconstruction, and action understanding.</p>
|
| 506 |
+
</div>
|
| 507 |
+
<img class="task-suite-image" src="assets/task_suite_infographic.png" alt="ChatGPT-image-backed infographic showing all 12 Ropedia episode tasks">
|
| 508 |
+
<div class="task-toolbar" aria-label="Task filters">
|
| 509 |
+
<button class="filter active" data-filter="all">All tasks</button>
|
| 510 |
+
<button class="filter" data-filter="supervised">Supervised</button>
|
| 511 |
+
<button class="filter" data-filter="forecast">Forecast</button>
|
| 512 |
+
<button class="filter" data-filter="retrieval">Retrieval</button>
|
| 513 |
+
<button class="filter" data-filter="diagnostic">Diagnostic</button>
|
| 514 |
+
</div>
|
| 515 |
+
<div class="task-grid" id="taskGrid">
|
| 516 |
+
<article class="task-card" data-kind="supervised"><div class="task-top"><span class="task-name">timeline_action</span><span class="tag supervised">supervised</span></div><p>All modalities to current action label. Chronological split exposes unseen future actions.</p><div class="metric-row"><span>macro-F1</span><strong>0.0500</strong></div><div class="mini-bar"><span style="--w:5%;--c:#1f63e9"></span></div></article>
|
| 517 |
+
<article class="task-card" data-kind="supervised"><div class="task-top"><span class="task-name">timeline_subtask</span><span class="tag supervised">supervised</span></div><p>All modalities to current subtask label. Useful for segmentation diagnostics.</p><div class="metric-row"><span>macro-F1</span><strong>0.0495</strong></div><div class="mini-bar"><span style="--w:5%;--c:#1f63e9"></span></div></article>
|
| 518 |
+
<article class="task-card" data-kind="diagnostic"><div class="task-top"><span class="task-name">transition_detection</span><span class="tag diagnostic">diagnostic</span></div><p>Predict steady vs action boundary. Highlights task-transition localization quality.</p><div class="metric-row"><span>macro-F1</span><strong>0.6552</strong></div><div class="mini-bar"><span style="--w:65.5%;--c:#b65b04"></span></div></article>
|
| 519 |
+
<article class="task-card" data-kind="supervised"><div class="task-top"><span class="task-name">next_action</span><span class="tag supervised">supervised</span></div><p>Current multimodal window to action 20 frames later. Tests short-horizon task flow.</p><div class="metric-row"><span>macro-F1</span><strong>0.0593</strong></div><div class="mini-bar"><span style="--w:5.9%;--c:#1f63e9"></span></div></article>
|
| 520 |
+
<article class="task-card" data-kind="forecast"><div class="task-top"><span class="task-name">hand_trajectory_forecast</span><span class="tag forecast">forecast</span></div><p>Predict future left/right hand 3D joints. Closer to imitation-learning style signals.</p><div class="metric-row"><span>MPJPE</span><strong>0.8223</strong></div><div class="mini-bar"><span style="--w:48%;--c:#0a7f55"></span></div></article>
|
| 521 |
+
<article class="task-card" data-kind="supervised"><div class="task-top"><span class="task-name">contact_prediction</span><span class="tag supervised">supervised</span></div><p>Non-contact modalities to binary contact. Degenerate in this sample because one class dominates.</p><div class="metric-row"><span>accuracy</span><strong>1.0000</strong></div><div class="mini-bar"><span style="--w:100%;--c:#0a7f55"></span></div></article>
|
| 522 |
+
<article class="task-card" data-kind="supervised"><div class="task-top"><span class="task-name">object_relevance</span><span class="tag supervised">supervised</span></div><p>Predict relevant object set from non-caption modalities.</p><div class="metric-row"><span>micro-F1</span><strong>0.1839</strong></div><div class="mini-bar"><span style="--w:18.4%;--c:#1f63e9"></span></div></article>
|
| 523 |
+
<article class="task-card" data-kind="retrieval"><div class="task-top"><span class="task-name">caption_grounding</span><span class="tag retrieval">retrieval</span></div><p>Caption objects/interaction query to matching sensor window.</p><div class="metric-row"><span>MRR</span><strong>0.0172</strong></div><div class="mini-bar"><span style="--w:1.7%;--c:#008b9a"></span></div></article>
|
| 524 |
+
<article class="task-card" data-kind="retrieval"><div class="task-top"><span class="task-name">cross_modal_retrieval</span><span class="tag retrieval">retrieval</span></div><p>Motion/IMU/camera query retrieves matching depth/video window. Strongest single-episode signal.</p><div class="metric-row"><span>top-5</span><strong>0.3764</strong></div><div class="mini-bar"><span style="--w:37.6%;--c:#008b9a"></span></div></article>
|
| 525 |
+
<article class="task-card" data-kind="forecast"><div class="task-top"><span class="task-name">modality_reconstruction</span><span class="tag forecast">forecast</span></div><p>Motion/IMU/camera to depth/video feature vector.</p><div class="metric-row"><span>R2</span><strong>-0.0160</strong></div><div class="mini-bar"><span style="--w:2%;--c:#b42318"></span></div></article>
|
| 526 |
+
<article class="task-card" data-kind="diagnostic"><div class="task-top"><span class="task-name">temporal_order</span><span class="tag diagnostic">diagnostic</span></div><p>Two adjacent windows to correct vs reversed order.</p><div class="metric-row"><span>F1</span><strong>0.5487</strong></div><div class="mini-bar"><span style="--w:54.9%;--c:#b65b04"></span></div></article>
|
| 527 |
+
<article class="task-card" data-kind="diagnostic"><div class="task-top"><span class="task-name">misalignment_detection</span><span class="tag diagnostic">diagnostic</span></div><p>Motion+visual pair to aligned vs shifted by eight windows.</p><div class="metric-row"><span>F1</span><strong>0.4866</strong></div><div class="mini-bar"><span style="--w:48.7%;--c:#b65b04"></span></div></article>
|
| 528 |
+
</div>
|
| 529 |
+
</div>
|
| 530 |
+
</section>
|
| 531 |
+
|
| 532 |
+
<section id="features">
|
| 533 |
+
<div class="wrap">
|
| 534 |
+
<div class="section-head">
|
| 535 |
+
<h2>All-modality features are inspectable.</h2>
|
| 536 |
+
<p>The point is not hidden complexity. Every block has a clear source modality and an explicit dimensional footprint.</p>
|
| 537 |
+
</div>
|
| 538 |
+
<img class="chart" src="assets/charts/feature_blocks.svg" alt="All modality feature block chart">
|
| 539 |
+
</div>
|
| 540 |
+
</section>
|
| 541 |
+
|
| 542 |
+
<section id="diagnostics">
|
| 543 |
+
<div class="wrap">
|
| 544 |
+
<div class="section-head">
|
| 545 |
+
<h2>Diagnostics separate easy wins from real gaps.</h2>
|
| 546 |
+
<p>The charts make the main lesson visible: within-episode supervised labels are easy under some splits, while retrieval, grounding, forecasting, and alignment remain the useful probes.</p>
|
| 547 |
+
</div>
|
| 548 |
+
<div class="chart-grid">
|
| 549 |
+
<img class="chart" src="assets/charts/episode_task_scores.svg" alt="Episode task suite score chart">
|
| 550 |
+
<img class="chart" src="assets/charts/cross_modal_retrieval.svg" alt="Cross modal retrieval chart">
|
| 551 |
+
</div>
|
| 552 |
+
</div>
|
| 553 |
+
</section>
|
| 554 |
+
|
| 555 |
+
<section id="artifacts">
|
| 556 |
+
<div class="wrap">
|
| 557 |
+
<div class="section-head">
|
| 558 |
+
<h2>Everything important is checked in.</h2>
|
| 559 |
+
<p>Metrics, predictions, confusion matrices, feature manifests, model weights, and derived window artifacts are committed so the repo is reviewable without rerunning first.</p>
|
| 560 |
+
</div>
|
| 561 |
+
<div class="artifact-grid">
|
| 562 |
+
<article class="artifact"><h3>Task-suite report</h3><p>One JSON file with every task metric and split detail.</p><a href="https://github.com/ChaoYue0307/ropedia-episode-task-suite/blob/main/results/episode_task_suite/summary_report.json">summary_report.json</a></article>
|
| 563 |
+
<article class="artifact"><h3>Feature manifest</h3><p>Start/end index and dimension for every all-modality feature block.</p><a href="https://github.com/ChaoYue0307/ropedia-episode-task-suite/blob/main/results/episode_task_suite/feature_manifest.json">feature_manifest.json</a></article>
|
| 564 |
+
<article class="artifact"><h3>Cross-modal retrieval</h3><p>The strongest self-supervised signal from the single episode.</p><a href="https://github.com/ChaoYue0307/ropedia-episode-task-suite/blob/main/results/episode_task_suite/cross_modal_retrieval/metrics.json">metrics.json</a></article>
|
| 565 |
+
<article class="artifact"><h3>All-modality action model</h3><p>Classifier metrics, predictions, confusion matrix, and model weights.</p><a href="https://github.com/ChaoYue0307/ropedia-episode-task-suite/blob/main/results/min_all_modalities_action_model/metrics.json">metrics.json</a></article>
|
| 566 |
+
<article class="artifact"><h3>Windows table</h3><p>Window start/end frames and aligned action/subtask labels.</p><a href="https://github.com/ChaoYue0307/ropedia-episode-task-suite/blob/main/results/episode_task_suite/windows.csv">windows.csv</a></article>
|
| 567 |
+
<article class="artifact"><h3>Reproduction scripts</h3><p>Three training scripts plus the dashboard generator.</p><a href="https://github.com/ChaoYue0307/ropedia-episode-task-suite/tree/main/scripts">scripts/</a></article>
|
| 568 |
+
</div>
|
| 569 |
+
</div>
|
| 570 |
+
</section>
|
| 571 |
+
|
| 572 |
+
<section id="run">
|
| 573 |
+
<div class="wrap">
|
| 574 |
+
<div class="section-head">
|
| 575 |
+
<h2>Reproduce the suite.</h2>
|
| 576 |
+
<p>Raw Ropedia data is not redistributed here. Download the public sample separately, then run the same scripts.</p>
|
| 577 |
+
</div>
|
| 578 |
+
<pre class="code-panel"><button type="button" data-copy="setup">Copy</button><code id="setup">git clone https://github.com/Ropedia/HOMIE-toolkit.git
|
| 579 |
+
python3.12 -m venv .venv
|
| 580 |
+
source .venv/bin/activate
|
| 581 |
+
pip install -r HOMIE-toolkit/requirements.txt huggingface_hub hf_xet
|
| 582 |
+
|
| 583 |
+
hf download ropedia-ai/xperience-10m-sample \
|
| 584 |
+
--repo-type dataset \
|
| 585 |
+
--local-dir data/sample/xperience-10m-sample
|
| 586 |
+
|
| 587 |
+
git clone https://github.com/ChaoYue0307/ropedia-episode-task-suite.git
|
| 588 |
+
cd ropedia-episode-task-suite
|
| 589 |
+
python scripts/episode_task_suite.py --workspace /path/to/workspace</code></pre>
|
| 590 |
+
</div>
|
| 591 |
+
</section>
|
| 592 |
+
</main>
|
| 593 |
+
|
| 594 |
+
<footer>
|
| 595 |
+
<div class="wrap">
|
| 596 |
+
Built as a single-episode embodied-AI learning lab. For real model claims, scale to multiple episodes and hold out entire episodes at evaluation time.
|
| 597 |
+
</div>
|
| 598 |
+
</footer>
|
| 599 |
+
|
| 600 |
+
<script>
|
| 601 |
+
const filters = document.querySelectorAll(".filter");
|
| 602 |
+
const cards = document.querySelectorAll(".task-card");
|
| 603 |
+
filters.forEach((button) => {
|
| 604 |
+
button.addEventListener("click", () => {
|
| 605 |
+
filters.forEach((b) => b.classList.remove("active"));
|
| 606 |
+
button.classList.add("active");
|
| 607 |
+
const filter = button.dataset.filter;
|
| 608 |
+
cards.forEach((card) => {
|
| 609 |
+
card.classList.toggle("hide", filter !== "all" && card.dataset.kind !== filter);
|
| 610 |
+
});
|
| 611 |
+
});
|
| 612 |
+
});
|
| 613 |
+
|
| 614 |
+
document.querySelectorAll("[data-copy]").forEach((button) => {
|
| 615 |
+
button.addEventListener("click", async () => {
|
| 616 |
+
const target = document.getElementById(button.dataset.copy);
|
| 617 |
+
try {
|
| 618 |
+
await navigator.clipboard.writeText(target.innerText);
|
| 619 |
+
} catch (error) {
|
| 620 |
+
return;
|
| 621 |
+
}
|
| 622 |
+
const previous = button.textContent;
|
| 623 |
+
button.textContent = "Copied";
|
| 624 |
+
setTimeout(() => button.textContent = previous, 1300);
|
| 625 |
+
});
|
| 626 |
+
});
|
| 627 |
+
</script>
|
| 628 |
+
</body>
|
| 629 |
+
</html>
|
notes/all_modalities_model.md
ADDED
|
@@ -0,0 +1,148 @@
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|
| 1 |
+
# All-Modality Minimal Model
|
| 2 |
+
|
| 3 |
+
Script:
|
| 4 |
+
|
| 5 |
+
```text
|
| 6 |
+
scripts/train_all_modalities_model.py
|
| 7 |
+
```
|
| 8 |
+
|
| 9 |
+
This extends the first minimal model by using every major sample modality in a lightweight way.
|
| 10 |
+
|
| 11 |
+
## Modalities Used
|
| 12 |
+
|
| 13 |
+
Dynamic sensor/action modalities:
|
| 14 |
+
|
| 15 |
+
- `hand_mocap/left_joints_3d`
|
| 16 |
+
- `hand_mocap/right_joints_3d`
|
| 17 |
+
- `full_body_mocap/keypoints`
|
| 18 |
+
- `full_body_mocap/contacts`
|
| 19 |
+
- `slam/trans_xyz`
|
| 20 |
+
- `slam/quat_wxyz` converted by the toolkit into camera rotation matrices
|
| 21 |
+
- `imu/accel_xyz`
|
| 22 |
+
- `imu/gyro_xyz`
|
| 23 |
+
- `depth/depth`
|
| 24 |
+
- `depth/confidence`
|
| 25 |
+
- `fisheye_cam0.mp4`
|
| 26 |
+
- `fisheye_cam1.mp4`
|
| 27 |
+
- `fisheye_cam2.mp4`
|
| 28 |
+
- `fisheye_cam3.mp4`
|
| 29 |
+
- `stereo_left.mp4`
|
| 30 |
+
- `stereo_right.mp4`
|
| 31 |
+
|
| 32 |
+
Static/context modalities:
|
| 33 |
+
|
| 34 |
+
- `slam/point_cloud`
|
| 35 |
+
- `calibration/*`
|
| 36 |
+
- caption objects
|
| 37 |
+
- caption interaction text
|
| 38 |
+
|
| 39 |
+
By default, the script does **not** include `action_label`, `Sub Task`, or action-description text as input, because those are too close to the prediction target. You can force that with `--include-label-text`, but that should be treated as a leakage/debug run, not a fair action-recognition experiment.
|
| 40 |
+
|
| 41 |
+
## Feature Design
|
| 42 |
+
|
| 43 |
+
The model is still intentionally small:
|
| 44 |
+
|
| 45 |
+
```text
|
| 46 |
+
raw modality -> per-frame or static handcrafted features -> window temporal statistics -> softmax classifier
|
| 47 |
+
```
|
| 48 |
+
|
| 49 |
+
For each 20-frame window:
|
| 50 |
+
|
| 51 |
+
- Motion signals use mean/std/min/max/delta/velocity statistics.
|
| 52 |
+
- Depth uses global depth stats plus a small normalized depth grid and confidence grid.
|
| 53 |
+
- Each video stream uses color stats, color histograms, a small grayscale grid, and simple edge stats.
|
| 54 |
+
- Text uses a hashed bag-of-words vector from objects and interaction text.
|
| 55 |
+
- Point cloud and calibration are included as static episode-level features.
|
| 56 |
+
|
| 57 |
+
Current feature blocks:
|
| 58 |
+
|
| 59 |
+
```text
|
| 60 |
+
hand_left_joints: 441
|
| 61 |
+
hand_right_joints: 441
|
| 62 |
+
body_joints: 1092
|
| 63 |
+
body_contacts: 147
|
| 64 |
+
camera_translation: 21
|
| 65 |
+
camera_rotation_matrix: 63
|
| 66 |
+
imu_accel_gyro: 42
|
| 67 |
+
depth_confidence: 980
|
| 68 |
+
video_fisheye_cam0: 686
|
| 69 |
+
video_fisheye_cam1: 686
|
| 70 |
+
video_fisheye_cam2: 686
|
| 71 |
+
video_fisheye_cam3: 686
|
| 72 |
+
video_stereo_left: 686
|
| 73 |
+
video_stereo_right: 686
|
| 74 |
+
caption_objects_interaction_text: 896
|
| 75 |
+
slam_point_cloud: 22
|
| 76 |
+
calibration: 117
|
| 77 |
+
total: 8378
|
| 78 |
+
```
|
| 79 |
+
|
| 80 |
+
## Run Commands
|
| 81 |
+
|
| 82 |
+
Action prediction:
|
| 83 |
+
|
| 84 |
+
```bash
|
| 85 |
+
cd /path/to/Ropedia
|
| 86 |
+
source .venv/bin/activate
|
| 87 |
+
python scripts/train_all_modalities_model.py
|
| 88 |
+
```
|
| 89 |
+
|
| 90 |
+
Subtask prediction:
|
| 91 |
+
|
| 92 |
+
```bash
|
| 93 |
+
python scripts/train_all_modalities_model.py --target subtask
|
| 94 |
+
```
|
| 95 |
+
|
| 96 |
+
The first run builds reusable caches in:
|
| 97 |
+
|
| 98 |
+
```text
|
| 99 |
+
outputs/feature_cache/
|
| 100 |
+
```
|
| 101 |
+
|
| 102 |
+
## Current Results
|
| 103 |
+
|
| 104 |
+
Action-label model:
|
| 105 |
+
|
| 106 |
+
```text
|
| 107 |
+
outputs/min_all_modalities_action_model/
|
| 108 |
+
accuracy: 0.9828
|
| 109 |
+
balanced_accuracy: 0.9801
|
| 110 |
+
macro_f1: 0.9791
|
| 111 |
+
weighted_f1: 0.9828
|
| 112 |
+
majority_baseline: 0.1375
|
| 113 |
+
classes: 18
|
| 114 |
+
feature_dim: 8378
|
| 115 |
+
test_windows: 291
|
| 116 |
+
```
|
| 117 |
+
|
| 118 |
+
Subtask-label model:
|
| 119 |
+
|
| 120 |
+
```text
|
| 121 |
+
outputs/min_all_modalities_subtask_model/
|
| 122 |
+
accuracy: 0.9828
|
| 123 |
+
balanced_accuracy: 0.9505
|
| 124 |
+
macro_f1: 0.9308
|
| 125 |
+
weighted_f1: 0.9838
|
| 126 |
+
majority_baseline: 0.1448
|
| 127 |
+
classes: 14
|
| 128 |
+
feature_dim: 8378
|
| 129 |
+
test_windows: 290
|
| 130 |
+
```
|
| 131 |
+
|
| 132 |
+
## How To Interpret This
|
| 133 |
+
|
| 134 |
+
This proves that the full sample can be converted into a complete supervised learning pipeline on this Mac.
|
| 135 |
+
|
| 136 |
+
It does **not** prove real generalization, because the public sample is one episode and the split is random windows from that same episode. Neighboring windows are correlated.
|
| 137 |
+
|
| 138 |
+
For a serious embodied-AI experiment:
|
| 139 |
+
|
| 140 |
+
```text
|
| 141 |
+
many episodes
|
| 142 |
+
-> cache features per episode
|
| 143 |
+
-> split by episode or task instance
|
| 144 |
+
-> train on some episodes
|
| 145 |
+
-> test on unseen episodes
|
| 146 |
+
```
|
| 147 |
+
|
| 148 |
+
The next useful upgrade is not a bigger classifier. It is a better split and more episodes.
|
notes/episode_task_suite.md
ADDED
|
@@ -0,0 +1,176 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
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|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Episode Task Suite
|
| 2 |
+
|
| 3 |
+
Script:
|
| 4 |
+
|
| 5 |
+
```text
|
| 6 |
+
scripts/episode_task_suite.py
|
| 7 |
+
```
|
| 8 |
+
|
| 9 |
+
This script turns the single public Ropedia sample episode into many end-to-end tasks. It is designed for learning, debugging, and task design. It is **not** a generalization benchmark because the data is still one episode.
|
| 10 |
+
|
| 11 |
+
Run:
|
| 12 |
+
|
| 13 |
+
```bash
|
| 14 |
+
cd /path/to/Ropedia
|
| 15 |
+
source .venv/bin/activate
|
| 16 |
+
python scripts/episode_task_suite.py
|
| 17 |
+
```
|
| 18 |
+
|
| 19 |
+
Output:
|
| 20 |
+
|
| 21 |
+
```text
|
| 22 |
+
outputs/episode_task_suite/
|
| 23 |
+
```
|
| 24 |
+
|
| 25 |
+
Shared setup:
|
| 26 |
+
|
| 27 |
+
```text
|
| 28 |
+
sample episode: 5821 frames
|
| 29 |
+
windows: 1161
|
| 30 |
+
window size: 20 frames
|
| 31 |
+
stride: 5 frames
|
| 32 |
+
feature dim: 8378
|
| 33 |
+
split: chronological, first 70% train and last 30% test
|
| 34 |
+
```
|
| 35 |
+
|
| 36 |
+
## Implemented Tasks
|
| 37 |
+
|
| 38 |
+
| Task | Input | Output | Main artifact |
|
| 39 |
+
|---|---|---|---|
|
| 40 |
+
| `timeline_action` | all modality window | current action label | `timeline_action/metrics.json` |
|
| 41 |
+
| `timeline_subtask` | all modality window | current subtask label | `timeline_subtask/metrics.json` |
|
| 42 |
+
| `transition_detection` | all modality window | steady vs action boundary | `transition_detection/metrics.json` |
|
| 43 |
+
| `next_action` | current all modality window | action 20 frames later | `next_action/metrics.json` |
|
| 44 |
+
| `hand_trajectory_forecast` | current all modality window | future 10-frame left/right hand joints | `hand_trajectory_forecast/predictions.npz` |
|
| 45 |
+
| `contact_prediction` | non-contact modalities | any body contact in window | `contact_prediction/metrics.json` |
|
| 46 |
+
| `object_relevance` | non-caption modalities | relevant object set | `object_relevance/predictions.csv` |
|
| 47 |
+
| `caption_grounding` | caption objects/interaction query + sensor candidates | matching time window | `caption_grounding/metrics.json` |
|
| 48 |
+
| `cross_modal_retrieval` | motion/IMU/camera query | matching depth/video window | `cross_modal_retrieval/metrics.json` |
|
| 49 |
+
| `modality_reconstruction` | motion/IMU/camera | depth/video feature vector | `modality_reconstruction/predictions.npz` |
|
| 50 |
+
| `temporal_order` | two adjacent windows | whether order is correct | `temporal_order/metrics.json` |
|
| 51 |
+
| `misalignment_detection` | motion+visual pair | aligned vs shifted | `misalignment_detection/metrics.json` |
|
| 52 |
+
|
| 53 |
+
## Minimal Model Architectures
|
| 54 |
+
|
| 55 |
+
All tasks share the same window builder unless a task explicitly removes a
|
| 56 |
+
feature block to avoid label leakage.
