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results/omni_finetune/model_output_task_probes_20260616/RUN_REPORT.md

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+# Existing Model-Output Task Probes
+
+Generated: `2026-06-16T13:35:37+00:00`
+
+This package scores only task targets already present in verified held-out
+prediction JSON. It does not run new inference and does not infer targets that
+are absent from a model branch.
+
+| Method | ID | Status | Scored rows | Task 16 macro-F1 | Evidence |
+| --- | --- | --- | ---: | ---: | --- |
+| Qwen3-Omni v6 LoRA | qwen3_omni_v6_lora | scored | 4014 | 0.000222 | results/omni_finetune/verified_public/xperience10m_qwen3_omni_128ep_multiscale_cap96_v6_rank64_lr5e5_full8gpu_lora_eval_test_full/eval/predictions.jsonl |
+| Cosmos3-Super Reasoner | cosmos3_super_reasoner | scored | 446 | 0.000000 | results/omni_finetune/verified_public/xperience10m_cosmos3_super_reasoner_128ep_test_full_20260607/eval/predictions.jsonl |
+| Cosmos3-Nano Future Window | cosmos3_nano_future_window | unsupported_without_required_fields | n/a | n/a | verified future-window predictions do not contain object-set fields |

results/omni_finetune/model_output_task_probes_20260616/action_object_relation/cosmos3_super_reasoner/metrics.json

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+{
+  "accuracy": 0.0,
+  "action_object_relation_accuracy": 0.0,
+  "action_object_relation_macro_f1": 0.0,
+  "artifact_files": {
+    "metrics_json": "results/omni_finetune/model_output_task_probes_20260616/action_object_relation/cosmos3_super_reasoner/metrics.json",
+    "per_class_metrics_csv": "results/omni_finetune/model_output_task_probes_20260616/action_object_relation/cosmos3_super_reasoner/per_class_metrics.csv",
+    "predictions_csv": "results/omni_finetune/model_output_task_probes_20260616/action_object_relation/cosmos3_super_reasoner/predictions.csv"
+  },
+  "excluded_rows_without_true_relation": 2,
+  "generated_at_utc": "2026-06-16T13:35:37+00:00",
+  "labels": [
+    "Adjust canned food on shelf :: canned food | cardboard box | store shelf",
+    "Adjust item on shelf :: shelf | stationery package",
+    "Adjust lantern shape :: red pleated paper lantern",
+    "Adjust lantern string :: red paper lantern | string",
+    "Adjust paper :: cardboard square | paper | pen | star beads",
+    "Adjust pot position :: pot",
+    "Adjust puzzle piece :: jigsaw puzzle | puzzle box | puzzle pieces",
+    "Align canned food on shelf :: canned food | cardboard box | retail shelf",
+    "Align edges of paper lantern :: hands | red paper lantern",
+    "Align paper lantern edges :: hands | red paper lantern",
+    "Apply adhesive tape to lantern :: adhesive tape | red paper lantern",
+    "Approach boxes :: cardboard boxes | colleague | shelving unit",
+    "Approaching and pressing the door switch :: glass door | switch | wall",
+    "Approaching the table :: beads | chairs | table",
+    "Arrange buttons :: red buttons | smartphone | table",
+    "Arrange buttons in a line :: buttons | phone | table",
+    "Arrange star beads :: paper | pen | power bank | smartphone | star beads",
+    "Arrange star beads for counting :: paper | pen | star beads",
+    "Attempt to fit puzzle piece :: puzzle board | puzzle piece",
+    "Attempt to fit puzzle piece :: puzzle piece",
+    "Bend and manipulate plastic strip :: plastic strip | stationary box | table | water bottle",
+    "Browse smartphone screen :: paper strips | smartphone | star ornaments",
+    "Bundle display hooks :: container | display hooks",
+    "Closing the door :: door | dustpan",
+    "Counting and organizing beads :: cardboard squares | paper | pen | star-shaped beads",
+    "Counting star beads :: paper | pen | star beads",
+    "Cut along the marked line :: cardboard | hand | utility knife",
+    "Cut cardboard :: cardboard | desk | pen | ruler | utility knife",
+    "Cut cardboard piece :: cardboard strip | scissors",
+    "Entering the VR training room :: doorway | person | table",