|
| 57 |
+
|
| 58 |
+
```text
|
| 59 |
+
raw sample episode
|
| 60 |
+
-> 20-frame sliding windows, stride 5
|
| 61 |
+
-> all-modality feature vector X_all, 8,378 dimensions
|
| 62 |
+
-> chronological split, first 70% train and last 30% test
|
| 63 |
+
-> train-only z-score scaler
|
| 64 |
+
-> task-specific minimal head
|
| 65 |
+
```
|
| 66 |
+
|
| 67 |
+
The task suite intentionally uses simple heads:
|
| 68 |
+
|
| 69 |
+
| Family | Formula | Tasks |
|
| 70 |
+
|---|---|---|
|
| 71 |
+
| Linear softmax | `softmax(z(X)W + b)`, cross-entropy, L2 | `timeline_action`, `timeline_subtask`, `transition_detection`, `next_action`, `contact_prediction`, `temporal_order`, `misalignment_detection` |
|
| 72 |
+
| Ridge regression/projection | dual ridge regression with L2=10 on z-scored X/Y | `hand_trajectory_forecast`, `caption_grounding`, `cross_modal_retrieval`, `modality_reconstruction` |
|
| 73 |
+
| Multi-label logistic | `sigmoid(z(X)W + b)`, weighted object heads | `object_relevance` |
|
| 74 |
+
|
| 75 |
+
Task-specific architecture details:
|
| 76 |
+
|
| 77 |
+
| Task | Input tensor/vector | Minimal head | Output target |
|
| 78 |
+
|---|---|---|---|
|
| 79 |
+
| `timeline_action` | `X_all`, 8,378d | class-weighted linear softmax | current action label |
|
| 80 |
+
| `timeline_subtask` | `X_all`, 8,378d | class-weighted linear softmax | current subtask label |
|
| 81 |
+
| `transition_detection` | `X_all`, 8,378d | class-weighted linear softmax | steady vs transition near action boundary |
|
| 82 |
+
| `next_action` | `X_all(t)`, 8,378d | class-weighted linear softmax | action at `t+20` frames |
|
| 83 |
+
| `hand_trajectory_forecast` | `X_all(t)`, 8,378d | ridge regression | future 10 frames of left/right hand joints, 1,260d |
|
| 84 |
+
| `contact_prediction` | all features except `body_contacts` and caption text, 7,335d | linear softmax on observed labels | any body contact in window |
|
| 85 |
+
| `object_relevance` | all features except caption text, 7,482d | multi-label logistic regression | 34-object multi-hot vector |
|
| 86 |
+
| `caption_grounding` | sensor features, 7,482d, projected into 896d text space | ridge projection plus cosine ranking | matching time window for a text query |
|
| 87 |
+
| `cross_modal_retrieval` | motion/IMU/camera, 2,247d, projected into 5,096d visual space | ridge projection plus cosine ranking | matching depth/video window |
|
| 88 |
+
| `modality_reconstruction` | motion/IMU/camera, 2,247d | ridge regression | depth/video feature vector, 5,096d |
|
| 89 |
+
| `temporal_order` | `[x_t, x_t+1, x_t+1-x_t]`, 25,134d | binary linear softmax | correct vs reversed order |
|
| 90 |
+
| `misalignment_detection` | motion plus visual pair, 7,343d | binary linear softmax | aligned vs shifted by 8 windows |
|
| 91 |
+
|
| 92 |
+
Diagram:
|
| 93 |
+
|
| 94 |
+
```text
|
| 95 |
+
docs/assets/task_architectures.svg
|
| 96 |
+
```
|
| 97 |
+
|
| 98 |
+
## Current Results
|
| 99 |
+
|
| 100 |
+
```text
|
| 101 |
+
timeline_action:
|
| 102 |
+
accuracy: 0.0292
|
| 103 |
+
macro_f1: 0.0500
|
| 104 |
+
note: future test region contains unseen action classes
|
| 105 |
+
|
| 106 |
+
timeline_subtask:
|
| 107 |
+
accuracy: 0.0581
|
| 108 |
+
macro_f1: 0.0495
|
| 109 |
+
note: future test region contains unseen subtask classes
|
| 110 |
+
|
| 111 |
+
transition_detection:
|
| 112 |
+
accuracy: 0.9253
|
| 113 |
+
macro_f1: 0.6552
|
| 114 |
+
boundary_f1: 0.2143
|
| 115 |
+
|
| 116 |
+
next_action:
|
| 117 |
+
accuracy: 0.0345
|
| 118 |
+
macro_f1: 0.0593
|
| 119 |
+
note: same unseen-future-class problem as timeline_action
|
| 120 |
+
|
| 121 |
+
hand_trajectory_forecast:
|
| 122 |
+
MPJPE: 0.8223
|
| 123 |
+
final-frame MPJPE: 1.0650
|
| 124 |
+
|
| 125 |
+
contact_prediction:
|
| 126 |
+
accuracy: 1.0000
|
| 127 |
+
note: degenerate on this sample because the binary contact label has only one class
|
| 128 |
+
|
| 129 |
+
object_relevance:
|
| 130 |
+
micro_f1: 0.1839
|
| 131 |
+
macro_f1: 0.0643
|
| 132 |
+
|
| 133 |
+
caption_grounding:
|
| 134 |
+
top1: 0.0029
|
| 135 |
+
top5: 0.0115
|
| 136 |
+
MRR: 0.0172
|
| 137 |
+
|
| 138 |
+
cross_modal_retrieval:
|
| 139 |
+
top1: 0.1494
|
| 140 |
+
top5: 0.3764
|
| 141 |
+
top10: 0.4741
|
| 142 |
+
MRR: 0.2634
|
| 143 |
+
|
| 144 |
+
modality_reconstruction:
|
| 145 |
+
R2: -0.0160
|
| 146 |
+
|
| 147 |
+
temporal_order:
|
| 148 |
+
accuracy: 0.4612
|
| 149 |
+
f1: 0.5487
|
| 150 |
+
|
| 151 |
+
misalignment_detection:
|
| 152 |
+
accuracy: 0.5029
|
| 153 |
+
f1: 0.4866
|
| 154 |
+
```
|
| 155 |
+
|
| 156 |
+
## How To Read These Results
|
| 157 |
+
|
| 158 |
+
Low scores are useful here. They show which tasks are not learnable from this one chronological sample with this minimal model.
|
| 159 |
+
|
| 160 |
+
The strongest signal is `cross_modal_retrieval`: motion/IMU/camera features can retrieve the matching depth/video window better than random. That means the modalities are synchronized and contain shared temporal structure.
|
| 161 |
+
|
| 162 |
+
The weakest supervised timeline tasks are weak mainly because of the split. The last 30% of a single ordered episode contains actions/subtasks not present in the first 70%, so a classifier trained on the first part cannot predict labels it never saw.
|
| 163 |
+
|
| 164 |
+
For serious research, keep the same task code but change the dataset unit:
|
| 165 |
+
|
| 166 |
+
```text
|
| 167 |
+
many episodes -> train episodes -> test unseen episodes
|
| 168 |
+
```
|
| 169 |
+
|
| 170 |
+
For single-episode learning, these tasks are best used as:
|
| 171 |
+
|
| 172 |
+
- data pipeline tests
|
| 173 |
+
- modality ablations
|
| 174 |
+
- label-alignment checks
|
| 175 |
+
- self-supervised retrieval experiments
|
| 176 |
+
- debugging templates before scaling to many episodes
|
notes/min_action_model.md
ADDED
|
@@ -0,0 +1,85 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Minimal Action Model
|
| 2 |
+
|
| 3 |
+
This is the first modeling baseline for the Ropedia/Xperience sample.
|
| 4 |
+
|
| 5 |
+
The script is:
|
| 6 |
+
|
| 7 |
+
```text
|
| 8 |
+
scripts/train_min_action_model.py
|
| 9 |
+
```
|
| 10 |
+
|
| 11 |
+
It trains a small Numpy-only softmax classifier:
|
| 12 |
+
|
| 13 |
+
```text
|
| 14 |
+
annotation.hdf5
|
| 15 |
+
-> hand/body/IMU/camera/contact windows
|
| 16 |
+
-> action or subtask labels from captions
|
| 17 |
+
-> stratified train/test split
|
| 18 |
+
-> multinomial logistic regression
|
| 19 |
+
-> metrics and predictions
|
| 20 |
+
```
|
| 21 |
+
|
| 22 |
+
Run:
|
| 23 |
+
|
| 24 |
+
```bash
|
| 25 |
+
cd /path/to/Ropedia
|
| 26 |
+
source .venv/bin/activate
|
| 27 |
+
python scripts/train_min_action_model.py
|
| 28 |
+
```
|
| 29 |
+
|
| 30 |
+
Default output:
|
| 31 |
+
|
| 32 |
+
```text
|
| 33 |
+
outputs/min_action_model/
|
| 34 |
+
```
|
| 35 |
+
|
| 36 |
+
Important artifacts:
|
| 37 |
+
|
| 38 |
+
- `metrics.json`: accuracy, balanced accuracy, macro-F1, weighted-F1, majority baseline.
|
| 39 |
+
- `per_class_metrics.csv`: precision/recall/F1 per action class.
|
| 40 |
+
- `confusion_matrix.csv`: true label vs predicted label matrix.
|
| 41 |
+
- `predictions.csv`: one row per test window.
|
| 42 |
+
- `feature_dataset.npz`: processed numeric features and labels.
|
| 43 |
+
- `model.npz`: fitted scaler and softmax weights.
|
| 44 |
+
|
| 45 |
+
This is a learning baseline, not a publishable benchmark. The public sample is only one episode, so stratified windows from one episode are correlated. For serious evaluation, use many episodes and split by held-out episodes or held-out task instances.
|
| 46 |
+
|
| 47 |
+
## Current Sample Results
|
| 48 |
+
|
| 49 |
+
Action-label model:
|
| 50 |
+
|
| 51 |
+
```text
|
| 52 |
+
outputs/min_action_model/
|
| 53 |
+
accuracy: 0.9828
|
| 54 |
+
balanced_accuracy: 0.9644
|
| 55 |
+
macro_f1: 0.9688
|
| 56 |
+
weighted_f1: 0.9824
|
| 57 |
+
majority_baseline: 0.1375
|
| 58 |
+
classes: 18
|
| 59 |
+
test_windows: 291
|
| 60 |
+
```
|
| 61 |
+
|
| 62 |
+
Subtask-label model:
|
| 63 |
+
|
| 64 |
+
```text
|
| 65 |
+
outputs/min_subtask_model/
|
| 66 |
+
accuracy: 0.9759
|
| 67 |
+
balanced_accuracy: 0.9784
|
| 68 |
+
macro_f1: 0.9528
|
| 69 |
+
weighted_f1: 0.9779
|
| 70 |
+
majority_baseline: 0.1448
|
| 71 |
+
classes: 14
|
| 72 |
+
test_windows: 290
|
| 73 |
+
```
|
| 74 |
+
|
| 75 |
+
Why the numbers are high:
|
| 76 |
+
|
| 77 |
+
- This is one public sample episode.
|
| 78 |
+
- Windows are stratified randomly, so train/test windows can be close in time.
|
| 79 |
+
- The result proves the pipeline works; it does not prove cross-episode generalization.
|
| 80 |
+
|
| 81 |
+
Next serious evaluation:
|
| 82 |
+
|
| 83 |
+
```text
|
| 84 |
+
many episodes -> split by episode -> train on some episodes -> test on unseen episodes
|
| 85 |
+
```
|
notes/reproducibility_audit.md
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Reproducibility Audit
|
| 2 |
+
|
| 3 |
+
Audit date: 2026-05-30 Asia/Singapore.
|
| 4 |
+
|
| 5 |
+
Purpose: verify that the committed Ropedia Episode Task Suite artifacts are
|
| 6 |
+
real outputs from the scripts, not placeholder or fabricated metrics.
|
| 7 |
+
|
| 8 |
+
## Raw Inputs Checked
|
| 9 |
+
|
| 10 |
+
The audit used the local public sample episode:
|
| 11 |
+
|
| 12 |
+
```text
|
| 13 |
+
data/sample/xperience-10m-sample/
|
| 14 |
+
annotation.hdf5
|
| 15 |
+
fisheye_cam0.mp4
|
| 16 |
+
fisheye_cam1.mp4
|
| 17 |
+
fisheye_cam2.mp4
|
| 18 |
+
fisheye_cam3.mp4
|
| 19 |
+
stereo_left.mp4
|
| 20 |
+
stereo_right.mp4
|
| 21 |
+
```
|
| 22 |
+
|
| 23 |
+
`annotation.hdf5` contains 5,821 aligned frames with depth, hand mocap, body
|
| 24 |
+
mocap, IMU, SLAM, calibration, and caption metadata. The video feature cache was
|
| 25 |
+
rebuilt from all six video files during the audit.
|
| 26 |
+
|
| 27 |
+
## Commands Re-run
|
| 28 |
+
|
| 29 |
+
All audit outputs were written outside the repo:
|
| 30 |
+
|
| 31 |
+
```bash
|
| 32 |
+
AUDIT=/private/tmp/ropedia-audit
|
| 33 |
+
WORKSPACE=/path/to/Ropedia
|
| 34 |
+
ANN=$WORKSPACE/data/sample/xperience-10m-sample/annotation.hdf5
|
| 35 |
+
PY=$WORKSPACE/.venv/bin/python
|
| 36 |
+
|
| 37 |
+
$PY -B scripts/train_min_action_model.py \
|
| 38 |
+
--workspace $WORKSPACE \
|
| 39 |
+
--annotation $ANN \
|
| 40 |
+
--output-dir $AUDIT/min_action_model \
|
| 41 |
+
--target action
|
| 42 |
+
|
| 43 |
+
$PY -B scripts/train_min_action_model.py \
|
| 44 |
+
--workspace $WORKSPACE \
|
| 45 |
+
--annotation $ANN \
|
| 46 |
+
--output-dir $AUDIT/min_subtask_model \
|
| 47 |
+
--target subtask
|
| 48 |
+
|
| 49 |
+
$PY -B scripts/train_all_modalities_model.py \
|
| 50 |
+
--workspace $WORKSPACE \
|
| 51 |
+
--annotation $ANN \
|
| 52 |
+
--output-dir $AUDIT/min_all_modalities_action_model \
|
| 53 |
+
--cache-dir $AUDIT/cache \
|
| 54 |
+
--target action
|
| 55 |
+
|
| 56 |
+
$PY -B scripts/train_all_modalities_model.py \
|
| 57 |
+
--workspace $WORKSPACE \
|
| 58 |
+
--annotation $ANN \
|
| 59 |
+
--output-dir $AUDIT/min_all_modalities_subtask_model \
|
| 60 |
+
--cache-dir $AUDIT/cache \
|
| 61 |
+
--target subtask
|
| 62 |
+
|
| 63 |
+
$PY -B scripts/episode_task_suite.py \
|
| 64 |
+
--workspace $WORKSPACE \
|
| 65 |
+
--annotation $ANN \
|
| 66 |
+
--output-dir $AUDIT/episode_task_suite \
|
| 67 |
+
--cache-dir $AUDIT/cache
|
| 68 |
+
```
|
| 69 |
+
|
| 70 |
+
## Exact Match Checks
|
| 71 |
+
|
| 72 |
+
The regenerated files matched the committed files:
|
| 73 |
+
|
| 74 |
+
```text
|
| 75 |
+
min_action_model/metrics.json: MATCH
|
| 76 |
+
min_subtask_model/metrics.json: MATCH
|
| 77 |
+
min_all_modalities_action_model/metrics.json: MATCH
|
| 78 |
+
min_all_modalities_subtask_model/metrics.json: MATCH
|
| 79 |
+
episode_task_suite/summary_report.json: MATCH
|
| 80 |
+
episode_task_suite/feature_manifest.json: MATCH
|
| 81 |
+
episode_task_suite/available_modalities.json: MATCH
|
| 82 |
+
```
|
| 83 |
+
|
| 84 |
+
Every per-task `metrics.json` also matched:
|
| 85 |
+
|
| 86 |
+
```text
|
| 87 |
+
caption_grounding/metrics.json: MATCH
|
| 88 |
+
contact_prediction/metrics.json: MATCH
|
| 89 |
+
cross_modal_retrieval/metrics.json: MATCH
|
| 90 |
+
hand_trajectory_forecast/metrics.json: MATCH
|
| 91 |
+
misalignment_detection/metrics.json: MATCH
|
| 92 |
+
modality_reconstruction/metrics.json: MATCH
|
| 93 |
+
next_action/metrics.json: MATCH
|
| 94 |
+
object_relevance/metrics.json: MATCH
|
| 95 |
+
temporal_order/metrics.json: MATCH
|
| 96 |
+
timeline_action/metrics.json: MATCH
|
| 97 |
+
timeline_subtask/metrics.json: MATCH
|
| 98 |
+
transition_detection/metrics.json: MATCH
|
| 99 |
+
```
|
| 100 |
+
|
| 101 |
+
## Fresh Cache Evidence
|
| 102 |
+
|
| 103 |
+
The all-modality audit rebuilt a fresh feature cache:
|
| 104 |
+
|
| 105 |
+
```text
|
| 106 |
+
depth_n5821_grid8.npz: shape=(5821, 140), nonzero=809107
|
| 107 |
+
video_fisheye_cam0_n5821_img32_grid8_hist8.npz: shape=(5821, 98), nonzero=570458
|
| 108 |
+
video_fisheye_cam1_n5821_img32_grid8_hist8.npz: shape=(5821, 98), nonzero=570400
|
| 109 |
+
video_fisheye_cam2_n5821_img32_grid8_hist8.npz: shape=(5821, 98), nonzero=570458
|
| 110 |
+
video_fisheye_cam3_n5821_img32_grid8_hist8.npz: shape=(5821, 98), nonzero=568723
|
| 111 |
+
video_stereo_left_n5821_img32_grid8_hist8.npz: shape=(5821, 98), nonzero=570249
|
| 112 |
+
video_stereo_right_n5821_img32_grid8_hist8.npz: shape=(5821, 98), nonzero=570430
|
| 113 |
+
```
|
| 114 |
+
|
| 115 |
+
This confirms the committed metrics are reproducible from the raw sample and
|
| 116 |
+
that the all-modality pipeline reads real depth/video files instead of using
|
| 117 |
+
empty placeholder features.
|
| 118 |
+
|
| 119 |
+
## Caveats
|
| 120 |
+
|
| 121 |
+
The scripts contain a zero-feature fallback if a video file is missing. That is
|
| 122 |
+
not the path used in this audit: all six videos existed and produced nonzero
|
| 123 |
+
features. The repo remains a single-episode learning and pipeline-validation
|
| 124 |
+
project, not evidence of cross-episode generalization.
|
requirements.txt
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
numpy==2.2.2
|
| 2 |
+
opencv-python-headless
|
| 3 |
+
h5py==3.12.1
|
| 4 |
+
scipy==1.15.1
|
| 5 |
+
rerun-sdk==0.29.0
|
| 6 |
+
tqdm==4.67.1
|
| 7 |
+
huggingface_hub
|
| 8 |
+
hf_xet
|
results/episode_task_suite/available_modalities.json
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"modality": "depth_confidence",
|
| 4 |
+
"shape": [
|
| 5 |
+
5821,
|
| 6 |
+
140
|
| 7 |
+
]
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"modality": "video/fisheye_cam0",
|
| 11 |
+
"path": "data/sample/xperience-10m-sample/fisheye_cam0.mp4",
|
| 12 |
+
"shape": [
|
| 13 |
+
5821,
|
| 14 |
+
98
|
| 15 |
+
],
|
| 16 |
+
"exists": true
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"modality": "video/fisheye_cam1",
|
| 20 |
+
"path": "data/sample/xperience-10m-sample/fisheye_cam1.mp4",
|
| 21 |
+
"shape": [
|
| 22 |
+
5821,
|
| 23 |
+
98
|
| 24 |
+
],
|
| 25 |
+
"exists": true
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"modality": "video/fisheye_cam2",
|
| 29 |
+
"path": "data/sample/xperience-10m-sample/fisheye_cam2.mp4",
|
| 30 |
+
"shape": [
|
| 31 |
+
5821,
|
| 32 |
+
98
|
| 33 |
+
],
|
| 34 |
+
"exists": true
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"modality": "video/fisheye_cam3",
|
| 38 |
+
"path": "data/sample/xperience-10m-sample/fisheye_cam3.mp4",
|
| 39 |
+
"shape": [
|
| 40 |
+
5821,
|
| 41 |
+
98
|
| 42 |
+
],
|
| 43 |
+
"exists": true
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"modality": "video/stereo_left",
|
| 47 |
+
"path": "data/sample/xperience-10m-sample/stereo_left.mp4",
|
| 48 |
+
"shape": [
|
| 49 |
+
5821,
|
| 50 |
+
98
|
| 51 |
+
],
|
| 52 |
+
"exists": true
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"modality": "video/stereo_right",
|
| 56 |
+
"path": "data/sample/xperience-10m-sample/stereo_right.mp4",
|
| 57 |
+
"shape": [
|
| 58 |
+
5821,
|
| 59 |
+
98
|
| 60 |
+
],
|
| 61 |
+
"exists": true
|
| 62 |
+
},
|
| 63 |
+
{
|
| 64 |
+
"modality": "caption_text",
|
| 65 |
+
"shape": [
|
| 66 |
+
5821,
|
| 67 |
+
128
|
| 68 |
+
],
|
| 69 |
+
"fields": "objects,interaction"
|
| 70 |
+
},
|
| 71 |
+
{
|
| 72 |
+
"modality": "slam_point_cloud_static",
|
| 73 |
+
"shape": [
|
| 74 |
+
22
|
| 75 |
+
]
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"modality": "calibration_static",
|
| 79 |
+
"shape": [
|
| 80 |
+
117
|
| 81 |
+
]
|
| 82 |
+
}
|
| 83 |
+
]
|
results/episode_task_suite/caption_grounding/metrics.json
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"mrr": 0.017183946083791223,
|
| 3 |
+
"median_rank": 167.0,
|
| 4 |
+
"mean_rank": 174.39367816091954,
|
| 5 |
+
"num_queries": 348,
|
| 6 |
+
"top1_accuracy": 0.0028735632183908046,
|
| 7 |
+
"top5_accuracy": 0.011494252873563218,
|
| 8 |
+
"top10_accuracy": 0.017241379310344827,
|
| 9 |
+
"task": "caption_grounding",
|
| 10 |
+
"input": "caption objects/interaction text query + candidate sensor windows",
|
| 11 |
+
"output": "matching time window",
|
| 12 |
+
"split": "chronological",
|
| 13 |
+
"num_train_windows": 813,
|
| 14 |
+
"num_test_windows": 348
|
| 15 |
+
}
|
results/episode_task_suite/contact_prediction/confusion_matrix.csv
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
true\pred,contact
|
| 2 |
+
contact,348
|
results/episode_task_suite/contact_prediction/metrics.json
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"accuracy": 1.0,
|
| 3 |
+
"balanced_accuracy": 1.0,
|
| 4 |
+
"macro_f1": 1.0,
|
| 5 |
+
"weighted_f1": 1.0,
|
| 6 |
+
"num_eval_windows": 348,
|
| 7 |
+
"num_classes": 1,
|
| 8 |
+
"task": "contact_prediction",
|
| 9 |
+
"input": "all non-contact/non-caption-label modalities -> any body contact",
|
| 10 |
+
"split": "chronological",
|
| 11 |
+
"num_windows": 1161,
|
| 12 |
+
"num_train_windows": 813,
|
| 13 |
+
"num_test_windows": 348,
|
| 14 |
+
"feature_dim": 7335,
|
| 15 |
+
"majority_baseline_accuracy": 1.0,
|
| 16 |
+
"train_final_accuracy": 1.0,
|
| 17 |
+
"train_final_loss": 0.0005947681493125856,
|
| 18 |
+
"unseen_test_classes": []
|
| 19 |
+
}
|
results/episode_task_suite/contact_prediction/per_class_metrics.csv
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
class_id,class_name,support,predicted,precision,recall,f1
|
| 2 |
+
0,contact,348,348,1.0,1.0,1.0
|
results/episode_task_suite/contact_prediction/predictions.csv
ADDED
|
@@ -0,0 +1,349 @@
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
window_index,start_frame,end_frame,center_frame,true_label,predicted_label,confidence,correct
|
| 2 |
+
813,4065,4084,4074,contact,contact,1.0,1
|
| 3 |
+
814,4070,4089,4079,contact,contact,1.0,1
|
| 4 |
+
815,4075,4094,4084,contact,contact,1.0,1
|
| 5 |
+
816,4080,4099,4089,contact,contact,1.0,1
|
| 6 |
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817,4085,4104,4094,contact,contact,1.0,1
|
| 7 |
+
818,4090,4109,4099,contact,contact,1.0,1
|
| 8 |
+
819,4095,4114,4104,contact,contact,1.0,1
|
| 9 |
+
820,4100,4119,4109,contact,contact,1.0,1
|
| 10 |
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821,4105,4124,4114,contact,contact,1.0,1
|
| 11 |
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822,4110,4129,4119,contact,contact,1.0,1
|
| 12 |
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823,4115,4134,4124,contact,contact,1.0,1
|
| 13 |
+
824,4120,4139,4129,contact,contact,1.0,1
|
| 14 |
+
825,4125,4144,4134,contact,contact,1.0,1
|
| 15 |
+
826,4130,4149,4139,contact,contact,1.0,1
|
| 16 |
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827,4135,4154,4144,contact,contact,1.0,1
|
| 17 |
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828,4140,4159,4149,contact,contact,1.0,1
|
| 18 |
+
829,4145,4164,4154,contact,contact,1.0,1
|
| 19 |
+
830,4150,4169,4159,contact,contact,1.0,1
|
| 20 |
+
831,4155,4174,4164,contact,contact,1.0,1
|
| 21 |
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832,4160,4179,4169,contact,contact,1.0,1
|
| 22 |
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833,4165,4184,4174,contact,contact,1.0,1
|
| 23 |
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834,4170,4189,4179,contact,contact,1.0,1
|
| 24 |
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835,4175,4194,4184,contact,contact,1.0,1
|
| 25 |
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836,4180,4199,4189,contact,contact,1.0,1
|
| 26 |
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837,4185,4204,4194,contact,contact,1.0,1
|
| 27 |
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838,4190,4209,4199,contact,contact,1.0,1
|
| 28 |
+
839,4195,4214,4204,contact,contact,1.0,1
|
| 29 |
+
840,4200,4219,4209,contact,contact,1.0,1
|
| 30 |
+
841,4205,4224,4214,contact,contact,1.0,1
|
| 31 |
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842,4210,4229,4219,contact,contact,1.0,1
|
| 32 |
+
843,4215,4234,4224,contact,contact,1.0,1
|
| 33 |
+
844,4220,4239,4229,contact,contact,1.0,1
|
| 34 |
+
845,4225,4244,4234,contact,contact,1.0,1
|
| 35 |
+
846,4230,4249,4239,contact,contact,1.0,1
|
| 36 |
+
847,4235,4254,4244,contact,contact,1.0,1
|
| 37 |
+
848,4240,4259,4249,contact,contact,1.0,1
|
| 38 |
+
849,4245,4264,4254,contact,contact,1.0,1
|
| 39 |
+
850,4250,4269,4259,contact,contact,1.0,1
|
| 40 |
+
851,4255,4274,4264,contact,contact,1.0,1
|
| 41 |
+
852,4260,4279,4269,contact,contact,1.0,1
|
| 42 |
+
853,4265,4284,4274,contact,contact,1.0,1
|
| 43 |
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854,4270,4289,4279,contact,contact,1.0,1
|
| 44 |
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855,4275,4294,4284,contact,contact,1.0,1
|
| 45 |
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856,4280,4299,4289,contact,contact,1.0,1
|
| 46 |
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857,4285,4304,4294,contact,contact,1.0,1
|
| 47 |
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858,4290,4309,4299,contact,contact,1.0,1
|
| 48 |
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859,4295,4314,4304,contact,contact,1.0,1
|
| 49 |
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860,4300,4319,4309,contact,contact,1.0,1
|
| 50 |
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861,4305,4324,4314,contact,contact,1.0,1
|
| 51 |
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862,4310,4329,4319,contact,contact,1.0,1
|
| 52 |
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863,4315,4334,4324,contact,contact,1.0,1
|
| 53 |
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864,4320,4339,4329,contact,contact,1.0,1
|
| 54 |
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865,4325,4344,4334,contact,contact,1.0,1
|
| 55 |
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866,4330,4349,4339,contact,contact,1.0,1
|
| 56 |
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867,4335,4354,4344,contact,contact,1.0,1
|
| 57 |
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868,4340,4359,4349,contact,contact,1.0,1
|
| 58 |
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869,4345,4364,4354,contact,contact,1.0,1
|
| 59 |
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870,4350,4369,4359,contact,contact,1.0,1
|
| 60 |
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871,4355,4374,4364,contact,contact,1.0,1
|
| 61 |
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872,4360,4379,4369,contact,contact,1.0,1
|
| 62 |
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873,4365,4384,4374,contact,contact,1.0,1
|
| 63 |
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874,4370,4389,4379,contact,contact,1.0,1
|
| 64 |
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875,4375,4394,4384,contact,contact,1.0,1