+    "Expand paper lantern :: adhesive tape roll | cardboard box | red paper lantern",
+    "Extract wire hangers from box :: cardboard box | wire hangers",
+    "Fold paper lantern :: red paper honeycomb lantern",
+    "Fold plastic strip :: container with tools | purple plastic strip | water bottle | white table",
+    "Gather star beads :: cardboard squares | mobile phone | paper | pen | power bank | star beads",
+    "Gesturing :: cardboard pieces | marker | pencil case | ruler | scissors",
+    "Grasp cleaning bottle :: bowls | chopping board | cleaning fluid bottle",
+    "Grasp lantern :: red paper honeycomb lantern",
+    "Grasp lantern component :: cardboard box | paper lantern | tape",
+    "Grasping cleaning cloth :: cleaning cloth | countertop",
+    "Greeting/acknowledging participants :: person | table | vr headset",
+    "Handle paper lantern component :: cardboard box | paper lantern component | plastic bag | red paper lantern",
+    "Hold and bend plastic strip :: bottle | purple plastic strip | stationery box",
+    "Hold and manipulate paper strip :: beads | mobile phone | power bank | yellow paper strip",
+    "Hold beads :: paper | pen | power bank | smartphone | star-shaped beads",
+    "Hold canned food :: box of cans | can of soup | shelf",
+    "Hold cardboard piece :: cardboard pieces | marker | pencil case | ruler | scissors",
+    "Hold container lid :: dustpan | red plastic container lid",
+    "Hold paper lantern :: red paper lantern | sofa",
+    "Hold smartphone :: kettle | kitchen counter | sink | smartphone",
+    "Hold smartphone :: quilling paper strips | small blue beads | smartphone",
+    "Identify next cardboard piece :: cardboard pieces | marker",
+    "Inspect shelf condition :: colleague | shelf",
+    "Interact with smartphone :: beads | smartphone | yellow paper strip",
+    "Interact with smartphone :: cans | shelf | smartphone",
+    "Lift pot lid :: pot | pot lid",
+    "Manipulate adhesive strip :: adhesive strip | paper sheets | puzzle box | smartphone | water bottle",
+    "Manipulate bead :: bead piles | container | paper strips | yellow bead",
+    "Manipulate beads :: blue beads | power bank | smartphone | yellow beads",
+    "Manipulate craft paper strips :: paper strips | scissors | smartphone",
+    "Manipulate craft piece :: craft pieces | scissors | smartphone",
+    "Manipulate material :: blue crafting material | hand",
+    "Manipulate paper decoration :: paper cone | paper decoration | smartphone | water bottle",
+    "Manipulate paper edge :: hands | paper cone | puzzle box | smartphone | water bottle",
+    "Manipulate paper strip :: container with tools | table | yellow paper strip",
+    "Manipulate paper strip :: craft materials | purple paper strip | scissors | smartphone",
+    "Manipulate paper strip :: paper cone | paper strip | puzzle box | smartphone | water bottle",
+    "Manipulate paper strip :: purple paper strip | quilling paper pile | smartphone",
+    "Manipulate plastic strip :: purple plastic strip | storage bin | water bottle",
+    "Manipulate plastic strips :: desk | plastic strips | water bottle",
+    "Manipulate puzzle piece :: jigsaw puzzle | puzzle piece",
+    "Manipulate puzzle pieces :: puzzle box | puzzle mat | puzzle pieces",
+    "Manipulate yellow strip :: beads | cell phone | pen | yellow strip",
+    "Manipulating paper strips :: beads | blue paper strip | yellow paper strip",
+    "Mark cardboard piece :: cardboard piece | marker",
+    "Mark cardboard piece :: cardboard piece | marker | pouch",
+    "Marking cardboard piece :: cardboard pieces | marker | ruler | scissors",
+    "Move dustpan to side :: dustpan",
+    "Move hand away :: canned food | retail shelf",
+    "Move hand away from shelf :: canned food | cardboard box | store shelf",
+    "Move marker and adjust hand :: cardboard pieces | marker",
+    "Move phone :: cardboard | smartphone | utility knife",
+    "Move pot :: faucet | pot | sink",
+    "Move smartphone :: craft beads | paper strips | smartphone",