|
| 65 |
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876,4380,4399,4389,contact,contact,1.0,1
|
| 66 |
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877,4385,4404,4394,contact,contact,1.0,1
|
| 67 |
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878,4390,4409,4399,contact,contact,1.0,1
|
| 68 |
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879,4395,4414,4404,contact,contact,1.0,1
|
| 69 |
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880,4400,4419,4409,contact,contact,1.0,1
|
| 70 |
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881,4405,4424,4414,contact,contact,1.0,1
|
| 71 |
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882,4410,4429,4419,contact,contact,1.0,1
|
| 72 |
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883,4415,4434,4424,contact,contact,1.0,1
|
| 73 |
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884,4420,4439,4429,contact,contact,1.0,1
|
| 74 |
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885,4425,4444,4434,contact,contact,1.0,1
|
| 75 |
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886,4430,4449,4439,contact,contact,1.0,1
|
| 76 |
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| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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893,4465,4484,4474,contact,contact,1.0,1
|
| 83 |
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894,4470,4489,4479,contact,contact,1.0,1
|
| 84 |
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895,4475,4494,4484,contact,contact,1.0,1
|
| 85 |
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896,4480,4499,4489,contact,contact,1.0,1
|
| 86 |
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897,4485,4504,4494,contact,contact,1.0,1
|
| 87 |
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898,4490,4509,4499,contact,contact,1.0,1
|
| 88 |
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899,4495,4514,4504,contact,contact,1.0,1
|
| 89 |
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900,4500,4519,4509,contact,contact,1.0,1
|
| 90 |
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901,4505,4524,4514,contact,contact,1.0,1
|
| 91 |
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902,4510,4529,4519,contact,contact,1.0,1
|
| 92 |
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903,4515,4534,4524,contact,contact,1.0,1
|
| 93 |
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904,4520,4539,4529,contact,contact,1.0,1
|
| 94 |
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905,4525,4544,4534,contact,contact,1.0,1
|
| 95 |
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906,4530,4549,4539,contact,contact,1.0,1
|
| 96 |
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907,4535,4554,4544,contact,contact,1.0,1
|
| 97 |
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908,4540,4559,4549,contact,contact,1.0,1
|
| 98 |
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909,4545,4564,4554,contact,contact,1.0,1
|
| 99 |
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910,4550,4569,4559,contact,contact,1.0,1
|
| 100 |
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911,4555,4574,4564,contact,contact,1.0,1
|
| 101 |
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|
| 102 |
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913,4565,4584,4574,contact,contact,1.0,1
|
| 103 |
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914,4570,4589,4579,contact,contact,1.0,1
|
| 104 |
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915,4575,4594,4584,contact,contact,1.0,1
|
| 105 |
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|
| 106 |
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917,4585,4604,4594,contact,contact,1.0,1
|
| 107 |
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918,4590,4609,4599,contact,contact,1.0,1
|
| 108 |
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919,4595,4614,4604,contact,contact,1.0,1
|
| 109 |
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920,4600,4619,4609,contact,contact,1.0,1
|
| 110 |
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921,4605,4624,4614,contact,contact,1.0,1
|
| 111 |
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922,4610,4629,4619,contact,contact,1.0,1
|
| 112 |
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923,4615,4634,4624,contact,contact,1.0,1
|
| 113 |
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924,4620,4639,4629,contact,contact,1.0,1
|
| 114 |
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925,4625,4644,4634,contact,contact,1.0,1
|
| 115 |
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926,4630,4649,4639,contact,contact,1.0,1
|
| 116 |
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927,4635,4654,4644,contact,contact,1.0,1
|
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results/episode_task_suite/cross_modal_retrieval/metrics.json
ADDED
|
@@ -0,0 +1,15 @@
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{
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| 2 |
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"mrr": 0.26335984006618296,
|
| 3 |
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"median_rank": 12.5,
|
| 4 |
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"mean_rank": 43.33045977011494,
|
| 5 |
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"num_queries": 348,
|
| 6 |
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"top1_accuracy": 0.14942528735632185,
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| 7 |
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"top5_accuracy": 0.3764367816091954,
|
| 8 |
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"top10_accuracy": 0.47413793103448276,
|
| 9 |
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"task": "cross_modal_retrieval",
|
| 10 |
+
"input": "motion/IMU/camera query",
|
| 11 |
+
"output": "matching depth/video window",
|
| 12 |
+
"split": "chronological",
|
| 13 |
+
"num_train_windows": 813,
|
| 14 |
+
"num_test_windows": 348
|
| 15 |
+
}
|
results/episode_task_suite/feature_manifest.json
ADDED
|
@@ -0,0 +1,104 @@
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
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"name": "hand_left_joints",
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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},
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| 8 |
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{
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| 9 |
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"name": "hand_right_joints",
|
| 10 |
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|
| 11 |
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|
| 12 |
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"dim": 441
|
| 13 |
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},
|
| 14 |
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{
|
| 15 |
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"name": "body_joints",
|
| 16 |
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"start": 882,
|
| 17 |
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"end": 1974,
|
| 18 |
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"dim": 1092
|
| 19 |
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},
|
| 20 |
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{
|
| 21 |
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"name": "body_contacts",
|
| 22 |
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"start": 1974,
|
| 23 |
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"end": 2121,
|
| 24 |
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"dim": 147
|
| 25 |
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},
|
| 26 |
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{
|
| 27 |
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"name": "camera_translation",
|
| 28 |
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"start": 2121,
|
| 29 |
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"end": 2142,
|
| 30 |
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"dim": 21
|
| 31 |
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},
|
| 32 |
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{
|
| 33 |
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"name": "camera_rotation_matrix",
|
| 34 |
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"start": 2142,
|
| 35 |
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"end": 2205,
|
| 36 |
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"dim": 63
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"name": "imu_accel_gyro",
|
| 40 |
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"start": 2205,
|
| 41 |
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"end": 2247,
|
| 42 |
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"dim": 42
|
| 43 |
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},
|
| 44 |
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{
|
| 45 |
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"name": "depth_confidence",
|
| 46 |
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"start": 2247,
|
| 47 |
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|
| 48 |
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"dim": 980
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"name": "video_fisheye_cam0",
|
| 52 |
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"start": 3227,
|
| 53 |
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"end": 3913,
|
| 54 |
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"dim": 686
|
| 55 |
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},
|
| 56 |
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{
|
| 57 |
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"name": "video_fisheye_cam1",
|
| 58 |
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"start": 3913,
|
| 59 |
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"end": 4599,
|
| 60 |
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"dim": 686
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"name": "video_fisheye_cam2",
|
| 64 |
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"start": 4599,
|
| 65 |
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"end": 5285,
|
| 66 |
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"dim": 686
|
| 67 |
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},
|
| 68 |
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{
|
| 69 |
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"name": "video_fisheye_cam3",
|
| 70 |
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"start": 5285,
|
| 71 |
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"end": 5971,
|
| 72 |
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"dim": 686
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"name": "video_stereo_left",
|
| 76 |
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"start": 5971,
|
| 77 |
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"end": 6657,
|
| 78 |
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"dim": 686
|
| 79 |
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},
|
| 80 |
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{
|
| 81 |
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"name": "video_stereo_right",
|
| 82 |
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"start": 6657,
|
| 83 |
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"end": 7343,
|
| 84 |
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"dim": 686
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
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"name": "caption_objects_interaction_text",
|
| 88 |
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"start": 7343,
|
| 89 |
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"end": 8239,
|
| 90 |
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"dim": 896
|
| 91 |
+
},
|
| 92 |
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{
|
| 93 |
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"name": "slam_point_cloud",
|
| 94 |
+
"start": 8239,
|
| 95 |
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"end": 8261,
|
| 96 |
+
"dim": 22
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"name": "calibration",
|
| 100 |
+
"start": 8261,
|
| 101 |
+
"end": 8378,
|
| 102 |
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"dim": 117
|
| 103 |
+
}
|
| 104 |
+
]
|
results/episode_task_suite/hand_trajectory_forecast/metrics.json
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"mse": 11.323140144348145,
|
| 3 |
+
"mae": 0.40246668457984924,
|
| 4 |
+
"r2": -1334.788993815828,
|
| 5 |
+
"task": "hand_trajectory_forecast",
|
| 6 |
+
"input": "all modalities at t -> future left/right hand 3D joints",
|
| 7 |
+
"split": "chronological",
|
| 8 |
+
"num_windows": 1159,
|
| 9 |
+
"num_train_windows": 811,
|
| 10 |
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"num_test_windows": 348,
|
| 11 |
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"forecast_frames": 10,
|
| 12 |
+
"mpjpe": 0.8222644925117493,
|
| 13 |
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"final_frame_mpjpe": 1.0649521350860596,
|
| 14 |
+
"target_dim": 1260
|
| 15 |
+
}
|
results/episode_task_suite/misalignment_detection/metrics.json
ADDED
|
@@ -0,0 +1,19 @@
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"accuracy": 0.5028901734104047,
|
| 3 |
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"precision": 0.5030864197530864,
|
| 4 |
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"recall": 0.47109826589595377,
|
| 5 |
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"f1": 0.4865671641791045,
|
| 6 |
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"tp": 163,
|
| 7 |
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"tn": 185,
|
| 8 |
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"fp": 161,
|
| 9 |
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"fn": 183,
|
| 10 |
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"positive_rate_true": 0.5,
|
| 11 |
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"positive_rate_pred": 0.4682080924855491,
|
| 12 |
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"task": "misalignment_detection",
|
| 13 |
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"input": "motion+visual pair -> aligned vs shifted by 8 windows",
|
| 14 |
+
"split": "chronological",
|
| 15 |
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"num_samples": 2306,
|
| 16 |
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"num_train_samples": 1614,
|
| 17 |
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"num_test_samples": 692,
|
| 18 |
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"train_final_accuracy": 0.5018587360594795
|
| 19 |
+
}
|
results/episode_task_suite/misalignment_detection/predictions.csv
ADDED
|
@@ -0,0 +1,693 @@
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results/episode_task_suite/modality_reconstruction/metrics.json
ADDED
|
@@ -0,0 +1,12 @@
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|
| 1 |
+
{
|
| 2 |
+
"mse": 1359.1639404296875,
|
| 3 |
+
"mae": 0.31084805727005005,
|
| 4 |
+
"r2": -0.016022846771134747,
|
| 5 |
+
"task": "modality_reconstruction",
|
| 6 |
+
"input": "motion/IMU/camera",
|
| 7 |
+
"output": "depth/video feature vector",
|
| 8 |
+
"split": "chronological",
|
| 9 |
+
"num_train_windows": 813,
|
| 10 |
+
"num_test_windows": 348,
|
| 11 |
+
"target_dim": 5096
|
| 12 |
+
}
|
results/episode_task_suite/next_action/confusion_matrix.csv
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
true\pred,Pick up kettle,Position kettle to pour,Move kettle,Hold coffee carafe,Grasp coffee scoop,Transfer coffee to dripper,Hold gooseneck kettle,Grasp gooseneck kettle,Lift gooseneck kettle,Move kettle away,Place kettle on table,Pick up white bottle,Pour liquid from white bottle,Close bottle cap,Place item on table,Wait/Prepare for pouring,Pour coffee,Pour milk into coffee
|
| 2 |
+
Pick up kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 3 |
+
Position kettle to pour,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 4 |
+
Move kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 5 |
+
Hold coffee carafe,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 6 |
+
Grasp coffee scoop,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 7 |
+
Transfer coffee to dripper,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 8 |
+
Hold gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 9 |
+
Grasp gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 10 |
+
Lift gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 11 |
+
Move kettle away,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 12 |
+
Place kettle on table,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 13 |
+
Pick up white bottle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 14 |
+
Pour liquid from white bottle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 15 |
+
Close bottle cap,25,1,0,2,0,0,0,6,0,6,0,0,8,12,0,0,0,0
|
| 16 |
+
Place item on table,1,0,0,0,0,0,0,0,11,0,10,2,0,0,0,0,0,0
|
| 17 |
+
Wait/Prepare for pouring,2,3,7,0,0,1,64,8,0,0,7,1,0,0,0,0,3,0
|
| 18 |
+
Pour coffee,0,26,5,0,12,13,0,0,0,9,20,4,62,9,0,0,0,0
|
| 19 |
+
Pour milk into coffee,0,3,0,0,2,0,0,0,0,0,0,0,3,0,0,0,0,0
|
results/episode_task_suite/next_action/metrics.json
ADDED
|
@@ -0,0 +1,24 @@
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|
| 1 |
+
{
|
| 2 |
+
"accuracy": 0.034482758620689655,
|
| 3 |
+
"balanced_accuracy": 0.04,
|
| 4 |
+
"macro_f1": 0.05925925925925927,
|
| 5 |
+
"weighted_f1": 0.05108556832694764,
|
| 6 |
+
"num_eval_windows": 348,
|
| 7 |
+
"num_classes": 18,
|
| 8 |
+
"task": "next_action",
|
| 9 |
+
"input": "all modalities at t -> action at t+20 frames",
|
| 10 |
+
"split": "chronological",
|
| 11 |
+
"num_windows": 1161,
|
| 12 |
+
"num_train_windows": 813,
|
| 13 |
+
"num_test_windows": 348,
|
| 14 |
+
"feature_dim": 8378,
|
| 15 |
+
"majority_baseline_accuracy": 0.0,
|
| 16 |
+
"train_final_accuracy": 1.0,
|
| 17 |
+
"train_final_loss": 0.017629079520702362,
|
| 18 |
+
"unseen_test_classes": [
|
| 19 |
+
"Place item on table",
|
| 20 |
+
"Pour coffee",
|
| 21 |
+
"Pour milk into coffee",
|
| 22 |
+
"Wait/Prepare for pouring"
|
| 23 |
+
]
|
| 24 |
+
}
|
results/episode_task_suite/next_action/per_class_metrics.csv
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
class_id,class_name,support,predicted,precision,recall,f1
|
| 2 |
+
0,Pick up kettle,0,28,0.0,0.0,0.0
|
| 3 |
+
1,Position kettle to pour,0,33,0.0,0.0,0.0
|
| 4 |
+
2,Move kettle,0,12,0.0,0.0,0.0
|
| 5 |
+
3,Hold coffee carafe,0,2,0.0,0.0,0.0
|
| 6 |
+
4,Grasp coffee scoop,0,14,0.0,0.0,0.0
|
| 7 |
+
5,Transfer coffee to dripper,0,14,0.0,0.0,0.0
|
| 8 |
+
6,Hold gooseneck kettle,0,64,0.0,0.0,0.0
|
| 9 |
+
7,Grasp gooseneck kettle,0,14,0.0,0.0,0.0
|
| 10 |
+
8,Lift gooseneck kettle,0,11,0.0,0.0,0.0
|
| 11 |
+
9,Move kettle away,0,15,0.0,0.0,0.0
|
| 12 |
+
10,Place kettle on table,0,37,0.0,0.0,0.0
|
| 13 |
+
11,Pick up white bottle,0,7,0.0,0.0,0.0
|
| 14 |
+
12,Pour liquid from white bottle,0,73,0.0,0.0,0.0
|
| 15 |
+
13,Close bottle cap,60,21,0.5714285714285714,0.2,0.29629629629629634
|
| 16 |
+
14,Place item on table,24,0,0.0,0.0,0.0
|
| 17 |
+
15,Wait/Prepare for pouring,96,0,0.0,0.0,0.0
|
| 18 |
+
16,Pour coffee,160,3,0.0,0.0,0.0
|
| 19 |
+
17,Pour milk into coffee,8,0,0.0,0.0,0.0
|
results/episode_task_suite/next_action/predictions.csv
ADDED
|
@@ -0,0 +1,349 @@
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
window_index,start_frame,end_frame,center_frame,true_label,predicted_label,confidence,correct
|
| 2 |
+
813,4065,4084,4074,Close bottle cap,Close bottle cap,0.9764497876167297,1
|
| 3 |
+
814,4070,4089,4079,Close bottle cap,Close bottle cap,0.8854773640632629,1
|
| 4 |
+
815,4075,4094,4084,Close bottle cap,Close bottle cap,0.8277798891067505,1
|
| 5 |
+
816,4080,4099,4089,Close bottle cap,Close bottle cap,0.9017042517662048,1
|
| 6 |
+
817,4085,4104,4094,Close bottle cap,Close bottle cap,0.9199259877204895,1
|
| 7 |
+
818,4090,4109,4099,Close bottle cap,Close bottle cap,0.8606745004653931,1
|
| 8 |
+
819,4095,4114,4104,Close bottle cap,Close bottle cap,0.7056270241737366,1
|
| 9 |
+
820,4100,4119,4109,Close bottle cap,Pour liquid from white bottle,0.6912038922309875,0
|
| 10 |
+
821,4105,4124,4114,Close bottle cap,Pour liquid from white bottle,0.9422159790992737,0
|
| 11 |
+
822,4110,4129,4119,Close bottle cap,Pour liquid from white bottle,0.8952032923698425,0
|
| 12 |
+
823,4115,4134,4124,Close bottle cap,Pour liquid from white bottle,0.7978973984718323,0
|
| 13 |
+
824,4120,4139,4129,Close bottle cap,Pour liquid from white bottle,0.6766082048416138,0
|
| 14 |
+
825,4125,4144,4134,Close bottle cap,Pour liquid from white bottle,0.47715672850608826,0
|
| 15 |
+
826,4130,4149,4139,Close bottle cap,Pour liquid from white bottle,0.35997408628463745,0
|
| 16 |
+
827,4135,4154,4144,Close bottle cap,Move kettle away,0.27630624175071716,0
|
| 17 |
+
828,4140,4159,4149,Close bottle cap,Hold coffee carafe,0.295999675989151,0
|
| 18 |
+
829,4145,4164,4154,Close bottle cap,Move kettle away,0.2947046458721161,0
|
| 19 |
+
830,4150,4169,4159,Close bottle cap,Move kettle away,0.38920313119888306,0
|
| 20 |
+
831,4155,4174,4164,Close bottle cap,Pour liquid from white bottle,0.2658906579017639,0
|
| 21 |
+
832,4160,4179,4169,Close bottle cap,Move kettle away,0.3792414367198944,0
|
| 22 |
+
833,4165,4184,4174,Close bottle cap,Move kettle away,0.2919941544532776,0
|
| 23 |
+
834,4170,4189,4179,Close bottle cap,Move kettle away,0.26378577947616577,0
|
| 24 |
+
835,4175,4194,4184,Close bottle cap,Hold coffee carafe,0.20104263722896576,0
|
| 25 |
+
836,4180,4199,4189,Close bottle cap,Pick up kettle,0.40356799960136414,0
|
| 26 |
+
837,4185,4204,4194,Close bottle cap,Pick up kettle,0.6959692239761353,0
|
| 27 |
+
838,4190,4209,4199,Close bottle cap,Pick up kettle,0.8310149312019348,0
|
| 28 |
+
839,4195,4214,4204,Close bottle cap,Pick up kettle,0.851154625415802,0
|
| 29 |
+
840,4200,4219,4209,Close bottle cap,Pick up kettle,0.8298190832138062,0
|
| 30 |
+
841,4205,4224,4214,Close bottle cap,Pick up kettle,0.6096954941749573,0
|
| 31 |
+
842,4210,4229,4219,Close bottle cap,Pick up kettle,0.4715215563774109,0
|
| 32 |
+
843,4215,4234,4224,Close bottle cap,Pick up kettle,0.9400153756141663,0
|
| 33 |
+
844,4220,4239,4229,Close bottle cap,Pick up kettle,0.9719582200050354,0
|
| 34 |
+
845,4225,4244,4234,Close bottle cap,Close bottle cap,0.6537784934043884,1
|
| 35 |
+
846,4230,4249,4239,Close bottle cap,Close bottle cap,0.9764643311500549,1
|
| 36 |
+
847,4235,4254,4244,Close bottle cap,Close bottle cap,0.9998834133148193,1
|
| 37 |
+
848,4240,4259,4249,Close bottle cap,Close bottle cap,0.999862790107727,1
|
| 38 |
+
849,4245,4264,4254,Close bottle cap,Close bottle cap,0.9970520734786987,1
|
| 39 |
+
850,4250,4269,4259,Close bottle cap,Position kettle to pour,0.777167558670044,0
|
| 40 |
+
851,4255,4274,4264,Close bottle cap,Pick up kettle,0.5043826103210449,0
|
| 41 |
+
852,4260,4279,4269,Close bottle cap,Pick up kettle,0.8821592926979065,0
|
| 42 |
+
853,4265,4284,4274,Close bottle cap,Pick up kettle,0.8502172231674194,0
|
| 43 |
+
854,4270,4289,4279,Close bottle cap,Pick up kettle,0.9105796813964844,0
|
| 44 |
+
855,4275,4294,4284,Close bottle cap,Pick up kettle,0.8875990509986877,0
|
| 45 |
+
856,4280,4299,4289,Close bottle cap,Pick up kettle,0.8415303230285645,0
|
| 46 |
+
857,4285,4304,4294,Close bottle cap,Pick up kettle,0.7463744878768921,0
|
| 47 |
+
858,4290,4309,4299,Close bottle cap,Pick up kettle,0.6102848649024963,0
|
| 48 |
+
859,4295,4314,4304,Close bottle cap,Pick up kettle,0.544456422328949,0
|
| 49 |
+
860,4300,4319,4309,Close bottle cap,Pick up kettle,0.7936617732048035,0
|
| 50 |
+
861,4305,4324,4314,Close bottle cap,Pick up kettle,0.8699045777320862,0
|
| 51 |
+
862,4310,4329,4319,Close bottle cap,Pick up kettle,0.8568053245544434,0
|
| 52 |
+
863,4315,4334,4324,Close bottle cap,Pick up kettle,0.7406412959098816,0
|
| 53 |
+
864,4320,4339,4329,Close bottle cap,Pick up kettle,0.5378481149673462,0
|
| 54 |
+
865,4325,4344,4334,Close bottle cap,Pick up kettle,0.5345914959907532,0
|
| 55 |
+
866,4330,4349,4339,Close bottle cap,Pick up kettle,0.46732568740844727,0
|
| 56 |
+
867,4335,4354,4344,Close bottle cap,Grasp gooseneck kettle,0.306489497423172,0
|
| 57 |
+
868,4340,4359,4349,Close bottle cap,Grasp gooseneck kettle,0.3380308151245117,0
|
| 58 |
+
869,4345,4364,4354,Close bottle cap,Grasp gooseneck kettle,0.41740939021110535,0
|
| 59 |
+
870,4350,4369,4359,Close bottle cap,Grasp gooseneck kettle,0.4623660445213318,0
|
| 60 |
+
871,4355,4374,4364,Close bottle cap,Grasp gooseneck kettle,0.4902712106704712,0
|
| 61 |
+
872,4360,4379,4369,Close bottle cap,Grasp gooseneck kettle,0.32427778840065,0
|
| 62 |
+
873,4365,4384,4374,Place item on table,Lift gooseneck kettle,0.33932459354400635,0
|
| 63 |
+
874,4370,4389,4379,Place item on table,Lift gooseneck kettle,0.4207156002521515,0
|
| 64 |
+
875,4375,4394,4384,Place item on table,Lift gooseneck kettle,0.5703989267349243,0
|
| 65 |
+
876,4380,4399,4389,Place item on table,Lift gooseneck kettle,0.6198029518127441,0
|
| 66 |
+
877,4385,4404,4394,Place item on table,Lift gooseneck kettle,0.6158574223518372,0
|
| 67 |
+
878,4390,4409,4399,Place item on table,Lift gooseneck kettle,0.5637938976287842,0
|
| 68 |
+
879,4395,4414,4404,Place item on table,Lift gooseneck kettle,0.3308525085449219,0
|
| 69 |
+
880,4400,4419,4409,Place item on table,Pick up kettle,0.4274466037750244,0
|
| 70 |
+
881,4405,4424,4414,Place item on table,Pick up white bottle,0.34752440452575684,0
|
| 71 |
+
882,4410,4429,4419,Place item on table,Pick up white bottle,0.2512756288051605,0
|
| 72 |
+
883,4415,4434,4424,Place item on table,Lift gooseneck kettle,0.41407376527786255,0
|
| 73 |
+
884,4420,4439,4429,Place item on table,Lift gooseneck kettle,0.7061306238174438,0
|
| 74 |
+
885,4425,4444,4434,Place item on table,Lift gooseneck kettle,0.6687830686569214,0
|
| 75 |
+
886,4430,4449,4439,Place item on table,Lift gooseneck kettle,0.5382875800132751,0
|
| 76 |
+
887,4435,4454,4444,Place item on table,Place kettle on table,0.5298262238502502,0
|
| 77 |
+
888,4440,4459,4449,Place item on table,Place kettle on table,0.7211104035377502,0
|
| 78 |
+
889,4445,4464,4454,Place item on table,Place kettle on table,0.8880396485328674,0
|
| 79 |
+
890,4450,4469,4459,Place item on table,Place kettle on table,0.9519283771514893,0
|
| 80 |
+
891,4455,4474,4464,Place item on table,Place kettle on table,0.8614109754562378,0
|
| 81 |
+
892,4460,4479,4469,Place item on table,Place kettle on table,0.9390915632247925,0
|
| 82 |
+
893,4465,4484,4474,Place item on table,Place kettle on table,0.8701221346855164,0
|
| 83 |
+
894,4470,4489,4479,Place item on table,Place kettle on table,0.8107417821884155,0
|
| 84 |
+
895,4475,4494,4484,Place item on table,Place kettle on table,0.5648765563964844,0
|
| 85 |
+
896,4480,4499,4489,Place item on table,Place kettle on table,0.7556945085525513,0
|
| 86 |
+
897,4485,4504,4494,Wait/Prepare for pouring,Place kettle on table,0.8955177664756775,0
|
| 87 |
+
898,4490,4509,4499,Wait/Prepare for pouring,Place kettle on table,0.9424980878829956,0
|
| 88 |
+
899,4495,4514,4504,Wait/Prepare for pouring,Place kettle on table,0.9425910711288452,0
|
| 89 |
+
900,4500,4519,4509,Wait/Prepare for pouring,Place kettle on table,0.9272684454917908,0
|
| 90 |
+
901,4505,4524,4514,Wait/Prepare for pouring,Move kettle,0.5514675378799438,0
|
| 91 |
+
902,4510,4529,4519,Wait/Prepare for pouring,Move kettle,0.7954739928245544,0
|
| 92 |
+
903,4515,4534,4524,Wait/Prepare for pouring,Move kettle,0.8874961137771606,0
|
| 93 |
+
904,4520,4539,4529,Wait/Prepare for pouring,Move kettle,0.942430317401886,0
|
| 94 |
+
905,4525,4544,4534,Wait/Prepare for pouring,Move kettle,0.8795349597930908,0
|
| 95 |
+
906,4530,4549,4539,Wait/Prepare for pouring,Move kettle,0.7422921061515808,0
|
| 96 |
+
907,4535,4554,4544,Wait/Prepare for pouring,Move kettle,0.37808775901794434,0
|
| 97 |
+
908,4540,4559,4549,Wait/Prepare for pouring,Hold gooseneck kettle,0.35503852367401123,0
|
| 98 |
+
909,4545,4564,4554,Wait/Prepare for pouring,Hold gooseneck kettle,0.7273135781288147,0
|
| 99 |
+
910,4550,4569,4559,Wait/Prepare for pouring,Hold gooseneck kettle,0.9772531390190125,0
|
| 100 |
+
911,4555,4574,4564,Wait/Prepare for pouring,Hold gooseneck kettle,0.9881056547164917,0
|
| 101 |
+
912,4560,4579,4569,Wait/Prepare for pouring,Hold gooseneck kettle,0.9933465719223022,0
|
| 102 |
+
913,4565,4584,4574,Wait/Prepare for pouring,Hold gooseneck kettle,0.9947186708450317,0
|
| 103 |
+
914,4570,4589,4579,Wait/Prepare for pouring,Hold gooseneck kettle,0.9827357530593872,0
|
| 104 |
+
915,4575,4594,4584,Wait/Prepare for pouring,Hold gooseneck kettle,0.9920431971549988,0
|
| 105 |
+
916,4580,4599,4589,Wait/Prepare for pouring,Hold gooseneck kettle,0.9966668486595154,0
|
| 106 |
+
917,4585,4604,4594,Wait/Prepare for pouring,Hold gooseneck kettle,0.9956879019737244,0
|
| 107 |
+
918,4590,4609,4599,Wait/Prepare for pouring,Hold gooseneck kettle,0.998197615146637,0
|
| 108 |
+
919,4595,4614,4604,Wait/Prepare for pouring,Hold gooseneck kettle,0.9980748891830444,0
|
| 109 |
+
920,4600,4619,4609,Wait/Prepare for pouring,Hold gooseneck kettle,0.9988320469856262,0
|
| 110 |
+
921,4605,4624,4614,Wait/Prepare for pouring,Hold gooseneck kettle,0.9987673759460449,0
|
| 111 |
+
922,4610,4629,4619,Wait/Prepare for pouring,Hold gooseneck kettle,0.999583899974823,0
|
| 112 |
+
923,4615,4634,4624,Wait/Prepare for pouring,Hold gooseneck kettle,0.9995822310447693,0
|
| 113 |
+
924,4620,4639,4629,Wait/Prepare for pouring,Hold gooseneck kettle,0.9996856451034546,0
|
| 114 |
+
925,4625,4644,4634,Wait/Prepare for pouring,Hold gooseneck kettle,0.9994587302207947,0
|
| 115 |
+
926,4630,4649,4639,Wait/Prepare for pouring,Hold gooseneck kettle,0.9996185302734375,0
|
| 116 |
+
927,4635,4654,4644,Wait/Prepare for pouring,Hold gooseneck kettle,0.9997453093528748,0
|
| 117 |
+
928,4640,4659,4649,Wait/Prepare for pouring,Hold gooseneck kettle,0.9995424747467041,0
|
| 118 |
+
929,4645,4664,4654,Wait/Prepare for pouring,Transfer coffee to dripper,1.0,0
|
| 119 |
+
930,4650,4669,4659,Wait/Prepare for pouring,Pour coffee,1.0,0
|
| 120 |
+
931,4655,4674,4664,Wait/Prepare for pouring,Pour coffee,1.0,0
|
| 121 |
+
932,4660,4679,4669,Wait/Prepare for pouring,Pour coffee,1.0,0
|
| 122 |
+
933,4665,4684,4674,Wait/Prepare for pouring,Grasp gooseneck kettle,0.9043989777565002,0
|
| 123 |
+
934,4670,4689,4679,Wait/Prepare for pouring,Pick up kettle,0.3926128149032593,0
|
| 124 |
+
935,4675,4694,4684,Wait/Prepare for pouring,Hold gooseneck kettle,0.659665584564209,0
|
| 125 |
+
936,4680,4699,4689,Wait/Prepare for pouring,Hold gooseneck kettle,0.9331912994384766,0
|
| 126 |
+
937,4685,4704,4694,Wait/Prepare for pouring,Hold gooseneck kettle,0.97511225938797,0
|
| 127 |
+
938,4690,4709,4699,Wait/Prepare for pouring,Hold gooseneck kettle,0.986286461353302,0
|
| 128 |
+
939,4695,4714,4704,Wait/Prepare for pouring,Hold gooseneck kettle,0.9908081889152527,0
|
| 129 |
+
940,4700,4719,4709,Wait/Prepare for pouring,Hold gooseneck kettle,0.9835360050201416,0
|
| 130 |
+
941,4705,4724,4714,Wait/Prepare for pouring,Grasp gooseneck kettle,0.516673743724823,0
|
| 131 |
+
942,4710,4729,4719,Wait/Prepare for pouring,Hold gooseneck kettle,0.6449987292289734,0
|
| 132 |
+
943,4715,4734,4724,Wait/Prepare for pouring,Hold gooseneck kettle,0.8000833988189697,0
|
| 133 |
+
944,4720,4739,4729,Wait/Prepare for pouring,Hold gooseneck kettle,0.9626464247703552,0
|
| 134 |
+
945,4725,4744,4734,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999990463256836,0
|
| 135 |
+
946,4730,4749,4739,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999974966049194,0
|
| 136 |
+
947,4735,4754,4744,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999978542327881,0
|
| 137 |
+
948,4740,4759,4749,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999996423721313,0
|
| 138 |
+
949,4745,4764,4754,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999912977218628,0
|
| 139 |
+
950,4750,4769,4759,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999905824661255,0
|
| 140 |
+
951,4755,4774,4764,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999910593032837,0
|
| 141 |
+
952,4760,4779,4769,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999939203262329,0
|
| 142 |
+
953,4765,4784,4774,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999723434448242,0
|
| 143 |
+
954,4770,4789,4779,Wait/Prepare for pouring,Hold gooseneck kettle,0.9996600151062012,0
|
| 144 |
+
955,4775,4794,4784,Wait/Prepare for pouring,Hold gooseneck kettle,0.9959222078323364,0
|
| 145 |
+
956,4780,4799,4789,Wait/Prepare for pouring,Hold gooseneck kettle,0.8328658938407898,0
|
| 146 |
+
957,4785,4804,4794,Wait/Prepare for pouring,Grasp gooseneck kettle,0.5747398138046265,0
|
| 147 |
+
958,4790,4809,4799,Wait/Prepare for pouring,Hold gooseneck kettle,0.7075948119163513,0
|
| 148 |
+
959,4795,4814,4804,Wait/Prepare for pouring,Hold gooseneck kettle,0.8896487951278687,0
|
| 149 |
+
960,4800,4819,4809,Wait/Prepare for pouring,Hold gooseneck kettle,0.9626855850219727,0
|
| 150 |
+
961,4805,4824,4814,Wait/Prepare for pouring,Hold gooseneck kettle,0.7965124845504761,0
|
| 151 |
+
962,4810,4829,4819,Wait/Prepare for pouring,Hold gooseneck kettle,0.7001431584358215,0
|
| 152 |
+
963,4815,4834,4824,Wait/Prepare for pouring,Grasp gooseneck kettle,0.8495855331420898,0
|
| 153 |
+
964,4820,4839,4829,Wait/Prepare for pouring,Grasp gooseneck kettle,0.5061948299407959,0
|
| 154 |
+
965,4825,4844,4834,Wait/Prepare for pouring,Hold gooseneck kettle,0.8378833532333374,0
|
| 155 |
+
966,4830,4849,4839,Wait/Prepare for pouring,Hold gooseneck kettle,0.68319171667099,0
|
| 156 |
+
967,4835,4854,4844,Wait/Prepare for pouring,Grasp gooseneck kettle,0.6436103582382202,0
|
| 157 |
+
968,4840,4859,4849,Wait/Prepare for pouring,Hold gooseneck kettle,0.5183529853820801,0
|
| 158 |
+
969,4845,4864,4854,Wait/Prepare for pouring,Pick up kettle,0.4071424603462219,0
|
| 159 |
+
970,4850,4869,4859,Wait/Prepare for pouring,Hold gooseneck kettle,0.4263044595718384,0
|
| 160 |
+
971,4855,4874,4864,Wait/Prepare for pouring,Hold gooseneck kettle,0.8869878053665161,0
|
| 161 |
+
972,4860,4879,4869,Wait/Prepare for pouring,Hold gooseneck kettle,0.9319862723350525,0
|
| 162 |
+
973,4865,4884,4874,Wait/Prepare for pouring,Hold gooseneck kettle,0.7885429859161377,0
|
| 163 |
+
974,4870,4889,4879,Wait/Prepare for pouring,Hold gooseneck kettle,0.7194900512695312,0
|
| 164 |
+
975,4875,4894,4884,Wait/Prepare for pouring,Hold gooseneck kettle,0.5540710687637329,0
|
| 165 |
+
976,4880,4899,4889,Wait/Prepare for pouring,Hold gooseneck kettle,0.7307034730911255,0
|
| 166 |
+
977,4885,4904,4894,Wait/Prepare for pouring,Hold gooseneck kettle,0.7707006931304932,0
|
| 167 |
+
978,4890,4909,4899,Wait/Prepare for pouring,Hold gooseneck kettle,0.8658533692359924,0
|
| 168 |
+
979,4895,4914,4904,Wait/Prepare for pouring,Hold gooseneck kettle,0.833945631980896,0
|
| 169 |
+
980,4900,4919,4909,Wait/Prepare for pouring,Hold gooseneck kettle,0.8935251235961914,0
|
| 170 |
+
981,4905,4924,4914,Wait/Prepare for pouring,Hold gooseneck kettle,0.7397112250328064,0
|
| 171 |
+
982,4910,4929,4919,Wait/Prepare for pouring,Hold gooseneck kettle,0.48959892988204956,0
|
| 172 |
+
983,4915,4934,4924,Wait/Prepare for pouring,Hold gooseneck kettle,0.5099411606788635,0
|
| 173 |
+
984,4920,4939,4929,Wait/Prepare for pouring,Grasp gooseneck kettle,0.9707042574882507,0
|
| 174 |
+
985,4925,4944,4934,Wait/Prepare for pouring,Grasp gooseneck kettle,0.9959326386451721,0
|
| 175 |
+
986,4930,4949,4939,Wait/Prepare for pouring,Pick up white bottle,0.9999985694885254,0
|
| 176 |
+
987,4935,4954,4944,Wait/Prepare for pouring,Position kettle to pour,1.0,0
|
| 177 |
+
988,4940,4959,4949,Wait/Prepare for pouring,Position kettle to pour,1.0,0
|
| 178 |
+
989,4945,4964,4954,Wait/Prepare for pouring,Position kettle to pour,1.0,0
|
| 179 |
+
990,4950,4969,4959,Wait/Prepare for pouring,Place kettle on table,0.9988526105880737,0
|
| 180 |
+
991,4955,4974,4964,Wait/Prepare for pouring,Place kettle on table,0.979528546333313,0
|
| 181 |
+
992,4960,4979,4969,Wait/Prepare for pouring,Place kettle on table,0.9895297884941101,0
|
| 182 |
+
993,4965,4984,4974,Pour coffee,Place kettle on table,0.9796674251556396,0
|
| 183 |
+
994,4970,4989,4979,Pour coffee,Place kettle on table,0.6472766995429993,0
|
| 184 |
+
995,4975,4994,4984,Pour coffee,Close bottle cap,0.8388060927391052,0
|
| 185 |
+
996,4980,4999,4989,Pour coffee,Close bottle cap,0.9310157299041748,0
|
| 186 |
+
997,4985,5004,4994,Pour coffee,Close bottle cap,0.8576357960700989,0
|
| 187 |
+
998,4990,5009,4999,Pour coffee,Close bottle cap,0.6224746704101562,0
|
| 188 |
+
999,4995,5014,5004,Pour coffee,Close bottle cap,0.5135964751243591,0
|
| 189 |
+
1000,5000,5019,5009,Pour coffee,Transfer coffee to dripper,0.37856486439704895,0
|
| 190 |
+
1001,5005,5024,5014,Pour coffee,Transfer coffee to dripper,0.6020600199699402,0
|
| 191 |
+
1002,5010,5029,5019,Pour coffee,Transfer coffee to dripper,0.5776646733283997,0
|
| 192 |
+
1003,5015,5034,5024,Pour coffee,Transfer coffee to dripper,0.7124370336532593,0
|
| 193 |
+
1004,5020,5039,5029,Pour coffee,Transfer coffee to dripper,0.7562025785446167,0
|
| 194 |
+
1005,5025,5044,5034,Pour coffee,Transfer coffee to dripper,0.9175662398338318,0
|
| 195 |
+
1006,5030,5049,5039,Pour coffee,Transfer coffee to dripper,0.8188592791557312,0
|
| 196 |
+
1007,5035,5054,5044,Pour coffee,Transfer coffee to dripper,0.7844545841217041,0
|
| 197 |
+
1008,5040,5059,5049,Pour coffee,Transfer coffee to dripper,0.5981265902519226,0
|
| 198 |
+
1009,5045,5064,5054,Pour coffee,Transfer coffee to dripper,0.5726287364959717,0
|
| 199 |
+
1010,5050,5069,5059,Pour coffee,Transfer coffee to dripper,0.3663894832134247,0
|
| 200 |
+
1011,5055,5074,5064,Pour coffee,Transfer coffee to dripper,0.4688641130924225,0
|
| 201 |
+
1012,5060,5079,5069,Pour coffee,Transfer coffee to dripper,0.8839542269706726,0
|
| 202 |
+
1013,5065,5084,5074,Pour coffee,Place kettle on table,0.38573601841926575,0
|
| 203 |
+
1014,5070,5089,5079,Pour coffee,Place kettle on table,0.8056392073631287,0
|
| 204 |
+
1015,5075,5094,5084,Pour coffee,Place kettle on table,0.7061623334884644,0
|
| 205 |
+
1016,5080,5099,5089,Pour coffee,Place kettle on table,0.4313596189022064,0
|
| 206 |
+
1017,5085,5104,5094,Pour coffee,Move kettle,0.8220498561859131,0
|
| 207 |
+
1018,5090,5109,5099,Pour coffee,Move kettle,0.9076918959617615,0
|
| 208 |
+
1019,5095,5114,5104,Pour coffee,Move kettle,0.8507488369941711,0
|
| 209 |
+
1020,5100,5119,5109,Pour coffee,Move kettle,0.9212390184402466,0
|
| 210 |
+
1021,5105,5124,5114,Pour coffee,Move kettle,0.7214309573173523,0
|
| 211 |
+
1022,5110,5129,5119,Pour coffee,Close bottle cap,0.8315883874893188,0
|
| 212 |
+
1023,5115,5134,5124,Pour coffee,Close bottle cap,0.9795357584953308,0
|
| 213 |
+
1024,5120,5139,5129,Pour coffee,Close bottle cap,0.9781171083450317,0
|
| 214 |
+
1025,5125,5144,5134,Pour coffee,Place kettle on table,0.9943705201148987,0
|
| 215 |
+
1026,5130,5149,5139,Pour coffee,Position kettle to pour,0.9322646856307983,0
|
| 216 |
+
1027,5135,5154,5144,Pour coffee,Position kettle to pour,0.9999828338623047,0
|
| 217 |
+
1028,5140,5159,5149,Pour coffee,Position kettle to pour,0.9999951124191284,0
|
| 218 |
+
1029,5145,5164,5154,Pour coffee,Position kettle to pour,1.0,0
|
| 219 |
+
1030,5150,5169,5159,Pour coffee,Position kettle to pour,0.5592474937438965,0
|
| 220 |
+
1031,5155,5174,5164,Pour coffee,Position kettle to pour,0.2926895022392273,0
|
| 221 |
+
1032,5160,5179,5169,Pour coffee,Pour liquid from white bottle,0.33152860403060913,0
|
| 222 |
+
1033,5165,5184,5174,Pour coffee,Pour liquid from white bottle,0.7218644618988037,0
|
| 223 |
+
1034,5170,5189,5179,Pour coffee,Pour liquid from white bottle,0.8828543424606323,0
|
| 224 |
+
1035,5175,5194,5184,Pour coffee,Pour liquid from white bottle,0.9057998657226562,0
|
| 225 |
+
1036,5180,5199,5189,Pour coffee,Pour liquid from white bottle,0.8954428434371948,0
|
| 226 |
+
1037,5185,5204,5194,Pour coffee,Pour liquid from white bottle,0.9720392227172852,0
|
| 227 |
+
1038,5190,5209,5199,Pour coffee,Pour liquid from white bottle,0.9692025780677795,0
|
| 228 |
+
1039,5195,5214,5204,Pour coffee,Pour liquid from white bottle,0.911934494972229,0
|
| 229 |
+
1040,5200,5219,5209,Pour coffee,Pour liquid from white bottle,0.897000253200531,0
|
| 230 |
+
1041,5205,5224,5214,Pour coffee,Pour liquid from white bottle,0.8644205927848816,0
|
| 231 |
+
1042,5210,5229,5219,Pour coffee,Pour liquid from white bottle,0.8608220219612122,0
|
| 232 |
+
1043,5215,5234,5224,Pour coffee,Pour liquid from white bottle,0.850020706653595,0
|
| 233 |
+
1044,5220,5239,5229,Pour coffee,Pour liquid from white bottle,0.8661478161811829,0
|
| 234 |
+
1045,5225,5244,5234,Pour coffee,Pour liquid from white bottle,0.8844479918479919,0
|
| 235 |
+
1046,5230,5249,5239,Pour coffee,Pour liquid from white bottle,0.898137629032135,0
|
| 236 |
+
1047,5235,5254,5244,Pour coffee,Pour liquid from white bottle,0.9061786532402039,0
|
| 237 |
+
1048,5240,5259,5249,Pour coffee,Pour liquid from white bottle,0.8903079628944397,0
|
| 238 |
+
1049,5245,5264,5254,Pour coffee,Pour liquid from white bottle,0.8438349366188049,0
|
| 239 |
+
1050,5250,5269,5259,Pour coffee,Pour liquid from white bottle,0.8188281059265137,0
|
| 240 |
+
1051,5255,5274,5264,Pour coffee,Pour liquid from white bottle,0.7272116541862488,0
|
| 241 |
+
1052,5260,5279,5269,Pour coffee,Pour liquid from white bottle,0.8062981963157654,0
|
| 242 |
+
1053,5265,5284,5274,Pour coffee,Pour liquid from white bottle,0.8698538541793823,0
|
| 243 |
+
1054,5270,5289,5279,Pour coffee,Pour liquid from white bottle,0.862269937992096,0
|
| 244 |
+
1055,5275,5294,5284,Pour coffee,Pour liquid from white bottle,0.8559346199035645,0
|
| 245 |
+
1056,5280,5299,5289,Pour coffee,Pour liquid from white bottle,0.7468275427818298,0
|
| 246 |
+
1057,5285,5304,5294,Pour coffee,Pour liquid from white bottle,0.6168608069419861,0
|
| 247 |
+
1058,5290,5309,5299,Pour coffee,Position kettle to pour,0.4011416435241699,0
|
| 248 |
+
1059,5295,5314,5304,Pour coffee,Position kettle to pour,0.44005709886550903,0
|
| 249 |
+
1060,5300,5319,5309,Pour coffee,Move kettle away,0.4397577941417694,0
|
| 250 |
+
1061,5305,5324,5314,Pour coffee,Pick up white bottle,0.28970053791999817,0
|
| 251 |
+
1062,5310,5329,5319,Pour coffee,Move kettle away,0.503535807132721,0
|
| 252 |
+
1063,5315,5334,5324,Pour coffee,Close bottle cap,0.2590462863445282,0
|
| 253 |
+
1064,5320,5339,5329,Pour coffee,Place kettle on table,0.6431507468223572,0
|
| 254 |
+
1065,5325,5344,5334,Pour coffee,Place kettle on table,0.979051947593689,0
|
| 255 |
+
1066,5330,5349,5339,Pour coffee,Place kettle on table,0.9953368306159973,0
|
| 256 |
+
1067,5335,5354,5344,Pour coffee,Place kettle on table,0.9315038919448853,0
|
| 257 |
+
1068,5340,5359,5349,Pour coffee,Place kettle on table,0.7721937894821167,0
|
| 258 |
+
1069,5345,5364,5354,Pour coffee,Place kettle on table,0.689207136631012,0
|
| 259 |
+
1070,5350,5369,5359,Pour coffee,Place kettle on table,0.505669116973877,0
|
| 260 |
+
1071,5355,5374,5364,Pour coffee,Place kettle on table,0.7561095952987671,0
|
| 261 |
+
1072,5360,5379,5369,Pour coffee,Place kettle on table,0.8801330327987671,0
|
| 262 |
+
1073,5365,5384,5374,Pour coffee,Place kettle on table,0.7420936822891235,0
|
| 263 |
+
1074,5370,5389,5379,Pour coffee,Place kettle on table,0.8702661991119385,0
|
| 264 |
+
1075,5375,5394,5384,Pour coffee,Place kettle on table,0.866827130317688,0
|
| 265 |
+
1076,5380,5399,5389,Pour coffee,Place kettle on table,0.5545104742050171,0
|
| 266 |
+
1077,5385,5404,5394,Pour coffee,Pick up white bottle,0.5596185922622681,0
|
| 267 |
+
1078,5390,5409,5399,Pour coffee,Pick up white bottle,0.9022266268730164,0
|
| 268 |
+
1079,5395,5414,5404,Pour coffee,Pick up white bottle,0.5743938088417053,0
|
| 269 |
+
1080,5400,5419,5409,Pour coffee,Position kettle to pour,0.47528353333473206,0
|
| 270 |
+
1081,5405,5424,5414,Pour coffee,Position kettle to pour,0.4311138391494751,0
|
| 271 |
+
1082,5410,5429,5419,Pour coffee,Position kettle to pour,0.4646453559398651,0
|
| 272 |
+
1083,5415,5434,5424,Pour coffee,Position kettle to pour,0.5548924207687378,0
|
| 273 |
+
1084,5420,5439,5429,Pour coffee,Position kettle to pour,0.44023776054382324,0
|
| 274 |
+
1085,5425,5444,5434,Pour coffee,Position kettle to pour,0.5113940834999084,0
|
| 275 |
+
1086,5430,5449,5439,Pour coffee,Position kettle to pour,0.47042790055274963,0
|
| 276 |
+
1087,5435,5454,5444,Pour coffee,Position kettle to pour,0.6585110425949097,0
|
| 277 |
+
1088,5440,5459,5449,Pour coffee,Position kettle to pour,0.6600997447967529,0
|
| 278 |
+
1089,5445,5464,5454,Pour coffee,Position kettle to pour,0.6421284079551697,0
|
| 279 |
+
1090,5450,5469,5459,Pour coffee,Position kettle to pour,0.7492396831512451,0
|
| 280 |
+
1091,5455,5474,5464,Pour coffee,Position kettle to pour,0.6025475859642029,0
|
| 281 |
+
1092,5460,5479,5469,Pour coffee,Position kettle to pour,0.7047773599624634,0
|
| 282 |
+
1093,5465,5484,5474,Pour coffee,Position kettle to pour,0.5355185866355896,0
|
| 283 |
+
1094,5470,5489,5479,Pour coffee,Position kettle to pour,0.47672533988952637,0
|
| 284 |
+
1095,5475,5494,5484,Pour coffee,Position kettle to pour,0.5051762461662292,0
|
| 285 |
+
1096,5480,5499,5489,Pour coffee,Move kettle away,0.5612668395042419,0
|
| 286 |
+
1097,5485,5504,5494,Pour coffee,Move kettle away,0.41522881388664246,0
|
| 287 |
+
1098,5490,5509,5499,Pour coffee,Position kettle to pour,0.47447532415390015,0
|
| 288 |
+
1099,5495,5514,5504,Pour coffee,Position kettle to pour,0.3462681472301483,0
|
| 289 |
+
1100,5500,5519,5509,Pour coffee,Grasp coffee scoop,0.3863701820373535,0
|
| 290 |
+
1101,5505,5524,5514,Pour coffee,Grasp coffee scoop,0.5246132612228394,0
|
| 291 |
+
1102,5510,5529,5519,Pour coffee,Grasp coffee scoop,0.44805386662483215,0
|
| 292 |
+
1103,5515,5534,5524,Pour coffee,Move kettle away,0.3956279456615448,0
|
| 293 |
+
1104,5520,5539,5529,Pour coffee,Move kettle away,0.4172695577144623,0
|
| 294 |
+
1105,5525,5544,5534,Pour coffee,Move kettle away,0.43881863355636597,0
|
| 295 |
+
1106,5530,5549,5539,Pour coffee,Move kettle away,0.5157874822616577,0
|
| 296 |
+
1107,5535,5554,5544,Pour coffee,Move kettle away,0.40534916520118713,0
|
| 297 |
+
1108,5540,5559,5549,Pour coffee,Grasp coffee scoop,0.44100823998451233,0
|
| 298 |
+
1109,5545,5564,5554,Pour coffee,Grasp coffee scoop,0.6090542674064636,0
|
| 299 |
+
1110,5550,5569,5559,Pour coffee,Pour liquid from white bottle,0.4562356173992157,0
|
| 300 |
+
1111,5555,5574,5564,Pour coffee,Pour liquid from white bottle,0.5158810615539551,0
|
| 301 |
+
1112,5560,5579,5569,Pour coffee,Pour liquid from white bottle,0.5167020559310913,0
|
| 302 |
+
1113,5565,5584,5574,Pour coffee,Pour liquid from white bottle,0.5603933334350586,0
|
| 303 |
+
1114,5570,5589,5579,Pour coffee,Pour liquid from white bottle,0.552517294883728,0