+    "Move through aisle :: aisle floor | display hooks | metal shelving units",
+    "Move through the training room :: chairs | fire extinguisher | tables | vr headsets",
+    "Move to shelf :: cardboard box | colleague | shelves",
+    "Move towards kitchen area :: cloth | sink",
+    "Move towards the stove :: blue bowl | faucet | metal container | red bowl | sink",
+    "Observe and pause :: cardboard pieces | marker | pencil case | ruler | scissors",
+    "Observe and walk through store :: colleague | inventory boxes | shelves",
+    "Observe colleague and workspace :: price tag | shelves | watch",
+    "Observe puzzle progress :: hand | jigsaw puzzle",
+    "Observe workspace :: cardboard boxes | colleague | shelving unit",
+    "Open earbud case :: earbud case",
+    "Open folded paper lantern :: cardboard box | red pleated paper lantern",
+    "Open paper lantern :: red paper honeycomb lantern",
+    "Open paper lantern component :: paper lantern component",
+    "Open stove pot lid :: blue bowl | cloth | faucet | red bowl | sink | soap dispenser | white bowl",
+    "Operate smartphone :: craft paper strips | folded paper fan | smartphone",
+    "Organize cardboard pieces :: cardboard pieces | marker | pencil case | ruler | scissors",
+    "Pick up button :: buttons | table",
+    "Pick up can :: canned food | cardboard box",
+    "Pick up canned food :: canned food | cardboard box",
+    "Pick up dustpan :: dustpan | smartphone",
+    "Pick up items from the shopping bag :: cardboard boxes | red shopping bag | retail shelf",
+    "Pick up new cardboard piece :: cardboard piece | marker",
+    "Pick up packaged paper lantern component :: cardboard box | packaged paper lantern component",
+    "Pick up pen :: paper | pen | star beads",
+    "Pick up puzzle piece :: jigsaw puzzle | puzzle piece",
+    "Pick up small piece of material :: blue crafting material | hand",
+    "Pick up smartphone :: cans | shelf | smartphone",
+    "Pick up star bead :: cardboard squares | mobile phone | paper | pen | power bank | star beads",
+    "Pick up utility knife :: cardboard | utility knife",
+    "Picking up bottle :: bottle",
+    "Picking up crafting material :: beads | papers | pen | table",
+    "Place and count bead :: paper | pen | star beads",
+    "Place another canned food on shelf :: box | canned food",
+    "Place button :: buttons | hand | smartphone | table",
+    "Place button :: buttons | hand | table",
+    "Place can on shelf :: canned food | retail shelf",
+    "Place canned food on shelf :: can of vegetables | cardboard boxes | store shelf",
+    "Place cloth on floor :: cloth",
+    "Place hand on table :: craft beads | paper strips | smartphone",
+    "Place item on shelf :: stationery package",
+    "Place items on the shelf :: packaged items | retail shelf",
+    "Place lid back :: pot | pot lid",
+    "Place marked piece down :: cardboard piece | marker",
+    "Place material :: bead design | blue crafting material | hand",
+    "Place phone down :: beads | pencil holder | smartphone | yellow paper strip",
+    "Place piece into puzzle :: jigsaw puzzle | puzzle piece",
+    "Place puzzle piece :: puzzle board | puzzle piece",
+    "Place smartphone down :: power bank | quilling paper strips | small paper stars | smartphone",
+    "Place smartphone down :: quilling paper strips | small paper stars | smartphone",
+    "Place smartphone on stand :: saucepan | smartphone | smartphone stand | yellow jacket",
+    "Place towel :: pot | towel",
+    "Placing paper strip :: adhesive strip | paper cone | phone",
+    "Placing paper strip :: paper cone | phone | puzzle box | water bottle",
+    "Preparing to craft :: beads | chairs | table",
+    "Put down smartphone :: paper stars | paper strips | smartphone",
+    "Put down smartphone :: power bank | smartphone",
+    "Reach for another item :: item | shelf",
+    "Reach for cleaning supplies :: bowls | chopping board | cleaning fluid bottle",