|
| 304 |
+
1115,5575,5594,5584,Pour coffee,Pour liquid from white bottle,0.5399962067604065,0
|
| 305 |
+
1116,5580,5599,5589,Pour coffee,Pour liquid from white bottle,0.6019076108932495,0
|
| 306 |
+
1117,5585,5604,5594,Pour coffee,Pour liquid from white bottle,0.47412368655204773,0
|
| 307 |
+
1118,5590,5609,5599,Pour coffee,Pour liquid from white bottle,0.6222557425498962,0
|
| 308 |
+
1119,5595,5614,5604,Pour coffee,Pour liquid from white bottle,0.551690399646759,0
|
| 309 |
+
1120,5600,5619,5609,Pour coffee,Pour liquid from white bottle,0.5419737696647644,0
|
| 310 |
+
1121,5605,5624,5614,Pour coffee,Pour liquid from white bottle,0.5643547773361206,0
|
| 311 |
+
1122,5610,5629,5619,Pour coffee,Pour liquid from white bottle,0.7340739965438843,0
|
| 312 |
+
1123,5615,5634,5624,Pour coffee,Pour liquid from white bottle,0.7207788228988647,0
|
| 313 |
+
1124,5620,5639,5629,Pour coffee,Pour liquid from white bottle,0.6016834378242493,0
|
| 314 |
+
1125,5625,5644,5634,Pour coffee,Pour liquid from white bottle,0.428693562746048,0
|
| 315 |
+
1126,5630,5649,5639,Pour coffee,Pour liquid from white bottle,0.4140980541706085,0
|
| 316 |
+
1127,5635,5654,5644,Pour coffee,Grasp coffee scoop,0.39874619245529175,0
|
| 317 |
+
1128,5640,5659,5649,Pour coffee,Pour liquid from white bottle,0.5350136756896973,0
|
| 318 |
+
1129,5645,5664,5654,Pour coffee,Pour liquid from white bottle,0.5406783819198608,0
|
| 319 |
+
1130,5650,5669,5659,Pour coffee,Pour liquid from white bottle,0.5510765314102173,0
|
| 320 |
+
1131,5655,5674,5664,Pour coffee,Pour liquid from white bottle,0.6076086163520813,0
|
| 321 |
+
1132,5660,5679,5669,Pour coffee,Pour liquid from white bottle,0.5696309804916382,0
|
| 322 |
+
1133,5665,5684,5674,Pour coffee,Pour liquid from white bottle,0.5987949371337891,0
|
| 323 |
+
1134,5670,5689,5679,Pour coffee,Pour liquid from white bottle,0.41460150480270386,0
|
| 324 |
+
1135,5675,5694,5684,Pour coffee,Pour liquid from white bottle,0.4379901587963104,0
|
| 325 |
+
1136,5680,5699,5689,Pour coffee,Pour liquid from white bottle,0.41809409856796265,0
|
| 326 |
+
1137,5685,5704,5694,Pour coffee,Pour liquid from white bottle,0.38558340072631836,0
|
| 327 |
+
1138,5690,5709,5699,Pour coffee,Pour liquid from white bottle,0.3542962372303009,0
|
| 328 |
+
1139,5695,5714,5704,Pour coffee,Pour liquid from white bottle,0.32292258739471436,0
|
| 329 |
+
1140,5700,5719,5709,Pour coffee,Pour liquid from white bottle,0.3749793767929077,0
|
| 330 |
+
1141,5705,5724,5714,Pour coffee,Pour liquid from white bottle,0.38172009587287903,0
|
| 331 |
+
1142,5710,5729,5719,Pour coffee,Pour liquid from white bottle,0.4511479437351227,0
|
| 332 |
+
1143,5715,5734,5724,Pour coffee,Pour liquid from white bottle,0.43607378005981445,0
|
| 333 |
+
1144,5720,5739,5729,Pour coffee,Pour liquid from white bottle,0.3813914358615875,0
|
| 334 |
+
1145,5725,5744,5734,Pour coffee,Grasp coffee scoop,0.435016930103302,0
|
| 335 |
+
1146,5730,5749,5739,Pour coffee,Grasp coffee scoop,0.4107193350791931,0
|
| 336 |
+
1147,5735,5754,5744,Pour coffee,Pour liquid from white bottle,0.6089766621589661,0
|
| 337 |
+
1148,5740,5759,5749,Pour coffee,Pour liquid from white bottle,0.44909530878067017,0
|
| 338 |
+
1149,5745,5764,5754,Pour coffee,Grasp coffee scoop,0.3486616909503937,0
|
| 339 |
+
1150,5750,5769,5759,Pour coffee,Grasp coffee scoop,0.43519583344459534,0
|
| 340 |
+
1151,5755,5774,5764,Pour coffee,Grasp coffee scoop,0.7403138279914856,0
|
| 341 |
+
1152,5760,5779,5769,Pour coffee,Grasp coffee scoop,0.5492165684700012,0
|
| 342 |
+
1153,5765,5784,5774,Pour milk into coffee,Pour liquid from white bottle,0.48097318410873413,0
|
| 343 |
+
1154,5770,5789,5779,Pour milk into coffee,Pour liquid from white bottle,0.509634792804718,0
|
| 344 |
+
1155,5775,5794,5784,Pour milk into coffee,Grasp coffee scoop,0.5483095645904541,0
|
| 345 |
+
1156,5780,5799,5789,Pour milk into coffee,Grasp coffee scoop,0.5101841688156128,0
|
| 346 |
+
1157,5785,5804,5794,Pour milk into coffee,Pour liquid from white bottle,0.36451706290245056,0
|
| 347 |
+
1158,5790,5809,5799,Pour milk into coffee,Position kettle to pour,0.5730411410331726,0
|
| 348 |
+
1159,5795,5814,5804,Pour milk into coffee,Position kettle to pour,0.6422216296195984,0
|
| 349 |
+
1160,5800,5819,5809,Pour milk into coffee,Position kettle to pour,0.7674852609634399,0
|
results/episode_task_suite/object_relevance/metrics.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"micro_f1": 0.18393030009680542,
|
| 3 |
+
"macro_f1": 0.06427052187996415,
|
| 4 |
+
"exact_match": 0.005747126436781609,
|
| 5 |
+
"precision": 0.16360505166475317,
|
| 6 |
+
"recall": 0.21002210759027265,
|
| 7 |
+
"task": "object_relevance",
|
| 8 |
+
"input": "all non-caption modalities -> current relevant object set",
|
| 9 |
+
"split": "chronological",
|
| 10 |
+
"num_windows": 1161,
|
| 11 |
+
"num_train_windows": 813,
|
| 12 |
+
"num_test_windows": 348,
|
| 13 |
+
"num_objects": 34
|
| 14 |
+
}
|
results/episode_task_suite/object_relevance/object_vocab.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
"kettle",
|
| 3 |
+
"coffee dripper",
|
| 4 |
+
"scale",
|
| 5 |
+
"bottle",
|
| 6 |
+
"gooseneck kettle",
|
| 7 |
+
"digital scale",
|
| 8 |
+
"table",
|
| 9 |
+
"dripper",
|
| 10 |
+
"coffee filter",
|
| 11 |
+
"glass carafe",
|
| 12 |
+
"coffee scale",
|
| 13 |
+
"white mug",
|
| 14 |
+
"wooden scoop",
|
| 15 |
+
"coffee jar",
|
| 16 |
+
"coffee scoop",
|
| 17 |
+
"coffee container",
|
| 18 |
+
"lid",
|
| 19 |
+
"closed coffee container",
|
| 20 |
+
"water bottle",
|
| 21 |
+
"coffee mug",
|
| 22 |
+
"mug",
|
| 23 |
+
"white cup",
|
| 24 |
+
"white bottle",
|
| 25 |
+
"coffee equipment",
|
| 26 |
+
"small bottle",
|
| 27 |
+
"weighing scale",
|
| 28 |
+
"white coffee cup",
|
| 29 |
+
"digital scale with dripper",
|
| 30 |
+
"metal pitcher",
|
| 31 |
+
"carafe",
|
| 32 |
+
"milk pitcher",
|
| 33 |
+
"coffee cup",
|
| 34 |
+
"stainless steel milk pitcher",
|
| 35 |
+
"milk bottle"
|
| 36 |
+
]
|
results/episode_task_suite/object_relevance/predictions.csv
ADDED
|
@@ -0,0 +1,349 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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| 1 |
+
window_index,start_frame,end_frame,true_objects,predicted_objects
|
| 2 |
+
813,4065,4084,coffee dripper|scale|mug|white bottle,coffee dripper|scale|mug|white bottle
|
| 3 |
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814,4070,4089,coffee dripper|scale|mug|white bottle,coffee dripper|scale|digital scale|mug|white bottle
|
| 4 |
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815,4075,4094,coffee dripper|scale|mug|white bottle,coffee dripper|digital scale|white bottle
|
| 5 |
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816,4080,4099,coffee dripper|scale|mug|white bottle,coffee dripper|digital scale|white bottle
|
| 6 |
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817,4085,4104,coffee dripper|scale|mug|white bottle,coffee dripper|digital scale|white bottle
|
| 7 |
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818,4090,4109,coffee dripper|scale|mug|white bottle,coffee dripper|white bottle
|
| 8 |
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819,4095,4114,coffee dripper|scale|mug|white bottle,coffee dripper|white bottle
|
| 9 |
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820,4100,4119,coffee dripper|scale|mug|white bottle,coffee dripper|white bottle
|
| 10 |
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|
| 11 |
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822,4110,4129,coffee dripper|scale|mug|white bottle,coffee dripper|digital scale|white bottle
|
| 12 |
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|
| 13 |
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|
| 14 |
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825,4125,4144,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|white bottle
|
| 15 |
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|
| 16 |
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|
| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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833,4165,4184,coffee dripper|scale|white bottle,coffee dripper|scale|bottle|gooseneck kettle|white mug|white bottle
|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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838,4190,4209,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale
|
| 28 |
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839,4195,4214,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale
|
| 29 |
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840,4200,4219,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale|coffee filter
|
| 30 |
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841,4205,4224,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale|coffee filter
|
| 31 |
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842,4210,4229,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|coffee filter
|
| 32 |
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843,4215,4234,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle
|
| 33 |
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|
| 34 |
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|
| 35 |
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846,4230,4249,coffee dripper|scale|white bottle,kettle|coffee dripper|bottle|digital scale|water bottle|coffee mug|white bottle
|
| 36 |
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847,4235,4254,coffee dripper|scale|white bottle,kettle|coffee dripper|bottle|digital scale|water bottle|coffee mug
|
| 37 |
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848,4240,4259,coffee dripper|scale|white bottle,coffee dripper|digital scale|water bottle|coffee mug
|
| 38 |
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849,4245,4264,coffee dripper|scale|white bottle,coffee dripper|digital scale|water bottle|coffee mug
|
| 39 |
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850,4250,4269,coffee dripper|scale|white bottle,kettle|coffee dripper|gooseneck kettle|digital scale
|
| 40 |
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851,4255,4274,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|gooseneck kettle|digital scale
|
| 41 |
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852,4260,4279,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|gooseneck kettle|digital scale
|
| 42 |
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853,4265,4284,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|gooseneck kettle|digital scale|water bottle
|
| 43 |
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854,4270,4289,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale
|
| 44 |
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855,4275,4294,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale
|
| 45 |
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856,4280,4299,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale|table|coffee filter|white mug
|
| 46 |
+
857,4285,4304,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale|white mug
|
| 47 |
+
858,4290,4309,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|coffee filter
|
| 48 |
+
859,4295,4314,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale|coffee filter|white bottle
|
| 49 |
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860,4300,4319,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|coffee filter|white bottle
|
| 50 |
+
861,4305,4324,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|table|coffee filter|white bottle
|
| 51 |
+
862,4310,4329,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|coffee filter|white bottle
|
| 52 |
+
863,4315,4334,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|coffee filter|white bottle
|
| 53 |
+
864,4320,4339,coffee dripper|scale|white bottle,coffee dripper|scale|bottle|gooseneck kettle|coffee filter|white bottle
|
| 54 |
+
865,4325,4344,coffee dripper|scale|white bottle,coffee dripper|scale|bottle|gooseneck kettle|coffee filter|white bottle
|
| 55 |
+
866,4330,4349,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|coffee filter|white bottle
|
| 56 |
+
867,4335,4354,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|table|coffee filter|white bottle
|
| 57 |
+
868,4340,4359,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|table|coffee filter|white bottle
|
| 58 |
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869,4345,4364,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|table|coffee filter|white bottle
|
| 59 |
+
870,4350,4369,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|table|coffee filter|white bottle
|
| 60 |
+
871,4355,4374,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|table|coffee filter|white bottle
|
| 61 |
+
872,4360,4379,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|bottle|gooseneck kettle|table|coffee filter|white bottle
|
| 62 |
+
873,4365,4384,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|gooseneck kettle|table|coffee filter|white bottle
|
| 63 |
+
874,4370,4389,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|gooseneck kettle|table|coffee filter|white bottle
|
| 64 |
+
875,4375,4394,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|gooseneck kettle|table|coffee filter|white bottle
|
| 65 |
+
876,4380,4399,coffee dripper|scale|white bottle,kettle|coffee dripper|scale|gooseneck kettle|table|coffee filter|white mug
|
| 66 |
+
877,4385,4404,coffee dripper|scale|white mug|white bottle|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|gooseneck kettle|table|coffee filter|white mug
|
| 67 |
+
878,4390,4409,coffee dripper|scale|white mug|white bottle|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|gooseneck kettle|table|coffee filter|white mug
|
| 68 |
+
879,4395,4414,coffee dripper|scale|white mug|white bottle|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|white mug|white bottle
|
| 69 |
+
880,4400,4419,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|white bottle
|
| 70 |
+
881,4405,4424,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|white bottle
|
| 71 |
+
882,4410,4429,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|white bottle
|
| 72 |
+
883,4415,4434,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|white bottle
|
| 73 |
+
884,4420,4439,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|gooseneck kettle|coffee filter
|
| 74 |
+
885,4425,4444,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|gooseneck kettle|coffee filter
|
| 75 |
+
886,4430,4449,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|gooseneck kettle|coffee filter
|
| 76 |
+
887,4435,4454,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|table|coffee filter|white bottle
|
| 77 |
+
888,4440,4459,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|white bottle
|
| 78 |
+
889,4445,4464,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|white bottle
|
| 79 |
+
890,4450,4469,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|white bottle
|
| 80 |
+
891,4455,4474,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|white bottle
|
| 81 |
+
892,4460,4479,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|mug|white bottle
|
| 82 |
+
893,4465,4484,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|white bottle
|
| 83 |
+
894,4470,4489,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle
|
| 84 |
+
895,4475,4494,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|dripper
|
| 85 |
+
896,4480,4499,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|dripper
|
| 86 |
+
897,4485,4504,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|white bottle
|
| 87 |
+
898,4490,4509,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|closed coffee container|mug|white bottle
|
| 88 |
+
899,4495,4514,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|closed coffee container|mug|white bottle
|
| 89 |
+
900,4500,4519,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|gooseneck kettle|coffee filter|closed coffee container|mug|white bottle
|
| 90 |
+
901,4505,4524,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|gooseneck kettle|coffee filter|closed coffee container|water bottle|mug|white bottle
|
| 91 |
+
902,4510,4529,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|water bottle|mug|white bottle
|
| 92 |
+
903,4515,4534,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|water bottle|mug|white bottle
|
| 93 |
+
904,4520,4539,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|water bottle|mug|white bottle
|
| 94 |
+
905,4525,4544,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|coffee filter|water bottle|white bottle
|
| 95 |
+
906,4530,4549,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|coffee filter|water bottle|white bottle
|
| 96 |
+
907,4535,4554,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|white bottle
|
| 97 |
+
908,4540,4559,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|white bottle
|
| 98 |
+
909,4545,4564,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|white bottle
|
| 99 |
+
910,4550,4569,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|coffee mug|white bottle
|
| 100 |
+
911,4555,4574,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug
|
| 101 |
+
912,4560,4579,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug
|
| 102 |
+
913,4565,4584,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug|mug
|
| 103 |
+
914,4570,4589,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug|mug
|
| 104 |
+
915,4575,4594,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug|mug
|
| 105 |
+
916,4580,4599,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 106 |
+
917,4585,4604,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 107 |
+
918,4590,4609,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 108 |
+
919,4595,4614,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|mug
|
| 109 |
+
920,4600,4619,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 110 |
+
921,4605,4624,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|mug
|
| 111 |
+
922,4610,4629,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|mug
|
| 112 |
+
923,4615,4634,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 113 |
+
924,4620,4639,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 114 |
+
925,4625,4644,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 115 |
+
926,4630,4649,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 116 |
+
927,4635,4654,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 117 |
+
928,4640,4659,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 118 |
+
929,4645,4664,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|bottle|gooseneck kettle|digital scale|glass carafe|coffee scale|white mug|coffee jar|lid|mug|white cup|metal pitcher|stainless steel milk pitcher
|
| 119 |
+
930,4650,4669,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|bottle|gooseneck kettle|dripper|coffee filter|glass carafe|coffee scale|wooden scoop|coffee jar|coffee scoop|coffee container|lid|water bottle|mug|small bottle|white coffee cup|metal pitcher|coffee cup|stainless steel milk pitcher
|
| 120 |
+
931,4655,4674,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|bottle|gooseneck kettle|dripper|coffee filter|glass carafe|coffee scale|wooden scoop|coffee jar|coffee scoop|coffee container|lid|water bottle|mug|small bottle|white coffee cup|metal pitcher|coffee cup|stainless steel milk pitcher
|
| 121 |
+
932,4660,4679,white mug|coffee equipment|small bottle|weighing scale,kettle|coffee dripper|scale|bottle|gooseneck kettle|dripper|coffee filter|glass carafe|coffee scale|wooden scoop|coffee jar|coffee scoop|coffee container|lid|water bottle|mug|small bottle|white coffee cup|metal pitcher|coffee cup|stainless steel milk pitcher
|
| 122 |
+
933,4665,4684,white mug|coffee equipment|small bottle|weighing scale,gooseneck kettle|table|dripper|coffee filter|glass carafe|wooden scoop|coffee jar|coffee scoop|coffee container|water bottle|coffee mug|mug|white bottle|coffee equipment|small bottle|weighing scale|coffee cup|stainless steel milk pitcher
|
| 123 |
+
934,4670,4689,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|gooseneck kettle|digital scale|water bottle|coffee mug
|
| 124 |
+
935,4675,4694,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug
|
| 125 |
+
936,4680,4699,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle
|
| 126 |
+
937,4685,4704,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle
|
| 127 |
+
938,4690,4709,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle
|
| 128 |
+
939,4695,4714,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle
|
| 129 |
+
940,4700,4719,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle
|
| 130 |
+
941,4705,4724,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug|mug
|
| 131 |
+
942,4710,4729,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug|mug
|
| 132 |
+
943,4715,4734,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 133 |
+
944,4720,4739,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 134 |
+
945,4725,4744,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 135 |
+
946,4730,4749,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|coffee mug|mug
|
| 136 |
+
947,4735,4754,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|coffee mug|mug
|
| 137 |
+
948,4740,4759,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|coffee mug|mug
|
| 138 |
+
949,4745,4764,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 139 |
+
950,4750,4769,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 140 |
+
951,4755,4774,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 141 |
+
952,4760,4779,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|coffee mug
|
| 142 |
+
953,4765,4784,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug
|
| 143 |
+
954,4770,4789,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug
|
| 144 |
+
955,4775,4794,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|digital scale|water bottle|coffee mug
|
| 145 |
+
956,4780,4799,white mug|coffee equipment|small bottle|weighing scale,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 146 |
+
957,4785,4804,glass carafe|white mug|water bottle|coffee equipment|small bottle|weighing scale|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 147 |
+
958,4790,4809,glass carafe|white mug|water bottle|coffee equipment|small bottle|weighing scale|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 148 |
+
959,4795,4814,glass carafe|white mug|water bottle|coffee equipment|small bottle|weighing scale|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 149 |
+
960,4800,4819,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 150 |
+
961,4805,4824,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 151 |
+
962,4810,4829,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 152 |
+
963,4815,4834,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 153 |
+
964,4820,4839,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 154 |
+
965,4825,4844,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 155 |
+
966,4830,4849,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 156 |
+
967,4835,4854,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 157 |
+
968,4840,4859,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 158 |
+
969,4845,4864,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 159 |
+
970,4850,4869,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 160 |
+
971,4855,4874,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 161 |
+
972,4860,4879,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 162 |
+