+    "Reach for craft items :: smartphone | star-shaped craft items | table",
+    "Reach for next can :: can of vegetables | cardboard boxes | store shelf",
+    "Reach for next canned food :: box | canned food | retail shelf",
+    "Reach for next item :: packaged item | shelf",
+    "Reach for puzzle piece :: puzzle board | puzzle box | puzzle pieces",
+    "Reach for wire hangers :: cardboard box | wire hangers",
+    "Reach into box :: box of cans",
+    "Record count :: paper | pen | star-shaped beads",
+    "Release cardboard piece and gesture :: cardboard piece | cardboard piles | marker | pouch | ruler | scissors",
+    "Release hook :: display hook",
+    "Release lantern :: red paper lantern",
+    "Release paper strip :: craft beads | paper strip | scissors | smartphone",
+    "Release puzzle piece :: jigsaw puzzle | puzzle box | puzzle pieces",
+    "Release scissors :: craft paper strips | folded paper fan | scissors | smartphone",
+    "Release smartphone :: paper scraps | scissors | smartphone | table",
+    "Remove cleaning bottle :: cleaning bottle | plastic bowls",
+    "Remove paper lantern part from packaging :: paper lantern | red hand fan",
+    "Remove plastic packaging :: packaging | paper lantern component",
+    "Reposition hand :: cardboard | utility knife",
+    "Resume observation :: cardboard pieces | marker | pencil case | ruler | scissors",
+    "Retrieve canned food from box :: box | canned food",
+    "Retrieve next canned food item :: canned food | cardboard box",
+    "Retrieving more beads :: paper | pen | star beads",
+    "Rinse cloth in sink :: cloth | sink | water faucet",
+    "Scroll smartphone screen :: paper stars | paper strips | smartphone",
+    "Search for puzzle piece :: jigsaw puzzle | puzzle pieces",
+    "Secure paper edges with adhesive :: adhesive strip | paper cone pieces | puzzle box | smartphone | water bottle",
+    "Securing paper structure :: decorative stars | paper strips | smartphone | water bottle",
+    "Sort and adjust button line :: buttons | smartphone | table",
+    "Sort and arrange buttons :: buttons | smartphones | soda can | table",
+    "Sort and count beads :: paper | pen | star beads",
+    "Sort and place buttons :: buttons | coca-cola can | smartphone",
+    "Sort beads :: paper | pen | smartphone | star-shaped beads",
+    "Sort beads and write count :: paper | pen | power bank | smartphone | star-shaped beads",
+    "Sort button :: buttons | cell phone",
+    "Sort buttons :: buttons | table",
+    "Sort craft items :: star-shaped craft items | table",
+    "Sort puzzle pieces :: jigsaw puzzle pieces | table",
+    "Sort small craft pieces :: paper strips | scissors | smartphone | star-shaped craft pieces",
+    "Sort star-shaped beads :: marker | mobile phone | paper | power bank | star-shaped beads",
+    "Start cutting :: cardboard | utility knife",
+    "Stir contents :: cooking utensil | pot",
+    "Use phone :: beads | paper | power bank | smartphone",
+    "Use phone while crafting :: beads | pencil holder | smartphone | yellow paper strip",
+    "Use smartphone :: buttons | chair | smartphone | table",
+    "Use smartphone :: buttons | smartphone | table",
+    "Use smartphone :: charging cable | paper strips | power bank | smartphone | star-shaped paper crafts",
+    "Use smartphone :: containers | kettle | kitchen counter | rice cooker | smartphone",
+    "Walk towards other aisles :: retail store aisle",
+    "Walk towards shelves :: cardboard boxes | red bin | shelving unit",
+    "Walking across the room :: chair | fire extinguisher | office | table",
+    "Walking in the hallway :: hallway | people | tables | vr headsets",
+    "Walking towards door :: door | dustpan",
+    "Washing hands in sink :: faucet | sink",
+    "Wipe kitchen counter :: door | laundry basket | mop",
+    "Wiping countertop :: cleaning cloth | countertop",
+    "Write count on paper :: marker | mobile phone | paper | power bank | star-shaped beads",
+    "Write on paper :: cardboard square | paper | pen | star beads",