973,4865,4884,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 163 |
+
974,4870,4889,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 164 |
+
975,4875,4894,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 165 |
+
976,4880,4899,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 166 |
+
977,4885,4904,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 167 |
+
978,4890,4909,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|mug
|
| 168 |
+
979,4895,4914,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 169 |
+
980,4900,4919,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 170 |
+
981,4905,4924,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 171 |
+
982,4910,4929,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 172 |
+
983,4915,4934,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 173 |
+
984,4920,4939,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle
|
| 174 |
+
985,4925,4944,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|scale|gooseneck kettle|water bottle|coffee mug|white cup
|
| 175 |
+
986,4930,4949,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|bottle|gooseneck kettle|digital scale|table|coffee filter|glass carafe|coffee scale|wooden scoop|mug
|
| 176 |
+
987,4935,4954,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,gooseneck kettle|digital scale|table|dripper|coffee filter|glass carafe|wooden scoop|water bottle
|
| 177 |
+
988,4940,4959,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,gooseneck kettle|digital scale|table|dripper|coffee filter|glass carafe|wooden scoop|closed coffee container|water bottle
|
| 178 |
+
989,4945,4964,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,gooseneck kettle|digital scale|table|dripper|coffee filter|glass carafe|wooden scoop|closed coffee container|water bottle
|
| 179 |
+
990,4950,4969,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,kettle|scale|dripper
|
| 180 |
+
991,4955,4974,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,scale|dripper
|
| 181 |
+
992,4960,4979,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,scale|gooseneck kettle|dripper|coffee scoop
|
| 182 |
+
993,4965,4984,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,scale|gooseneck kettle|dripper
|
| 183 |
+
994,4970,4989,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,scale|gooseneck kettle|white bottle
|
| 184 |
+
995,4975,4994,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|gooseneck kettle|white bottle
|
| 185 |
+
996,4980,4999,glass carafe|water bottle|white coffee cup|digital scale with dripper|metal pitcher,coffee dripper|gooseneck kettle|white bottle
|
| 186 |
+
997,4985,5004,scale|glass carafe|water bottle|coffee mug|white coffee cup|digital scale with dripper|metal pitcher|carafe,coffee dripper|mug
|
| 187 |
+
998,4990,5009,scale|glass carafe|water bottle|coffee mug|white coffee cup|digital scale with dripper|metal pitcher|carafe,coffee dripper|scale|gooseneck kettle
|
| 188 |
+
999,4995,5014,scale|glass carafe|water bottle|coffee mug|white coffee cup|digital scale with dripper|metal pitcher|carafe,coffee dripper|scale|gooseneck kettle|coffee jar
|
| 189 |
+
1000,5000,5019,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|coffee jar|coffee scoop
|
| 190 |
+
1001,5005,5024,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee jar|coffee scoop
|
| 191 |
+
1002,5010,5029,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee jar|coffee scoop
|
| 192 |
+
1003,5015,5034,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee jar|coffee scoop
|
| 193 |
+
1004,5020,5039,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee jar|coffee scoop
|
| 194 |
+
1005,5025,5044,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee scoop
|
| 195 |
+
1006,5030,5049,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee scoop
|
| 196 |
+
1007,5035,5054,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee scoop
|
| 197 |
+
1008,5040,5059,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|dripper|coffee scoop
|
| 198 |
+
1009,5045,5064,scale|coffee mug|carafe,coffee dripper|scale|dripper|coffee scoop
|
| 199 |
+
1010,5050,5069,scale|coffee mug|carafe,coffee dripper|scale|dripper|coffee scoop
|
| 200 |
+
1011,5055,5074,scale|coffee mug|carafe,scale|dripper|coffee scoop
|
| 201 |
+
1012,5060,5079,scale|coffee mug|carafe,scale|dripper|coffee scoop|white bottle
|
| 202 |
+
1013,5065,5084,scale|coffee mug|carafe,scale|dripper|coffee scoop|white bottle
|
| 203 |
+
1014,5070,5089,scale|coffee mug|carafe,kettle|scale|dripper|white bottle
|
| 204 |
+
1015,5075,5094,scale|coffee mug|carafe,kettle|scale|bottle|dripper|white bottle
|
| 205 |
+
1016,5080,5099,scale|coffee mug|carafe,kettle|bottle|dripper|white bottle
|
| 206 |
+
1017,5085,5104,scale|coffee mug|carafe,kettle|bottle|dripper|white bottle
|
| 207 |
+
1018,5090,5109,scale|coffee mug|carafe,kettle|bottle|dripper|coffee filter
|
| 208 |
+
1019,5095,5114,scale|coffee mug|carafe,kettle|coffee dripper|scale|bottle|dripper|coffee filter
|
| 209 |
+
1020,5100,5119,scale|coffee mug|carafe,kettle|coffee dripper|scale|bottle|dripper|coffee filter
|
| 210 |
+
1021,5105,5124,scale|coffee mug|carafe,kettle|coffee dripper|scale|bottle|coffee filter|coffee scale|white bottle
|
| 211 |
+
1022,5110,5129,scale|coffee mug|carafe,kettle|coffee dripper|scale|bottle|coffee scale|white bottle
|
| 212 |
+
1023,5115,5134,scale|coffee mug|carafe,coffee dripper|scale|bottle|white bottle
|
| 213 |
+
1024,5120,5139,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 214 |
+
1025,5125,5144,scale|coffee mug|carafe,kettle|digital scale|coffee filter|glass carafe|white mug|wooden scoop|coffee mug|mug|metal pitcher|carafe|milk bottle
|
| 215 |
+
1026,5130,5149,scale|coffee mug|carafe,kettle|digital scale|table|coffee filter|glass carafe|coffee scale|white mug|wooden scoop|closed coffee container|coffee mug|milk bottle
|
| 216 |
+
1027,5135,5154,scale|coffee mug|carafe,kettle|digital scale|coffee filter|glass carafe|coffee scale|wooden scoop|closed coffee container|coffee mug|milk bottle
|
| 217 |
+
1028,5140,5159,scale|coffee mug|carafe,kettle|digital scale|coffee filter|glass carafe|coffee scale|wooden scoop|closed coffee container|coffee mug|milk bottle
|
| 218 |
+
1029,5145,5164,scale|coffee mug|carafe,kettle|digital scale|table|coffee filter|glass carafe|coffee scale|wooden scoop|closed coffee container|coffee mug|coffee equipment|small bottle|white coffee cup|milk bottle
|
| 219 |
+
1030,5150,5169,scale|coffee mug|carafe,kettle|digital scale|table|coffee filter|glass carafe|wooden scoop|closed coffee container|coffee equipment|small bottle|white coffee cup|milk bottle
|
| 220 |
+
1031,5155,5174,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 221 |
+
1032,5160,5179,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 222 |
+
1033,5165,5184,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 223 |
+
1034,5170,5189,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 224 |
+
1035,5175,5194,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 225 |
+
1036,5180,5199,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 226 |
+
1037,5185,5204,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 227 |
+
1038,5190,5209,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 228 |
+
1039,5195,5214,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 229 |
+
1040,5200,5219,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 230 |
+
1041,5205,5224,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 231 |
+
1042,5210,5229,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 232 |
+
1043,5215,5234,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 233 |
+
1044,5220,5239,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 234 |
+
1045,5225,5244,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 235 |
+
1046,5230,5249,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 236 |
+
1047,5235,5254,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 237 |
+
1048,5240,5259,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 238 |
+
1049,5245,5264,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 239 |
+
1050,5250,5269,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 240 |
+
1051,5255,5274,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 241 |
+
1052,5260,5279,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 242 |
+
1053,5265,5284,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 243 |
+
1054,5270,5289,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 244 |
+
1055,5275,5294,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 245 |
+
1056,5280,5299,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 246 |
+
1057,5285,5304,scale|coffee mug|carafe,coffee dripper|scale|coffee jar|white bottle
|
| 247 |
+
1058,5290,5309,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 248 |
+
1059,5295,5314,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 249 |
+
1060,5300,5319,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 250 |
+
1061,5305,5324,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 251 |
+
1062,5310,5329,scale|coffee mug|carafe,kettle|coffee dripper|scale|gooseneck kettle|white bottle
|
| 252 |
+
1063,5315,5334,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 253 |
+
1064,5320,5339,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 254 |
+
1065,5325,5344,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 255 |
+
1066,5330,5349,scale|coffee mug|carafe,coffee dripper|scale|white bottle
|
| 256 |
+
1067,5335,5354,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 257 |
+
1068,5340,5359,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle
|
| 258 |
+
1069,5345,5364,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 259 |
+
1070,5350,5369,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 260 |
+
1071,5355,5374,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 261 |
+
1072,5360,5379,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|white bottle
|
| 262 |
+
1073,5365,5384,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|table|white bottle
|
| 263 |
+
1074,5370,5389,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|table|white bottle
|
| 264 |
+
1075,5375,5394,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|table|dripper|coffee filter|white bottle
|
| 265 |
+
1076,5380,5399,scale|coffee mug|carafe,coffee dripper|scale|gooseneck kettle|table|dripper|coffee filter|white bottle
|
| 266 |
+
1077,5385,5404,scale|bottle|digital scale|coffee mug|carafe|milk pitcher|coffee cup,coffee dripper|scale|gooseneck kettle|white bottle
|
| 267 |
+
1078,5390,5409,scale|bottle|digital scale|coffee mug|carafe|milk pitcher|coffee cup,coffee dripper|scale|gooseneck kettle|white bottle
|
| 268 |
+
1079,5395,5414,scale|bottle|digital scale|coffee mug|carafe|milk pitcher|coffee cup,scale|white bottle
|
| 269 |
+
1080,5400,5419,bottle|digital scale|milk pitcher|coffee cup,scale|white bottle
|
| 270 |
+
1081,5405,5424,bottle|digital scale|milk pitcher|coffee cup,scale|white bottle
|
| 271 |
+
1082,5410,5429,bottle|digital scale|milk pitcher|coffee cup,scale|white bottle
|
| 272 |
+
1083,5415,5434,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|white bottle
|
| 273 |
+
1084,5420,5439,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 274 |
+
1085,5425,5444,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 275 |
+
1086,5430,5449,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 276 |
+
1087,5435,5454,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 277 |
+
1088,5440,5459,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 278 |
+
1089,5445,5464,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 279 |
+
1090,5450,5469,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 280 |
+
1091,5455,5474,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 281 |
+
1092,5460,5479,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 282 |
+
1093,5465,5484,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 283 |
+
1094,5470,5489,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 284 |
+
1095,5475,5494,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 285 |
+
1096,5480,5499,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 286 |
+
1097,5485,5504,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 287 |
+
1098,5490,5509,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 288 |
+
1099,5495,5514,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 289 |
+
1100,5500,5519,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 290 |
+
1101,5505,5524,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 291 |
+
1102,5510,5529,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 292 |
+
1103,5515,5534,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 293 |
+
1104,5520,5539,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 294 |
+
1105,5525,5544,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 295 |
+
1106,5530,5549,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 296 |
+
1107,5535,5554,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 297 |
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1108,5540,5559,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|white bottle
|
| 298 |
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1109,5545,5564,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 299 |
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1110,5550,5569,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 300 |
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1111,5555,5574,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 301 |
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1112,5560,5579,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|coffee jar|white bottle
|
| 302 |
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1113,5565,5584,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 303 |
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1114,5570,5589,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 304 |
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1115,5575,5594,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 305 |
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1116,5580,5599,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 306 |
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1117,5585,5604,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 307 |
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1118,5590,5609,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 308 |
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1119,5595,5614,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 309 |
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1120,5600,5619,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 310 |
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1121,5605,5624,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 311 |
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1122,5610,5629,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 312 |
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1123,5615,5634,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 313 |
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1124,5620,5639,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 314 |
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1125,5625,5644,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 315 |
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1126,5630,5649,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 316 |
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1127,5635,5654,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 317 |
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1128,5640,5659,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 318 |
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1129,5645,5664,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 319 |
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1130,5650,5669,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 320 |
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1131,5655,5674,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
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| 321 |
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1132,5660,5679,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
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| 322 |
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1133,5665,5684,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 323 |
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1134,5670,5689,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 324 |
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1135,5675,5694,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 325 |
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1136,5680,5699,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 326 |
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1137,5685,5704,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 327 |
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1138,5690,5709,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 328 |
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1139,5695,5714,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 329 |
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1140,5700,5719,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 330 |
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1141,5705,5724,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 331 |
+
1142,5710,5729,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 332 |
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1143,5715,5734,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 333 |
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1144,5720,5739,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 334 |
+
1145,5725,5744,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|white bottle
|
| 335 |
+
1146,5730,5749,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|white bottle
|
| 336 |
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1147,5735,5754,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 337 |
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1148,5740,5759,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 338 |
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1149,5745,5764,bottle|digital scale|milk pitcher|coffee cup,coffee dripper|scale|coffee jar|white bottle
|
| 339 |
+
1150,5750,5769,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|white bottle
|
| 340 |
+
1151,5755,5774,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|coffee scoop|white bottle
|
| 341 |
+
1152,5760,5779,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|coffee scoop|white bottle
|
| 342 |
+
1153,5765,5784,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|coffee scoop|white bottle
|
| 343 |
+
1154,5770,5789,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|coffee scoop|white bottle
|
| 344 |
+
1155,5775,5794,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|white bottle
|
| 345 |
+
1156,5780,5799,bottle|digital scale|milk pitcher|coffee cup,scale|coffee jar|white bottle
|
| 346 |
+
1157,5785,5804,bottle|digital scale|table|coffee mug|milk pitcher|coffee cup|stainless steel milk pitcher|milk bottle,coffee jar|white bottle
|
| 347 |
+
1158,5790,5809,bottle|digital scale|table|coffee mug|milk pitcher|coffee cup|stainless steel milk pitcher|milk bottle,coffee jar|white bottle
|
| 348 |
+
1159,5795,5814,bottle|digital scale|table|coffee mug|milk pitcher|coffee cup|stainless steel milk pitcher|milk bottle,coffee dripper|coffee jar|white bottle
|
| 349 |
+
1160,5800,5819,digital scale|table|coffee mug|stainless steel milk pitcher|milk bottle,coffee jar|white bottle
|
results/episode_task_suite/summary_report.json
ADDED
|
@@ -0,0 +1,236 @@
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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"Wait/Prepare for pouring"
|
| 31 |
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]
|
| 32 |
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},
|
| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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|
| 57 |
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|
| 58 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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| 69 |
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|
| 70 |
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| 73 |
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| 75 |
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| 76 |
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| 77 |
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| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
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|
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|
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|
| 122 |
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|
| 123 |
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|
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|
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|
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|
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
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|
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|
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|
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|
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|
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|
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| 146 |
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"recall": 0.21002210759027265,
|
| 147 |
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"task": "object_relevance",
|
| 148 |
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"input": "all non-caption modalities -> current relevant object set",
|
| 149 |
+
"split": "chronological",
|
| 150 |
+
"num_windows": 1161,
|
| 151 |
+
"num_train_windows": 813,
|
| 152 |
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"num_test_windows": 348,
|
| 153 |
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"num_objects": 34
|
| 154 |
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},
|
| 155 |
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"caption_grounding": {
|
| 156 |
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"mrr": 0.017183946083791223,
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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"top5_accuracy": 0.011494252873563218,
|
| 162 |
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"top10_accuracy": 0.017241379310344827,
|
| 163 |
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"task": "caption_grounding",
|
| 164 |
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"input": "caption objects/interaction text query + candidate sensor windows",
|
| 165 |
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"output": "matching time window",
|
| 166 |
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"split": "chronological",
|
| 167 |
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"num_train_windows": 813,
|
| 168 |
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"num_test_windows": 348
|
| 169 |
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},
|
| 170 |
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"cross_modal_retrieval": {