+    "sort craft materials :: paper pieces | scissors | smartphone",
+    "Pick up and place canned goods on shelf :: bin | canned goods | shelf",
+    "Browsing smartphone content :: smartphone",
+    "Place item on shelf :: retail item | shelf",
+    "Place item on shelf :: canned food | shelf",
+    "<missing_pred_relation>",
+    "Approach packing area :: items to pack | packing area",
+    "Approach restocking supplies :: aisle | restocking supplies | shelf",
+    "unknown :: unknown",
+    "Approach table :: materials | table | tools | work surface",
+    "Place item in container :: canned goods | plastic container | shopping bag",
+    "Pick up canned food :: canned food | shelf",
+    "Adjusting items on the shelf :: items | shelf",
+    "Wipe hands :: hands | sink | water bottle",
+    "Approach the stove :: cooking pot | kitchen counter | stove",
+    "Place item on shelf :: plush toy | shelf",
+    "Place item on shelf :: canned goods | shelf",
+    "Adjust cardboard :: cardboard pieces | workspace surface",
+    "Adjust cardboard :: cardboard | cutting mat | glue stick | marker | measuring tape | ruler | scissors | work table",
+    "Approach packing area :: cardboard pieces | marker | ruler | scissors | work table",
+    "Adjust cardboard :: cardboard piece | marker | ruler | workspace surface",
+    "Adjust cardboard position :: cardboard piece | marker | ruler | scissors | work surface",
+    "Adjust cardboard position :: cardboard piece | hands | work surface",
+    "Adjust cardboard :: cardboard piece | glue stick | marker | measuring tape | pencil | ruler | scissors | work table",
+    "Adjust cardboard :: cardboard | glue stick | marker | measuring tape | pencil | ruler | scissors | work table",
+    "Adjust cardboard position :: cardboard piece | scissors | work table",
+    "Adjust cardboard position :: cardboard piece | scissors | work surface",
+    "Cut cardboard with utility knife :: cardboard | ruler | table | utility knife",
+    "Cut cardboard :: cardboard | glue | marker | measuring tape | pen | ruler | scissors | work surface",
+    "Adjusting items on shelf :: containers | retail items | shelf",
+    "Approach packing area :: container | items to pack | packing area",
+    "Adjust cardboard divider :: cardboard divider | retail items | shelf",
+    "Adjusting items on shelf :: retail items | shelf",
+    "Approach packing area :: boxes | items to pack | packing area",
+    "Adjust grip :: canned food | plastic container | shelf",
+    "Adjust item on shelf :: retail items | shelf",
+    "Approach packing area :: cardboard pieces | packing area | storage bins",
+    "Adjust cardboard position :: cardboard pieces | scissors | table surface",
+    "Adjust cardboard divider :: cardboard divider | cardboard pieces | table surface",
+    "Adjust cardboard divider :: cardboard divider | cardboard pieces | scissors | table",
+    "Place canned food on shelf :: canned food | shelf",
+    "Pick up canned food :: bin | canned food | shelf",
+    "Pick up canned food :: box | canned food | shelf",
+    "Pick up canned food :: canned food | container | shelf",
+    "Adjust canned food on shelf :: canned food | shelf",
+    "Move along the shelf :: retail items | shelf",
+    "Picking up and placing canned goods :: canned goods | shelf",
+    "Move along the shelf :: canned goods | plastic container | shelf",
+    "Adjust item on shelf :: retail item | shelf",
+    "Browsing smartphone content :: retail items | shelf | smartphone",
+    "Manipulate paper strip :: paper strip | scissors | table",
+    "Manipulate paper strip :: marker | paper strip | pink cloth | ruler | scissors | smartphone | table | water bottle",
+    "Adjust grip :: hand | red container",
+    "Approach packing area :: boxes | packaging materials | red hat | table",
+    "Approach packing area :: boxes | packaging materials | red cap | table",
+    "Manipulate paper strip :: paper strip",
+    "Adjust lantern string :: handle | lantern | string",