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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"top5_accuracy": 0.3764367816091954,
|
| 177 |
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"top10_accuracy": 0.47413793103448276,
|
| 178 |
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"task": "cross_modal_retrieval",
|
| 179 |
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"input": "motion/IMU/camera query",
|
| 180 |
+
"output": "matching depth/video window",
|
| 181 |
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"split": "chronological",
|
| 182 |
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"num_train_windows": 813,
|
| 183 |
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"num_test_windows": 348
|
| 184 |
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},
|
| 185 |
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"modality_reconstruction": {
|
| 186 |
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"mse": 1359.1639404296875,
|
| 187 |
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"mae": 0.31084805727005005,
|
| 188 |
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"r2": -0.016022846771134747,
|
| 189 |
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"task": "modality_reconstruction",
|
| 190 |
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"input": "motion/IMU/camera",
|
| 191 |
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"output": "depth/video feature vector",
|
| 192 |
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"split": "chronological",
|
| 193 |
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"num_train_windows": 813,
|
| 194 |
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"num_test_windows": 348,
|
| 195 |
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"target_dim": 5096
|
| 196 |
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},
|
| 197 |
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"temporal_order": {
|
| 198 |
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"accuracy": 0.46120689655172414,
|
| 199 |
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"precision": 0.4720496894409938,
|
| 200 |
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"recall": 0.6551724137931034,
|
| 201 |
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"f1": 0.5487364620938628,
|
| 202 |
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"tp": 228,
|
| 203 |
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"tn": 93,
|
| 204 |
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"fp": 255,
|
| 205 |
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"fn": 120,
|
| 206 |
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"positive_rate_true": 0.5,
|
| 207 |
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"positive_rate_pred": 0.6939655172413793,
|
| 208 |
+
"task": "temporal_order",
|
| 209 |
+
"input": "two adjacent windows -> whether order is correct",
|
| 210 |
+
"split": "chronological",
|
| 211 |
+
"num_samples": 2320,
|
| 212 |
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"num_train_samples": 1624,
|
| 213 |
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"num_test_samples": 696,
|
| 214 |
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"train_final_accuracy": 0.5104679802955665
|
| 215 |
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},
|
| 216 |
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"misalignment_detection": {
|
| 217 |
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"accuracy": 0.5028901734104047,
|
| 218 |
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"precision": 0.5030864197530864,
|
| 219 |
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"recall": 0.47109826589595377,
|
| 220 |
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"f1": 0.4865671641791045,
|
| 221 |
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"tp": 163,
|
| 222 |
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"tn": 185,
|
| 223 |
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"fp": 161,
|
| 224 |
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"fn": 183,
|
| 225 |
+
"positive_rate_true": 0.5,
|
| 226 |
+
"positive_rate_pred": 0.4682080924855491,
|
| 227 |
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"task": "misalignment_detection",
|
| 228 |
+
"input": "motion+visual pair -> aligned vs shifted by 8 windows",
|
| 229 |
+
"split": "chronological",
|
| 230 |
+
"num_samples": 2306,
|
| 231 |
+
"num_train_samples": 1614,
|
| 232 |
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"num_test_samples": 692,
|
| 233 |
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"train_final_accuracy": 0.5018587360594795
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
}
|
results/episode_task_suite/temporal_order/metrics.json
ADDED
|
@@ -0,0 +1,19 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"accuracy": 0.46120689655172414,
|
| 3 |
+
"precision": 0.4720496894409938,
|
| 4 |
+
"recall": 0.6551724137931034,
|
| 5 |
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"f1": 0.5487364620938628,
|
| 6 |
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"tp": 228,
|
| 7 |
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"tn": 93,
|
| 8 |
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"fp": 255,
|
| 9 |
+
"fn": 120,
|
| 10 |
+
"positive_rate_true": 0.5,
|
| 11 |
+
"positive_rate_pred": 0.6939655172413793,
|
| 12 |
+
"task": "temporal_order",
|
| 13 |
+
"input": "two adjacent windows -> whether order is correct",
|
| 14 |
+
"split": "chronological",
|
| 15 |
+
"num_samples": 2320,
|
| 16 |
+
"num_train_samples": 1624,
|
| 17 |
+
"num_test_samples": 696,
|
| 18 |
+
"train_final_accuracy": 0.5104679802955665
|
| 19 |
+
}
|
results/episode_task_suite/temporal_order/predictions.csv
ADDED
|
@@ -0,0 +1,697 @@
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+
2240,1,1,1.0
|
| 619 |
+
2241,0,1,1.0
|
| 620 |
+
2242,1,1,1.0
|
| 621 |
+
2243,0,1,1.0
|
| 622 |
+
2244,1,1,1.0
|
| 623 |
+
2245,0,1,1.0
|
| 624 |
+
2246,1,1,1.0
|
| 625 |
+
2247,0,1,1.0
|
| 626 |
+
2248,1,1,1.0
|
| 627 |
+
2249,0,1,1.0
|
| 628 |
+
2250,1,1,1.0
|
| 629 |
+
2251,0,1,1.0
|
| 630 |
+
2252,1,1,1.0
|
| 631 |
+
2253,0,1,1.0
|
| 632 |
+
2254,1,1,1.0
|
| 633 |
+
2255,0,1,1.0
|
| 634 |
+
2256,1,1,1.0
|
| 635 |
+
2257,0,1,1.0
|
| 636 |
+
2258,1,1,1.0
|
| 637 |
+
2259,0,1,1.0
|
| 638 |
+
2260,1,1,1.0
|
| 639 |
+
2261,0,1,1.0
|
| 640 |
+
2262,1,1,1.0
|
| 641 |
+
2263,0,1,1.0
|
| 642 |
+
2264,1,1,1.0
|
| 643 |
+
2265,0,1,1.0
|
| 644 |
+
2266,1,1,1.0
|
| 645 |
+
2267,0,1,1.0
|
| 646 |
+
2268,1,1,1.0
|
| 647 |
+
2269,0,1,1.0
|
| 648 |
+
2270,1,1,1.0
|
| 649 |
+
2271,0,1,1.0
|
| 650 |
+
2272,1,1,1.0
|
| 651 |
+
2273,0,1,1.0
|
| 652 |
+
2274,1,1,1.0
|
| 653 |
+
2275,0,1,1.0
|
| 654 |
+
2276,1,1,1.0
|
| 655 |
+
2277,0,1,1.0
|
| 656 |
+
2278,1,1,1.0
|
| 657 |
+
2279,0,1,1.0
|
| 658 |
+
2280,1,1,1.0
|
| 659 |
+
2281,0,1,1.0
|
| 660 |
+
2282,1,1,1.0
|
| 661 |
+
2283,0,1,1.0
|
| 662 |
+
2284,1,1,1.0
|
| 663 |
+
2285,0,1,1.0
|
| 664 |
+
2286,1,1,1.0
|
| 665 |
+
2287,0,1,1.0
|
| 666 |
+
2288,1,1,1.0
|
| 667 |
+
2289,0,1,1.0
|
| 668 |
+
2290,1,1,1.0
|
| 669 |
+
2291,0,1,1.0
|
| 670 |
+
2292,1,1,1.0
|
| 671 |
+
2293,0,1,1.0
|
| 672 |
+
2294,1,1,1.0
|
| 673 |
+
2295,0,1,1.0
|
| 674 |
+
2296,1,1,1.0
|
| 675 |
+
2297,0,1,1.0
|
| 676 |
+
2298,1,1,1.0
|
| 677 |
+
2299,0,1,1.0
|
| 678 |
+
2300,1,1,1.0
|
| 679 |
+
2301,0,1,1.0
|
| 680 |
+
2302,1,1,0.9999904632568359
|
| 681 |
+
2303,0,1,1.0
|
| 682 |
+
2304,1,1,1.0
|
| 683 |
+
2305,0,1,1.0
|
| 684 |
+
2306,1,1,0.9999974966049194
|
| 685 |
+
2307,0,1,1.0
|
| 686 |
+
2308,1,1,1.0
|
| 687 |
+
2309,0,1,1.0
|
| 688 |
+
2310,1,1,1.0
|
| 689 |
+
2311,0,1,1.0
|
| 690 |
+
2312,1,1,1.0
|
| 691 |
+
2313,0,1,1.0
|
| 692 |
+
2314,1,1,1.0
|
| 693 |
+
2315,0,1,1.0
|
| 694 |
+
2316,1,1,1.0
|
| 695 |
+
2317,0,1,0.9997014403343201
|
| 696 |
+
2318,1,1,0.9999983310699463
|
| 697 |
+
2319,0,1,0.9999769926071167
|
results/episode_task_suite/timeline_action/confusion_matrix.csv
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
true\pred,Pick up kettle,Position kettle to pour,Move kettle,Hold coffee carafe,Grasp coffee scoop,Transfer coffee to dripper,Hold gooseneck kettle,Grasp gooseneck kettle,Lift gooseneck kettle,Move kettle away,Place kettle on table,Pick up white bottle,Pour liquid from white bottle,Close bottle cap,Place item on table,Wait/Prepare for pouring,Pour coffee,Pour milk into coffee
|
| 2 |
+
Pick up kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 3 |
+
Position kettle to pour,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 4 |
+
Move kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 5 |
+
Hold coffee carafe,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 6 |
+
Grasp coffee scoop,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 7 |
+
Transfer coffee to dripper,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 8 |
+
Hold gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 9 |
+
Grasp gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 10 |
+
Lift gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 11 |
+
Move kettle away,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 12 |
+
Place kettle on table,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 13 |
+
Pick up white bottle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 14 |
+
Pour liquid from white bottle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 15 |
+
Close bottle cap,16,2,0,0,0,0,0,4,0,15,0,1,16,10,0,0,0,0
|
| 16 |
+
Place item on table,0,0,0,0,0,0,0,8,0,0,11,4,0,0,0,0,0,0
|
| 17 |
+
Wait/Prepare for pouring,0,3,4,0,0,1,58,13,0,1,4,4,0,4,0,0,3,0
|
| 18 |
+
Pour coffee,0,1,4,3,28,12,0,0,1,2,17,12,77,2,0,0,0,0
|
| 19 |
+
Pour milk into coffee,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
results/episode_task_suite/timeline_action/metrics.json
ADDED
|
@@ -0,0 +1,24 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"accuracy": 0.029154518950437316,
|
| 3 |
+
"balanced_accuracy": 0.03125,
|
| 4 |
+
"macro_f1": 0.05,
|
| 5 |
+
"weighted_f1": 0.04664723032069971,
|
| 6 |
+
"num_eval_windows": 343,
|
| 7 |
+
"num_classes": 18,
|
| 8 |
+
"task": "timeline_action",
|
| 9 |
+
"input": "all modalities -> current action label",
|
| 10 |
+
"split": "chronological",
|
| 11 |
+
"num_windows": 1144,
|
| 12 |
+
"num_train_windows": 801,
|
| 13 |
+
"num_test_windows": 343,
|
| 14 |
+
"feature_dim": 8378,
|
| 15 |
+
"majority_baseline_accuracy": 0.0,
|
| 16 |
+
"train_final_accuracy": 1.0,
|
| 17 |
+
"train_final_loss": 0.01664665900170803,
|
| 18 |
+
"unseen_test_classes": [
|
| 19 |
+
"Place item on table",
|
| 20 |
+
"Pour coffee",
|
| 21 |
+
"Pour milk into coffee",
|
| 22 |
+
"Wait/Prepare for pouring"
|
| 23 |
+
]
|
| 24 |
+
}
|
results/episode_task_suite/timeline_action/per_class_metrics.csv
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
class_id,class_name,support,predicted,precision,recall,f1
|
| 2 |
+
0,Pick up kettle,0,16,0.0,0.0,0.0
|
| 3 |
+
1,Position kettle to pour,0,8,0.0,0.0,0.0
|
| 4 |
+
2,Move kettle,0,8,0.0,0.0,0.0
|
| 5 |
+
3,Hold coffee carafe,0,3,0.0,0.0,0.0
|
| 6 |
+
4,Grasp coffee scoop,0,28,0.0,0.0,0.0
|
| 7 |
+
5,Transfer coffee to dripper,0,13,0.0,0.0,0.0
|
| 8 |
+
6,Hold gooseneck kettle,0,58,0.0,0.0,0.0
|
| 9 |
+
7,Grasp gooseneck kettle,0,25,0.0,0.0,0.0
|
| 10 |
+
8,Lift gooseneck kettle,0,1,0.0,0.0,0.0
|
| 11 |
+
9,Move kettle away,0,18,0.0,0.0,0.0
|
| 12 |
+
10,Place kettle on table,0,32,0.0,0.0,0.0
|
| 13 |
+
11,Pick up white bottle,0,21,0.0,0.0,0.0
|
| 14 |
+
12,Pour liquid from white bottle,0,93,0.0,0.0,0.0
|
| 15 |
+
13,Close bottle cap,64,16,0.625,0.15625,0.25
|
| 16 |
+
14,Place item on table,23,0,0.0,0.0,0.0
|
| 17 |
+
15,Wait/Prepare for pouring,95,0,0.0,0.0,0.0
|
| 18 |
+
16,Pour coffee,159,3,0.0,0.0,0.0
|
| 19 |
+
17,Pour milk into coffee,2,0,0.0,0.0,0.0
|
results/episode_task_suite/timeline_action/predictions.csv
ADDED
|
@@ -0,0 +1,344 @@
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
| 1 |
+
window_index,start_frame,end_frame,center_frame,true_label,predicted_label,confidence,correct
|
| 2 |
+
814,4070,4089,4079,Close bottle cap,Close bottle cap,0.9467815160751343,1
|
| 3 |
+
815,4075,4094,4084,Close bottle cap,Close bottle cap,0.8807625770568848,1
|
| 4 |
+
816,4080,4099,4089,Close bottle cap,Close bottle cap,0.9347350001335144,1
|
| 5 |
+
817,4085,4104,4094,Close bottle cap,Close bottle cap,0.912444531917572,1
|
| 6 |
+
818,4090,4109,4099,Close bottle cap,Close bottle cap,0.5283420085906982,1
|
| 7 |
+
819,4095,4114,4104,Close bottle cap,Pour liquid from white bottle,0.7467414736747742,0
|
| 8 |
+
820,4100,4119,4109,Close bottle cap,Pour liquid from white bottle,0.9945728182792664,0
|
| 9 |
+
821,4105,4124,4114,Close bottle cap,Pour liquid from white bottle,0.9994499087333679,0
|
| 10 |
+
822,4110,4129,4119,Close bottle cap,Pour liquid from white bottle,0.999254047870636,0
|
| 11 |
+
823,4115,4134,4124,Close bottle cap,Pour liquid from white bottle,0.997747004032135,0
|
| 12 |
+
824,4120,4139,4129,Close bottle cap,Pour liquid from white bottle,0.9928011894226074,0
|
| 13 |
+
825,4125,4144,4134,Close bottle cap,Pour liquid from white bottle,0.9075825810432434,0
|
| 14 |
+
826,4130,4149,4139,Close bottle cap,Pour liquid from white bottle,0.5001859664916992,0
|
| 15 |
+
827,4135,4154,4144,Close bottle cap,Move kettle away,0.6279324293136597,0
|
| 16 |
+
828,4140,4159,4149,Close bottle cap,Move kettle away,0.470074325799942,0
|
| 17 |
+
829,4145,4164,4154,Close bottle cap,Pour liquid from white bottle,0.44078052043914795,0
|
| 18 |
+
830,4150,4169,4159,Close bottle cap,Pour liquid from white bottle,0.5283698439598083,0
|
| 19 |
+
831,4155,4174,4164,Close bottle cap,Pour liquid from white bottle,0.5892980098724365,0
|
| 20 |
+
832,4160,4179,4169,Close bottle cap,Pour liquid from white bottle,0.6077004075050354,0
|
| 21 |
+
833,4165,4184,4174,Close bottle cap,Pour liquid from white bottle,0.7145355939865112,0
|
| 22 |
+
834,4170,4189,4179,Close bottle cap,Pour liquid from white bottle,0.744044303894043,0
|
| 23 |
+
835,4175,4194,4184,Close bottle cap,Pour liquid from white bottle,0.825950026512146,0
|
| 24 |
+
836,4180,4199,4189,Close bottle cap,Pour liquid from white bottle,0.74181067943573,0
|
| 25 |
+
837,4185,4204,4194,Close bottle cap,Pick up white bottle,0.41797855496406555,0
|
| 26 |
+
838,4190,4209,4199,Close bottle cap,Pick up kettle,0.4447861313819885,0
|
| 27 |
+
839,4195,4214,4204,Close bottle cap,Pick up kettle,0.5046898722648621,0
|
| 28 |
+
840,4200,4219,4209,Close bottle cap,Pick up kettle,0.5163959264755249,0
|
| 29 |
+
841,4205,4224,4214,Close bottle cap,Move kettle away,0.4604199230670929,0
|
| 30 |
+
842,4210,4229,4219,Close bottle cap,Move kettle away,0.5841144919395447,0
|
| 31 |
+
843,4215,4234,4224,Close bottle cap,Pick up kettle,0.6984081864356995,0
|
| 32 |
+
844,4220,4239,4229,Close bottle cap,Pick up kettle,0.9002676010131836,0
|
| 33 |
+
845,4225,4244,4234,Close bottle cap,Close bottle cap,0.9033697247505188,1
|
| 34 |
+
846,4230,4249,4239,Close bottle cap,Close bottle cap,0.9989319443702698,1
|
| 35 |
+
847,4235,4254,4244,Close bottle cap,Close bottle cap,0.9999681711196899,1
|
| 36 |
+
848,4240,4259,4249,Close bottle cap,Close bottle cap,0.999036431312561,1
|
| 37 |
+
849,4245,4264,4254,Close bottle cap,Close bottle cap,0.9611503481864929,1
|
| 38 |
+
850,4250,4269,4259,Close bottle cap,Position kettle to pour,0.962450385093689,0
|
| 39 |
+
851,4255,4274,4264,Close bottle cap,Position kettle to pour,0.9196708798408508,0
|
| 40 |
+
852,4260,4279,4269,Close bottle cap,Pick up kettle,0.46797123551368713,0
|
| 41 |
+
853,4265,4284,4274,Close bottle cap,Pick up kettle,0.5079506635665894,0
|
| 42 |
+
854,4270,4289,4279,Close bottle cap,Pick up kettle,0.8426026105880737,0
|
| 43 |
+
855,4275,4294,4284,Close bottle cap,Pick up kettle,0.813877522945404,0
|
| 44 |
+
856,4280,4299,4289,Close bottle cap,Pick up kettle,0.7627991437911987,0
|
| 45 |
+
857,4285,4304,4294,Close bottle cap,Pick up kettle,0.626624584197998,0
|
| 46 |
+
858,4290,4309,4299,Close bottle cap,Pick up kettle,0.4375170171260834,0
|
| 47 |
+
859,4295,4314,4304,Close bottle cap,Pick up kettle,0.395010381937027,0
|
| 48 |
+
860,4300,4319,4309,Close bottle cap,Pick up kettle,0.600170373916626,0
|
| 49 |
+
861,4305,4324,4314,Close bottle cap,Pick up kettle,0.6553486585617065,0
|
| 50 |
+
862,4310,4329,4319,Close bottle cap,Pick up kettle,0.547110915184021,0
|
| 51 |
+
863,4315,4334,4324,Close bottle cap,Move kettle away,0.6024419665336609,0
|
| 52 |
+
864,4320,4339,4329,Close bottle cap,Move kettle away,0.7519758939743042,0
|
| 53 |
+
865,4325,4344,4334,Close bottle cap,Move kettle away,0.6898295283317566,0
|
| 54 |
+
866,4330,4349,4339,Close bottle cap,Move kettle away,0.7579079866409302,0
|
| 55 |
+
867,4335,4354,4344,Close bottle cap,Move kettle away,0.7943963408470154,0
|
| 56 |
+
868,4340,4359,4349,Close bottle cap,Move kettle away,0.7387241721153259,0
|
| 57 |
+
869,4345,4364,4354,Close bottle cap,Move kettle away,0.7126917243003845,0
|
| 58 |
+
870,4350,4369,4359,Close bottle cap,Move kettle away,0.7171505093574524,0
|
| 59 |
+
871,4355,4374,4364,Close bottle cap,Move kettle away,0.7595736980438232,0
|
| 60 |
+
872,4360,4379,4369,Close bottle cap,Move kettle away,0.7278980016708374,0
|
| 61 |
+
873,4365,4384,4374,Close bottle cap,Move kettle away,0.8438135385513306,0
|
| 62 |
+
874,4370,4389,4379,Close bottle cap,Grasp gooseneck kettle,0.43157079815864563,0
|
| 63 |
+
875,4375,4394,4384,Close bottle cap,Grasp gooseneck kettle,0.45667365193367004,0
|
| 64 |
+
876,4380,4399,4389,Close bottle cap,Grasp gooseneck kettle,0.5677516460418701,0
|
| 65 |
+
877,4385,4404,4394,Close bottle cap,Grasp gooseneck kettle,0.6912029981613159,0
|
| 66 |
+
879,4395,4414,4404,Place item on table,Grasp gooseneck kettle,0.736862063407898,0
|
| 67 |
+
880,4400,4419,4409,Place item on table,Grasp gooseneck kettle,0.32829684019088745,0
|
| 68 |
+
881,4405,4424,4414,Place item on table,Pick up white bottle,0.4446144700050354,0
|
| 69 |
+
882,4410,4429,4419,Place item on table,Grasp gooseneck kettle,0.366460382938385,0
|
| 70 |
+
883,4415,4434,4424,Place item on table,Grasp gooseneck kettle,0.47668054699897766,0
|
| 71 |
+
884,4420,4439,4429,Place item on table,Grasp gooseneck kettle,0.5494338274002075,0
|
| 72 |
+
885,4425,4444,4434,Place item on table,Grasp gooseneck kettle,0.5735793709754944,0
|
| 73 |
+
886,4430,4449,4439,Place item on table,Grasp gooseneck kettle,0.5849289894104004,0
|
| 74 |
+
887,4435,4454,4444,Place item on table,Grasp gooseneck kettle,0.5110146403312683,0
|
| 75 |
+
888,4440,4459,4449,Place item on table,Place kettle on table,0.49567466974258423,0
|
| 76 |
+
889,4445,4464,4454,Place item on table,Place kettle on table,0.8574437499046326,0
|
| 77 |
+
890,4450,4469,4459,Place item on table,Place kettle on table,0.9783959984779358,0
|
| 78 |
+
891,4455,4474,4464,Place item on table,Place kettle on table,0.9944615364074707,0
|
| 79 |
+
892,4460,4479,4469,Place item on table,Place kettle on table,0.9986807703971863,0
|
| 80 |
+
893,4465,4484,4474,Place item on table,Place kettle on table,0.9998284578323364,0
|
| 81 |
+
894,4470,4489,4479,Place item on table,Place kettle on table,0.9997792840003967,0
|
| 82 |
+
895,4475,4494,4484,Place item on table,Place kettle on table,0.9954955577850342,0
|
| 83 |
+
896,4480,4499,4489,Place item on table,Place kettle on table,0.9435587525367737,0
|
| 84 |
+
897,4485,4504,4494,Place item on table,Place kettle on table,0.9069724082946777,0
|
| 85 |
+
898,4490,4509,4499,Place item on table,Place kettle on table,0.7959722280502319,0
|
| 86 |
+
899,4495,4514,4504,Place item on table,Pick up white bottle,0.5244418978691101,0
|
| 87 |
+
900,4500,4519,4509,Place item on table,Pick up white bottle,0.7957904934883118,0
|
| 88 |
+
901,4505,4524,4514,Place item on table,Pick up white bottle,0.5473573207855225,0
|
| 89 |
+
903,4515,4534,4524,Wait/Prepare for pouring,Move kettle,0.8832276463508606,0
|
| 90 |
+
904,4520,4539,4529,Wait/Prepare for pouring,Move kettle,0.9009097814559937,0
|
| 91 |
+
905,4525,4544,4534,Wait/Prepare for pouring,Move kettle,0.9124118685722351,0
|
| 92 |
+
906,4530,4549,4539,Wait/Prepare for pouring,Move kettle,0.5586144328117371,0
|
| 93 |
+
907,4535,4554,4544,Wait/Prepare for pouring,Pick up white bottle,0.9026978611946106,0
|
| 94 |
+
908,4540,4559,4549,Wait/Prepare for pouring,Pick up white bottle,0.9582369923591614,0
|
| 95 |
+
909,4545,4564,4554,Wait/Prepare for pouring,Pick up white bottle,0.8531699776649475,0
|
| 96 |
+
910,4550,4569,4559,Wait/Prepare for pouring,Hold gooseneck kettle,0.8336775898933411,0
|
| 97 |
+
911,4555,4574,4564,Wait/Prepare for pouring,Hold gooseneck kettle,0.9827262163162231,0
|
| 98 |
+
912,4560,4579,4569,Wait/Prepare for pouring,Hold gooseneck kettle,0.9953163862228394,0
|
| 99 |
+
913,4565,4584,4574,Wait/Prepare for pouring,Hold gooseneck kettle,0.9948150515556335,0
|
| 100 |
+
914,4570,4589,4579,Wait/Prepare for pouring,Hold gooseneck kettle,0.9620884656906128,0
|
| 101 |
+
915,4575,4594,4584,Wait/Prepare for pouring,Hold gooseneck kettle,0.9852339625358582,0
|
| 102 |
+
916,4580,4599,4589,Wait/Prepare for pouring,Hold gooseneck kettle,0.990764856338501,0
|
| 103 |
+
917,4585,4604,4594,Wait/Prepare for pouring,Hold gooseneck kettle,0.9917214512825012,0
|
| 104 |
+
918,4590,4609,4599,Wait/Prepare for pouring,Hold gooseneck kettle,0.9974527955055237,0
|
| 105 |
+
919,4595,4614,4604,Wait/Prepare for pouring,Hold gooseneck kettle,0.9923884272575378,0
|
| 106 |
+
920,4600,4619,4609,Wait/Prepare for pouring,Hold gooseneck kettle,0.9959081411361694,0
|
| 107 |
+
921,4605,4624,4614,Wait/Prepare for pouring,Hold gooseneck kettle,0.9977072477340698,0
|
| 108 |
+
922,4610,4629,4619,Wait/Prepare for pouring,Hold gooseneck kettle,0.9982523322105408,0
|
| 109 |
+
923,4615,4634,4624,Wait/Prepare for pouring,Hold gooseneck kettle,0.9990609288215637,0
|
| 110 |
+
924,4620,4639,4629,Wait/Prepare for pouring,Hold gooseneck kettle,0.9997623562812805,0
|
| 111 |
+
925,4625,4644,4634,Wait/Prepare for pouring,Hold gooseneck kettle,0.9998804330825806,0
|
| 112 |
+
926,4630,4649,4639,Wait/Prepare for pouring,Hold gooseneck kettle,0.999941349029541,0
|
| 113 |
+
927,4635,4654,4644,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999737739562988,0
|
| 114 |
+
928,4640,4659,4649,Wait/Prepare for pouring,Hold gooseneck kettle,0.9993316531181335,0
|
| 115 |
+
929,4645,4664,4654,Wait/Prepare for pouring,Transfer coffee to dripper,1.0,0
|
| 116 |
+
930,4650,4669,4659,Wait/Prepare for pouring,Pour coffee,1.0,0
|
| 117 |
+
931,4655,4674,4664,Wait/Prepare for pouring,Pour coffee,1.0,0
|
| 118 |
+
932,4660,4679,4669,Wait/Prepare for pouring,Pour coffee,1.0,0
|
| 119 |
+
933,4665,4684,4674,Wait/Prepare for pouring,Move kettle away,0.9999990463256836,0
|
| 120 |
+
934,4670,4689,4679,Wait/Prepare for pouring,Hold gooseneck kettle,0.36941075325012207,0
|
| 121 |
+
935,4675,4694,4684,Wait/Prepare for pouring,Hold gooseneck kettle,0.8497958183288574,0
|
| 122 |
+
936,4680,4699,4689,Wait/Prepare for pouring,Hold gooseneck kettle,0.9610168933868408,0
|
| 123 |
+
937,4685,4704,4694,Wait/Prepare for pouring,Hold gooseneck kettle,0.9562467932701111,0
|
| 124 |
+
938,4690,4709,4699,Wait/Prepare for pouring,Hold gooseneck kettle,0.9679553508758545,0
|
| 125 |
+
939,4695,4714,4704,Wait/Prepare for pouring,Hold gooseneck kettle,0.9775041341781616,0
|
| 126 |
+
940,4700,4719,4709,Wait/Prepare for pouring,Hold gooseneck kettle,0.9697883129119873,0
|
| 127 |
+
941,4705,4724,4714,Wait/Prepare for pouring,Hold gooseneck kettle,0.8753955364227295,0
|
| 128 |
+
942,4710,4729,4719,Wait/Prepare for pouring,Hold gooseneck kettle,0.8565075993537903,0
|
| 129 |
+
943,4715,4734,4724,Wait/Prepare for pouring,Hold gooseneck kettle,0.9508587718009949,0
|
| 130 |
+
944,4720,4739,4729,Wait/Prepare for pouring,Hold gooseneck kettle,0.9749577045440674,0
|
| 131 |
+
945,4725,4744,4734,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999940395355225,0
|
| 132 |
+
946,4730,4749,4739,Wait/Prepare for pouring,Hold gooseneck kettle,0.999996542930603,0
|
| 133 |
+
947,4735,4754,4744,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999970197677612,0
|
| 134 |
+
948,4740,4759,4749,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999996423721313,0
|
| 135 |
+
949,4745,4764,4754,Wait/Prepare for pouring,Hold gooseneck kettle,0.999997615814209,0
|
| 136 |
+
950,4750,4769,4759,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999958276748657,0
|
| 137 |
+
951,4755,4774,4764,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999933242797852,0
|
| 138 |
+
952,4760,4779,4769,Wait/Prepare for pouring,Hold gooseneck kettle,0.999985933303833,0
|
| 139 |
+
953,4765,4784,4774,Wait/Prepare for pouring,Hold gooseneck kettle,0.9999392032623291,0
|
| 140 |
+
954,4770,4789,4779,Wait/Prepare for pouring,Hold gooseneck kettle,0.9996217489242554,0
|
| 141 |
+
955,4775,4794,4784,Wait/Prepare for pouring,Hold gooseneck kettle,0.9964157342910767,0
|
| 142 |
+
956,4780,4799,4789,Wait/Prepare for pouring,Hold gooseneck kettle,0.9808124303817749,0
|
| 143 |
+
957,4785,4804,4794,Wait/Prepare for pouring,Hold gooseneck kettle,0.956950843334198,0
|
| 144 |
+
958,4790,4809,4799,Wait/Prepare for pouring,Hold gooseneck kettle,0.9093549847602844,0
|
| 145 |
+
959,4795,4814,4804,Wait/Prepare for pouring,Hold gooseneck kettle,0.7542587518692017,0
|
| 146 |
+
960,4800,4819,4809,Wait/Prepare for pouring,Hold gooseneck kettle,0.7189870476722717,0
|
| 147 |
+
961,4805,4824,4814,Wait/Prepare for pouring,Grasp gooseneck kettle,0.5279954075813293,0
|
| 148 |
+
962,4810,4829,4819,Wait/Prepare for pouring,Hold gooseneck kettle,0.53436279296875,0
|
| 149 |
+
963,4815,4834,4824,Wait/Prepare for pouring,Grasp gooseneck kettle,0.8115954995155334,0
|
| 150 |
+
964,4820,4839,4829,Wait/Prepare for pouring,Grasp gooseneck kettle,0.7777655124664307,0
|
| 151 |
+
965,4825,4844,4834,Wait/Prepare for pouring,Grasp gooseneck kettle,0.75189208984375,0
|
| 152 |
+
966,4830,4849,4839,Wait/Prepare for pouring,Grasp gooseneck kettle,0.8832351565361023,0
|
| 153 |
+
967,4835,4854,4844,Wait/Prepare for pouring,Grasp gooseneck kettle,0.9268661737442017,0
|
| 154 |
+
968,4840,4859,4849,Wait/Prepare for pouring,Grasp gooseneck kettle,0.7992768287658691,0
|
| 155 |
+
969,4845,4864,4854,Wait/Prepare for pouring,Grasp gooseneck kettle,0.5894467234611511,0
|
| 156 |
+
970,4850,4869,4859,Wait/Prepare for pouring,Grasp gooseneck kettle,0.4608188569545746,0
|
| 157 |
+
971,4855,4874,4864,Wait/Prepare for pouring,Grasp gooseneck kettle,0.597343385219574,0
|
| 158 |
+
972,4860,4879,4869,Wait/Prepare for pouring,Hold gooseneck kettle,0.8834899663925171,0
|
| 159 |
+
973,4865,4884,4874,Wait/Prepare for pouring,Hold gooseneck kettle,0.8642546534538269,0
|
| 160 |
+
974,4870,4889,4879,Wait/Prepare for pouring,Hold gooseneck kettle,0.8442574739456177,0
|
| 161 |
+
975,4875,4894,4884,Wait/Prepare for pouring,Hold gooseneck kettle,0.8552870750427246,0
|
| 162 |
+
976,4880,4899,4889,Wait/Prepare for pouring,Hold gooseneck kettle,0.8999138474464417,0
|
| 163 |
+
977,4885,4904,4894,Wait/Prepare for pouring,Hold gooseneck kettle,0.8718928098678589,0
|
| 164 |
+
978,4890,4909,4899,Wait/Prepare for pouring,Hold gooseneck kettle,0.8980830907821655,0
|
| 165 |
+
979,4895,4914,4904,Wait/Prepare for pouring,Hold gooseneck kettle,0.7179633378982544,0
|
| 166 |
+
980,4900,4919,4909,Wait/Prepare for pouring,Hold gooseneck kettle,0.8254812359809875,0
|
| 167 |
+
981,4905,4924,4914,Wait/Prepare for pouring,Hold gooseneck kettle,0.5887672305107117,0
|
| 168 |
+
982,4910,4929,4919,Wait/Prepare for pouring,Grasp gooseneck kettle,0.6187456846237183,0
|
| 169 |
+
983,4915,4934,4924,Wait/Prepare for pouring,Hold gooseneck kettle,0.5783671736717224,0
|
| 170 |
+
984,4920,4939,4929,Wait/Prepare for pouring,Grasp gooseneck kettle,0.9226779937744141,0
|
| 171 |
+
985,4925,4944,4934,Wait/Prepare for pouring,Grasp gooseneck kettle,0.938849925994873,0
|
| 172 |
+
986,4930,4949,4939,Wait/Prepare for pouring,Pick up white bottle,0.7919473648071289,0
|
| 173 |
+
987,4935,4954,4944,Wait/Prepare for pouring,Position kettle to pour,1.0,0
|
| 174 |
+
988,4940,4959,4949,Wait/Prepare for pouring,Position kettle to pour,1.0,0
|
| 175 |
+
989,4945,4964,4954,Wait/Prepare for pouring,Position kettle to pour,1.0,0
|
| 176 |
+
990,4950,4969,4959,Wait/Prepare for pouring,Place kettle on table,0.7825496196746826,0
|
| 177 |
+
991,4955,4974,4964,Wait/Prepare for pouring,Place kettle on table,0.8848888874053955,0
|
| 178 |
+
992,4960,4979,4969,Wait/Prepare for pouring,Place kettle on table,0.9403459429740906,0
|
| 179 |
+
993,4965,4984,4974,Wait/Prepare for pouring,Place kettle on table,0.8980163931846619,0
|
| 180 |
+
994,4970,4989,4979,Wait/Prepare for pouring,Close bottle cap,0.8066468834877014,0
|
| 181 |
+
995,4975,4994,4984,Wait/Prepare for pouring,Close bottle cap,0.9704301953315735,0
|
| 182 |
+
996,4980,4999,4989,Wait/Prepare for pouring,Close bottle cap,0.9962238073348999,0
|
| 183 |
+
997,4985,5004,4994,Wait/Prepare for pouring,Close bottle cap,0.9971389770507812,0
|
| 184 |
+
999,4995,5014,5004,Pour coffee,Close bottle cap,0.9093120098114014,0
|
| 185 |
+
1000,5000,5019,5009,Pour coffee,Close bottle cap,0.6119892597198486,0
|
| 186 |
+
1001,5005,5024,5014,Pour coffee,Transfer coffee to dripper,0.5501813292503357,0
|
| 187 |
+
1002,5010,5029,5019,Pour coffee,Transfer coffee to dripper,0.7551635503768921,0
|
| 188 |
+
1003,5015,5034,5024,Pour coffee,Transfer coffee to dripper,0.8719172477722168,0
|
| 189 |
+
1004,5020,5039,5029,Pour coffee,Transfer coffee to dripper,0.903986930847168,0
|
| 190 |
+
1005,5025,5044,5034,Pour coffee,Transfer coffee to dripper,0.8981670141220093,0
|
| 191 |
+
1006,5030,5049,5039,Pour coffee,Transfer coffee to dripper,0.9119105935096741,0
|
| 192 |
+
1007,5035,5054,5044,Pour coffee,Transfer coffee to dripper,0.8346134424209595,0
|
| 193 |
+
1008,5040,5059,5049,Pour coffee,Transfer coffee to dripper,0.8557454347610474,0
|
| 194 |
+
1009,5045,5064,5054,Pour coffee,Transfer coffee to dripper,0.7293351888656616,0
|
| 195 |
+
1010,5050,5069,5059,Pour coffee,Transfer coffee to dripper,0.8306112289428711,0
|
| 196 |
+
1011,5055,5074,5064,Pour coffee,Transfer coffee to dripper,0.9627742767333984,0
|
| 197 |
+
1012,5060,5079,5069,Pour coffee,Transfer coffee to dripper,0.9825034737586975,0
|
| 198 |
+
1013,5065,5084,5074,Pour coffee,Place kettle on table,0.5286515355110168,0
|
| 199 |
+
1014,5070,5089,5079,Pour coffee,Place kettle on table,0.9810765981674194,0
|
| 200 |
+
1015,5075,5094,5084,Pour coffee,Place kettle on table,0.9732906222343445,0
|
| 201 |
+
1016,5080,5099,5089,Pour coffee,Place kettle on table,0.5452064871788025,0
|
| 202 |
+
1017,5085,5104,5094,Pour coffee,Move kettle,0.8900841474533081,0
|
| 203 |
+
1018,5090,5109,5099,Pour coffee,Move kettle,0.9397020936012268,0
|
| 204 |
+
1019,5095,5114,5104,Pour coffee,Move kettle,0.926310122013092,0
|
| 205 |
+
1020,5100,5119,5109,Pour coffee,Move kettle,0.896983802318573,0
|
| 206 |
+
1021,5105,5124,5114,Pour coffee,Hold coffee carafe,0.8319714069366455,0
|
| 207 |
+
1022,5110,5129,5119,Pour coffee,Hold coffee carafe,0.9647566080093384,0
|
| 208 |
+
1023,5115,5134,5124,Pour coffee,Hold coffee carafe,0.8705692887306213,0
|
| 209 |
+
1024,5120,5139,5129,Pour coffee,Pick up white bottle,0.5769756436347961,0
|
| 210 |
+
1025,5125,5144,5134,Pour coffee,Place kettle on table,0.9671557545661926,0
|
| 211 |
+
1026,5130,5149,5139,Pour coffee,Move kettle away,0.9999970197677612,0
|
| 212 |
+
1027,5135,5154,5144,Pour coffee,Place kettle on table,0.9999998807907104,0
|
| 213 |
+
1028,5140,5159,5149,Pour coffee,Place kettle on table,0.9999978542327881,0
|
| 214 |
+
1029,5145,5164,5154,Pour coffee,Lift gooseneck kettle,1.0,0
|
| 215 |
+
1030,5150,5169,5159,Pour coffee,Pick up white bottle,0.9991635084152222,0
|
| 216 |
+
1031,5155,5174,5164,Pour coffee,Pick up white bottle,0.7275257110595703,0
|
| 217 |
+
1032,5160,5179,5169,Pour coffee,Pick up white bottle,0.6891103982925415,0
|
| 218 |
+
1033,5165,5184,5174,Pour coffee,Pick up white bottle,0.37029826641082764,0
|
| 219 |
+
1034,5170,5189,5179,Pour coffee,Pour liquid from white bottle,0.5753249526023865,0
|
| 220 |
+
1035,5175,5194,5184,Pour coffee,Pour liquid from white bottle,0.7538391947746277,0
|
| 221 |
+
1036,5180,5199,5189,Pour coffee,Pour liquid from white bottle,0.755497395992279,0
|
| 222 |
+
1037,5185,5204,5194,Pour coffee,Pour liquid from white bottle,0.944205641746521,0
|
| 223 |
+
1038,5190,5209,5199,Pour coffee,Pour liquid from white bottle,0.9588049054145813,0
|
| 224 |
+
1039,5195,5214,5204,Pour coffee,Pour liquid from white bottle,0.9455006122589111,0
|
| 225 |
+
1040,5200,5219,5209,Pour coffee,Pour liquid from white bottle,0.9530506730079651,0
|
| 226 |
+
1041,5205,5224,5214,Pour coffee,Pour liquid from white bottle,0.9427547454833984,0
|
| 227 |
+
1042,5210,5229,5219,Pour coffee,Pour liquid from white bottle,0.9450643062591553,0
|
| 228 |
+
1043,5215,5234,5224,Pour coffee,Pour liquid from white bottle,0.9407552480697632,0
|
| 229 |
+
1044,5220,5239,5229,Pour coffee,Pour liquid from white bottle,0.9404283761978149,0
|
| 230 |
+
1045,5225,5244,5234,Pour coffee,Pour liquid from white bottle,0.9445599913597107,0
|
| 231 |
+
1046,5230,5249,5239,Pour coffee,Pour liquid from white bottle,0.9539878368377686,0
|
| 232 |
+
1047,5235,5254,5244,Pour coffee,Pour liquid from white bottle,0.9568473696708679,0
|
| 233 |
+
1048,5240,5259,5249,Pour coffee,Pour liquid from white bottle,0.9629809856414795,0
|
| 234 |
+
1049,5245,5264,5254,Pour coffee,Pour liquid from white bottle,0.9405791759490967,0
|
| 235 |
+
1050,5250,5269,5259,Pour coffee,Pour liquid from white bottle,0.9423748254776001,0
|
| 236 |
+
1051,5255,5274,5264,Pour coffee,Pour liquid from white bottle,0.9413211345672607,0
|
| 237 |
+
1052,5260,5279,5269,Pour coffee,Pour liquid from white bottle,0.971859335899353,0
|
| 238 |
+
1053,5265,5284,5274,Pour coffee,Pour liquid from white bottle,0.9861773252487183,0
|
| 239 |
+
1054,5270,5289,5279,Pour coffee,Pour liquid from white bottle,0.9871940016746521,0
|
| 240 |
+
1055,5275,5294,5284,Pour coffee,Pour liquid from white bottle,0.9527061581611633,0
|
| 241 |
+
1056,5280,5299,5289,Pour coffee,Pour liquid from white bottle,0.9254770278930664,0
|
| 242 |
+
1057,5285,5304,5294,Pour coffee,Pour liquid from white bottle,0.9278499484062195,0
|
| 243 |
+
1058,5290,5309,5299,Pour coffee,Pour liquid from white bottle,0.9699464440345764,0
|
| 244 |
+
1059,5295,5314,5304,Pour coffee,Pour liquid from white bottle,0.9742860794067383,0
|
| 245 |
+
1060,5300,5319,5309,Pour coffee,Pour liquid from white bottle,0.9653546810150146,0
|
| 246 |
+
1061,5305,5324,5314,Pour coffee,Pour liquid from white bottle,0.9284093379974365,0
|
| 247 |
+
1062,5310,5329,5319,Pour coffee,Pour liquid from white bottle,0.6811541318893433,0
|
| 248 |
+
1063,5315,5334,5324,Pour coffee,Pick up white bottle,0.5465755462646484,0
|
| 249 |
+
1064,5320,5339,5329,Pour coffee,Pick up white bottle,0.6976892352104187,0
|
| 250 |
+
1065,5325,5344,5334,Pour coffee,Pick up white bottle,0.6552919745445251,0
|
| 251 |
+
1066,5330,5349,5339,Pour coffee,Pick up white bottle,0.4652586579322815,0
|
| 252 |
+
1067,5335,5354,5344,Pour coffee,Move kettle away,0.3027283549308777,0
|
| 253 |
+
1068,5340,5359,5349,Pour coffee,Place kettle on table,0.5533629655838013,0
|
| 254 |
+
1069,5345,5364,5354,Pour coffee,Place kettle on table,0.8634948134422302,0
|
| 255 |
+
1070,5350,5369,5359,Pour coffee,Place kettle on table,0.9695184230804443,0
|
| 256 |
+
1071,5355,5374,5364,Pour coffee,Place kettle on table,0.9915704727172852,0
|
| 257 |
+
1072,5360,5379,5369,Pour coffee,Place kettle on table,0.9922235608100891,0
|
| 258 |
+
1073,5365,5384,5374,Pour coffee,Place kettle on table,0.9301114082336426,0
|
| 259 |
+
1074,5370,5389,5379,Pour coffee,Place kettle on table,0.870769202709198,0
|
| 260 |
+
1075,5375,5394,5384,Pour coffee,Place kettle on table,0.7721702456474304,0
|
| 261 |
+
1076,5380,5399,5389,Pour coffee,Place kettle on table,0.569167971611023,0
|
| 262 |
+
1077,5385,5404,5394,Pour coffee,Place kettle on table,0.4944911301136017,0
|
| 263 |
+
1078,5390,5409,5399,Pour coffee,Pick up white bottle,0.7480837106704712,0
|
| 264 |
+
1079,5395,5414,5404,Pour coffee,Pick up white bottle,0.7418400645256042,0
|
| 265 |
+
1080,5400,5419,5409,Pour coffee,Pick up white bottle,0.41629064083099365,0
|
| 266 |
+
1081,5405,5424,5414,Pour coffee,Grasp coffee scoop,0.8298966884613037,0
|
| 267 |
+
1082,5410,5429,5419,Pour coffee,Grasp coffee scoop,0.7897452712059021,0
|
| 268 |
+
1083,5415,5434,5424,Pour coffee,Grasp coffee scoop,0.6239257454872131,0
|
| 269 |
+
1084,5420,5439,5429,Pour coffee,Grasp coffee scoop,0.4730869233608246,0
|
| 270 |
+
1085,5425,5444,5434,Pour coffee,Pour liquid from white bottle,0.4596100151538849,0
|
| 271 |
+
1086,5430,5449,5439,Pour coffee,Pour liquid from white bottle,0.626335859298706,0
|
| 272 |
+
1087,5435,5454,5444,Pour coffee,Pour liquid from white bottle,0.4650866985321045,0
|
| 273 |
+
1088,5440,5459,5449,Pour coffee,Pour liquid from white bottle,0.40579095482826233,0
|
| 274 |
+
1089,5445,5464,5454,Pour coffee,Grasp coffee scoop,0.3788110017776489,0
|
| 275 |
+
1090,5450,5469,5459,Pour coffee,Position kettle to pour,0.43213629722595215,0
|
| 276 |
+
1091,5455,5474,5464,Pour coffee,Grasp coffee scoop,0.4977628290653229,0
|
| 277 |
+
1092,5460,5479,5469,Pour coffee,Grasp coffee scoop,0.4693012535572052,0
|
| 278 |
+
1093,5465,5484,5474,Pour coffee,Grasp coffee scoop,0.5188766121864319,0
|
| 279 |
+
1094,5470,5489,5479,Pour coffee,Pour liquid from white bottle,0.45441174507141113,0
|
| 280 |
+
1095,5475,5494,5484,Pour coffee,Pour liquid from white bottle,0.5334208607673645,0
|
| 281 |
+
1096,5480,5499,5489,Pour coffee,Pour liquid from white bottle,0.5940608382225037,0
|
| 282 |
+
1097,5485,5504,5494,Pour coffee,Pour liquid from white bottle,0.5492909550666809,0
|
| 283 |
+
1098,5490,5509,5499,Pour coffee,Grasp coffee scoop,0.36609986424446106,0
|
| 284 |
+
1099,5495,5514,5504,Pour coffee,Grasp coffee scoop,0.5689721703529358,0
|
| 285 |
+
1100,5500,5519,5509,Pour coffee,Grasp coffee scoop,0.5447037220001221,0
|
| 286 |
+
1101,5505,5524,5514,Pour coffee,Grasp coffee scoop,0.49529603123664856,0
|
| 287 |
+
1102,5510,5529,5519,Pour coffee,Pour liquid from white bottle,0.5199974775314331,0
|
| 288 |
+
1103,5515,5534,5524,Pour coffee,Pour liquid from white bottle,0.5853132605552673,0
|
| 289 |
+
1104,5520,5539,5529,Pour coffee,Grasp coffee scoop,0.5177993178367615,0
|
| 290 |
+
1105,5525,5544,5534,Pour coffee,Grasp coffee scoop,0.5263239145278931,0
|
| 291 |
+
1106,5530,5549,5539,Pour coffee,Grasp coffee scoop,0.6112585067749023,0
|
| 292 |
+
1107,5535,5554,5544,Pour coffee,Grasp coffee scoop,0.5501172542572021,0
|
| 293 |
+
1108,5540,5559,5549,Pour coffee,Pour liquid from white bottle,0.6494380235671997,0
|
| 294 |
+
1109,5545,5564,5554,Pour coffee,Pour liquid from white bottle,0.6916037201881409,0
|
| 295 |
+
1110,5550,5569,5559,Pour coffee,Pour liquid from white bottle,0.8903520107269287,0
|
| 296 |
+
1111,5555,5574,5564,Pour coffee,Pour liquid from white bottle,0.7335898280143738,0
|
| 297 |
+
1112,5560,5579,5569,Pour coffee,Pour liquid from white bottle,0.48162946105003357,0
|
| 298 |
+
1113,5565,5584,5574,Pour coffee,Grasp coffee scoop,0.6242107152938843,0
|
| 299 |
+
1114,5570,5589,5579,Pour coffee,Grasp coffee scoop,0.7105885148048401,0
|
| 300 |
+
1115,5575,5594,5584,Pour coffee,Grasp coffee scoop,0.7286230325698853,0
|
| 301 |
+
1116,5580,5599,5589,Pour coffee,Grasp coffee scoop,0.750729501247406,0
|
| 302 |
+
1117,5585,5604,5594,Pour coffee,Grasp coffee scoop,0.5999742746353149,0
|
| 303 |
+
1118,5590,5609,5599,Pour coffee,Pour liquid from white bottle,0.6474588513374329,0
|
| 304 |
+
1119,5595,5614,5604,Pour coffee,Pour liquid from white bottle,0.7440259456634521,0
|
| 305 |
+
1120,5600,5619,5609,Pour coffee,Pour liquid from white bottle,0.7203953862190247,0
|
| 306 |
+
1121,5605,5624,5614,Pour coffee,Pour liquid from white bottle,0.6273074746131897,0
|
| 307 |
+
1122,5610,5629,5619,Pour coffee,Pour liquid from white bottle,0.6937811970710754,0
|
| 308 |
+
1123,5615,5634,5624,Pour coffee,Pour liquid from white bottle,0.5920030474662781,0
|
| 309 |
+
1124,5620,5639,5629,Pour coffee,Pour liquid from white bottle,0.5772116184234619,0
|
| 310 |
+
1125,5625,5644,5634,Pour coffee,Grasp coffee scoop,0.5072519183158875,0
|
| 311 |
+
1126,5630,5649,5639,Pour coffee,Pour liquid from white bottle,0.6007561683654785,0
|
| 312 |
+
1127,5635,5654,5644,Pour coffee,Pour liquid from white bottle,0.690653920173645,0
|
| 313 |
+
1128,5640,5659,5649,Pour coffee,Pour liquid from white bottle,0.7547531723976135,0
|
| 314 |
+
1129,5645,5664,5654,Pour coffee,Pour liquid from white bottle,0.7829371690750122,0
|
| 315 |
+
1130,5650,5669,5659,Pour coffee,Pour liquid from white bottle,0.8114157319068909,0
|
| 316 |
+
1131,5655,5674,5664,Pour coffee,Pour liquid from white bottle,0.7874278426170349,0
|
| 317 |
+
1132,5660,5679,5669,Pour coffee,Pour liquid from white bottle,0.8255425095558167,0
|
| 318 |
+
1133,5665,5684,5674,Pour coffee,Pour liquid from white bottle,0.8421787023544312,0
|
| 319 |
+
1134,5670,5689,5679,Pour coffee,Pour liquid from white bottle,0.8088352084159851,0
|
| 320 |
+
1135,5675,5694,5684,Pour coffee,Pour liquid from white bottle,0.8116536140441895,0
|
| 321 |
+
1136,5680,5699,5689,Pour coffee,Pour liquid from white bottle,0.6714664101600647,0
|
| 322 |
+
1137,5685,5704,5694,Pour coffee,Pour liquid from white bottle,0.5533460974693298,0
|
| 323 |
+
1138,5690,5709,5699,Pour coffee,Pour liquid from white bottle,0.5137403011322021,0
|
| 324 |
+
1139,5695,5714,5704,Pour coffee,Pour liquid from white bottle,0.49560725688934326,0
|
| 325 |
+
1140,5700,5719,5709,Pour coffee,Pour liquid from white bottle,0.5697038769721985,0
|
| 326 |
+
1141,5705,5724,5714,Pour coffee,Pour liquid from white bottle,0.5782011151313782,0
|
| 327 |
+
1142,5710,5729,5719,Pour coffee,Pour liquid from white bottle,0.707305371761322,0
|
| 328 |
+
1143,5715,5734,5724,Pour coffee,Pour liquid from white bottle,0.6906439661979675,0
|
| 329 |
+
1144,5720,5739,5729,Pour coffee,Pour liquid from white bottle,0.6111634373664856,0
|
| 330 |
+
1145,5725,5744,5734,Pour coffee,Grasp coffee scoop,0.5461038947105408,0
|
| 331 |
+
1146,5730,5749,5739,Pour coffee,Pour liquid from white bottle,0.5081442594528198,0
|
| 332 |
+
1147,5735,5754,5744,Pour coffee,Pour liquid from white bottle,0.6006671190261841,0
|
| 333 |
+
1148,5740,5759,5749,Pour coffee,Pour liquid from white bottle,0.5355618000030518,0
|
| 334 |
+
1149,5745,5764,5754,Pour coffee,Grasp coffee scoop,0.5323028564453125,0
|
| 335 |
+
1150,5750,5769,5759,Pour coffee,Grasp coffee scoop,0.62153160572052,0
|
| 336 |
+
1151,5755,5774,5764,Pour coffee,Grasp coffee scoop,0.7221847772598267,0
|
| 337 |
+
1152,5760,5779,5769,Pour coffee,Pour liquid from white bottle,0.6344038844108582,0
|
| 338 |
+
1153,5765,5784,5774,Pour coffee,Pour liquid from white bottle,0.7452925443649292,0
|
| 339 |
+
1154,5770,5789,5779,Pour coffee,Pour liquid from white bottle,0.6534795165061951,0
|
| 340 |
+
1155,5775,5794,5784,Pour coffee,Grasp coffee scoop,0.4713490903377533,0
|
| 341 |
+
1156,5780,5799,5789,Pour coffee,Grasp coffee scoop,0.5420408248901367,0
|
| 342 |
+
1157,5785,5804,5794,Pour coffee,Pour liquid from white bottle,0.4439220130443573,0
|
| 343 |
+
1159,5795,5814,5804,Pour milk into coffee,Position kettle to pour,0.7081561088562012,0
|
| 344 |
+
1160,5800,5819,5809,Pour milk into coffee,Position kettle to pour,0.8089673519134521,0
|
results/episode_task_suite/timeline_subtask/confusion_matrix.csv
ADDED
|
@@ -0,0 +1,15 @@
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
true\pred,Pick up and position kettle,Position kettle to pour,Move kettle,Prepare coffee equipment and scoop grounds,Transfer coffee grounds to dripper,Secure coffee container,Handle gooseneck kettle,Lift gooseneck kettle,Set down kettle and retrieve white bottle,Pour and close white bottle,Move bottle to coffee equipment,Prepare for pouring,Pour coffee,Pour milk into coffee
|
| 2 |
+
Pick up and position kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 3 |
+
Position kettle to pour,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 4 |
+
Move kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 5 |
+
Prepare coffee equipment and scoop grounds,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 6 |
+
Transfer coffee grounds to dripper,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 7 |
+
Secure coffee container,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 8 |
+
Handle gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 9 |
+
Lift gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 10 |
+
Set down kettle and retrieve white bottle,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
| 11 |
+
Pour and close white bottle,17,0,0,0,0,0,0,5,23,12,0,0,0,0
|
| 12 |
+
Move bottle to coffee equipment,0,0,0,0,0,0,0,6,1,0,0,0,0,0
|
| 13 |
+
Prepare for pouring,0,0,6,0,0,5,57,16,23,7,1,3,1,0
|
| 14 |
+
Pour coffee,3,2,5,7,7,7,0,0,22,92,0,0,5,1
|
| 15 |
+
Pour milk into coffee,0,0,0,0,0,0,0,0,0,10,0,0,0,0
|
results/episode_task_suite/timeline_subtask/metrics.json
ADDED
|
@@ -0,0 +1,24 @@
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"accuracy": 0.05813953488372093,
|
| 3 |
+
"balanced_accuracy": 0.05376979652090881,
|
| 4 |
+
"macro_f1": 0.04954121121178666,
|
| 5 |
+
"weighted_f1": 0.06731304264454903,
|
| 6 |
+
"num_eval_windows": 344,
|
| 7 |
+
"num_classes": 14,
|
| 8 |
+
"task": "timeline_subtask",
|
| 9 |
+
"input": "all modalities -> current subtask label",
|
| 10 |
+
"split": "chronological",
|
| 11 |
+
"num_windows": 1147,
|
| 12 |
+
"num_train_windows": 803,
|
| 13 |
+
"num_test_windows": 344,
|
| 14 |
+
"feature_dim": 8378,
|
| 15 |
+
"majority_baseline_accuracy": 0.0,
|
| 16 |
+
"train_final_accuracy": 1.0,
|
| 17 |
+
"train_final_loss": 0.014040183275938034,
|
| 18 |
+
"unseen_test_classes": [
|
| 19 |
+
"Move bottle to coffee equipment",
|
| 20 |
+
"Pour coffee",
|
| 21 |
+
"Pour milk into coffee",
|
| 22 |
+
"Prepare for pouring"
|
| 23 |
+
]
|
| 24 |
+
}
|
results/episode_task_suite/timeline_subtask/per_class_metrics.csv
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
class_id,class_name,support,predicted,precision,recall,f1
|
| 2 |
+
0,Pick up and position kettle,0,20,0.0,0.0,0.0
|
| 3 |
+
1,Position kettle to pour,0,2,0.0,0.0,0.0
|
| 4 |
+
2,Move kettle,0,11,0.0,0.0,0.0
|
| 5 |
+
3,Prepare coffee equipment and scoop grounds,0,7,0.0,0.0,0.0
|
| 6 |
+
4,Transfer coffee grounds to dripper,0,7,0.0,0.0,0.0
|
| 7 |
+
5,Secure coffee container,0,12,0.0,0.0,0.0
|
| 8 |
+
6,Handle gooseneck kettle,0,57,0.0,0.0,0.0
|
| 9 |
+
7,Lift gooseneck kettle,0,27,0.0,0.0,0.0
|
| 10 |
+
8,Set down kettle and retrieve white bottle,0,69,0.0,0.0,0.0
|
| 11 |
+
9,Pour and close white bottle,57,121,0.09917355371900827,0.21052631578947367,0.1348314606741573
|
| 12 |
+
10,Move bottle to coffee equipment,7,1,0.0,0.0,0.0
|
| 13 |
+
11,Prepare for pouring,119,3,1.0,0.025210084033613446,0.049180327868852465
|
| 14 |
+
12,Pour coffee,151,6,0.8333333333333334,0.033112582781456956,0.06369426751592357
|
| 15 |
+
13,Pour milk into coffee,10,1,0.0,0.0,0.0
|