+    "Adjust grip :: lid | red container",
+    "Approach packing area :: items to pack | packing area | packing materials",
+    "Adjust lantern string :: lantern handle | lantern string | paper lantern",
+    "Adjust grip :: red container | small white object",
+    "Adjust lantern string :: handle component | paper lantern | string",
+    "Approach table :: people | table",
+    "Approach table :: items on table | people | table",
+    "Adjust Mahjong tile :: mahjong tile | mahjong tile stack | table surface",
+    "Adjusting and placing down paper pieces :: hand | paper pieces | table",
+    "Approach table :: cardboard | chair | mahjong tiles | marker | paper | ruler | scissors | table",
+    "Approach table :: beads | cardboard | marker | paper | pen | ruler | scissors | table",
+    "Manipulate paper strip :: craft materials | hands | marker | paper strip | ruler | scissors | table | workspace",
+    "Manipulate paper strip :: craft materials | glue | hands | marker | paper strip | ruler | scissors | table",
+    "Adjust bead piles :: beads | table",
+    "Manipulate paper strip :: beads | glue | marker | paper strip | ruler | scissors | smartphone | table",
+    "Manipulate paper strip :: beads | mahjong tiles | marker | paper strip | ruler | scissors | smartphone | table",
+    "Manipulate colorful pieces :: buttons | table",
+    "Manipulate colorful pieces :: buttons",
+    "Adjust Mahjong tile :: mahjong tile | mahjong tile stack | table",
+    "Approach packing area :: cardboard box | items to pack | packing area",
+    "Interacting with colleagues :: person",
+    "Gathering items :: boxes | chairs | equipment | materials | people | supplies | tables | tools",
+    "Interacting with phone :: ceiling | chair | door | floor | person | smartphone | table | wall",
+    "Manipulate paper strip :: cardboard | craft materials | hands | marker | paper strip | ruler | scissors | table",
+    "Write on paper :: paper | pen | star beads",
+    "Manipulate paper strip :: chair | glue | marker | paper strip | person | ruler | scissors | table",
+    "Sort and arrange buttons :: buttons | table"
+  ],
+  "macro_f1": 0.0,
+  "metric_key": "action_object_relation_macro_f1",
+  "missing_pred_relation_count": 226,
+  "model_id": "cosmos3_super_reasoner",
+  "model_label": "Cosmos3-Super Reasoner",
+  "normalization_policy": "The action component uses the verified predicted action label when present. The object component is a canonical casefolded set because task 16 is an action plus object-set relation.",
+  "num_samples": 446,
+  "primary_metric": "action_object_relation_macro_f1",
+  "primary_score": 0.0,
+  "scope": "held_out_test_existing_verified_prediction_json",
+  "score_policy": "Derived from existing verified held-out prediction JSON. No new model inference was run; rows without a predicted action/object relation are counted as missing predictions.",
+  "scored_rows": 446,
+  "source_prediction_jsonl": "results/omni_finetune/verified_public/xperience10m_cosmos3_super_reasoner_128ep_test_full_20260607/eval/predictions.jsonl",
+  "status": "pass",
+  "task_id": "action_object_relation",
+  "task_label": "Action-Object Relation",
+  "task_number": 16,
+  "title": "Cosmos3-Super Reasoner Action-Object Relation Probe",
+  "total_prediction_rows": 448,
+  "valid_pred_relation_count": 220,
+  "valid_pred_relation_rate": 0.49327354260089684
+}

results/omni_finetune/model_output_task_probes_20260616/action_object_relation/cosmos3_super_reasoner/per_class_metrics.csv

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+class_name,support,predicted,precision,recall,f1
+Adjust canned food on shelf :: canned food | cardboard box | store shelf,2,0,0.0,0.0,0.0
+Adjust item on shelf :: shelf | stationery package,2,0,0.0,0.0,0.0
+Adjust lantern shape :: red pleated paper lantern,2,0,0.0,0.0,0.0
+Adjust lantern string :: red paper lantern | string,2,0,0.0,0.0,0.0
+Adjust paper :: cardboard square | paper | pen | star beads,2,0,0.0,0.0,0.0
+Adjust pot position :: pot,2,0,0.0,0.0,0.0
+Adjust puzzle piece :: jigsaw puzzle | puzzle box | puzzle pieces,3,0,0.0,0.0,0.0
+Align canned food on shelf :: canned food | cardboard box | retail shelf,2,0,0.0,0.0,0.0
+Align edges of paper lantern :: hands | red paper lantern,2,0,0.0,0.0,0.0
+Align paper lantern edges :: hands | red paper lantern,2,0,0.0,0.0,0.0
+Apply adhesive tape to lantern :: adhesive tape | red paper lantern,2,0,0.0,0.0,0.0
+Approach boxes :: cardboard boxes | colleague | shelving unit,2,0,0.0,0.0,0.0
+Approaching and pressing the door switch :: glass door | switch | wall,4,0,0.0,0.0,0.0
+Approaching the table :: beads | chairs | table,2,0,0.0,0.0,0.0
+Arrange buttons :: red buttons | smartphone | table,4,0,0.0,0.0,0.0
+Arrange buttons in a line :: buttons | phone | table,4,0,0.0,0.0,0.0
+Arrange star beads :: paper | pen | power bank | smartphone | star beads,2,0,0.0,0.0,0.0
+Arrange star beads for counting :: paper | pen | star beads,2,0,0.0,0.0,0.0
+Attempt to fit puzzle piece :: puzzle board | puzzle piece,1,0,0.0,0.0,0.0
+Attempt to fit puzzle piece :: puzzle piece,2,0,0.0,0.0,0.0
+Bend and manipulate plastic strip :: plastic strip | stationary box | table | water bottle,4,0,0.0,0.0,0.0
+Browse smartphone screen :: paper strips | smartphone | star ornaments,3,0,0.0,0.0,0.0
+Bundle display hooks :: container | display hooks,2,0,0.0,0.0,0.0
+Closing the door :: door | dustpan,2,0,0.0,0.0,0.0
+Counting and organizing beads :: cardboard squares | paper | pen | star-shaped beads,2,0,0.0,0.0,0.0
+Counting star beads :: paper | pen | star beads,2,0,0.0,0.0,0.0
+Cut along the marked line :: cardboard | hand | utility knife,7,0,0.0,0.0,0.0
+Cut cardboard :: cardboard | desk | pen | ruler | utility knife,7,0,0.0,0.0,0.0
+Cut cardboard piece :: cardboard strip | scissors,3,0,0.0,0.0,0.0
+Entering the VR training room :: doorway | person | table,3,0,0.0,0.0,0.0
+Expand paper lantern :: adhesive tape roll | cardboard box | red paper lantern,2,0,0.0,0.0,0.0
+Extract wire hangers from box :: cardboard box | wire hangers,2,0,0.0,0.0,0.0
+Fold paper lantern :: red paper honeycomb lantern,2,0,0.0,0.0,0.0
+Fold plastic strip :: container with tools | purple plastic strip | water bottle | white table,3,0,0.0,0.0,0.0
+Gather star beads :: cardboard squares | mobile phone | paper | pen | power bank | star beads,2,0,0.0,0.0,0.0
+Gesturing :: cardboard pieces | marker | pencil case | ruler | scissors,2,0,0.0,0.0,0.0
+Grasp cleaning bottle :: bowls | chopping board | cleaning fluid bottle,2,0,0.0,0.0,0.0
+Grasp lantern :: red paper honeycomb lantern,2,0,0.0,0.0,0.0
+Grasp lantern component :: cardboard box | paper lantern | tape,2,0,0.0,0.0,0.0
+Grasping cleaning cloth :: cleaning cloth | countertop,2,0,0.0,0.0,0.0
+Greeting/acknowledging participants :: person | table | vr headset,3,0,0.0,0.0,0.0
+Handle paper lantern component :: cardboard box | paper lantern component | plastic bag | red paper lantern,2,0,0.0,0.0,0.0
+Hold and bend plastic strip :: bottle | purple plastic strip | stationery box,3,0,0.0,0.0,0.0
+Hold and manipulate paper strip :: beads | mobile phone | power bank | yellow paper strip,2,0,0.0,0.0,0.0
+Hold beads :: paper | pen | power bank | smartphone | star-shaped beads,2,0,0.0,0.0,0.0
+Hold canned food :: box of cans | can of soup | shelf,2,0,0.0,0.0,0.0
+Hold cardboard piece :: cardboard pieces | marker | pencil case | ruler | scissors,3,0,0.0,0.0,0.0
+Hold container lid :: dustpan | red plastic container lid,2,0,0.0,0.0,0.0
+Hold paper lantern :: red paper lantern | sofa,2,0,0.0,0.0,0.0
+Hold smartphone :: kettle | kitchen counter | sink | smartphone,1,0,0.0,0.0,0.0
+Hold smartphone :: quilling paper strips | small blue beads | smartphone,3,0,0.0,0.0,0.0
+Identify next cardboard piece :: cardboard pieces | marker,3,0,0.0,0.0,0.0
+Inspect shelf condition :: colleague | shelf,2,0,0.0,0.0,0.0
+Interact with smartphone :: beads | smartphone | yellow paper strip,2,0,0.0,0.0,0.0
+Interact with smartphone :: cans | shelf | smartphone,2,0,0.0,0.0,0.0
+Lift pot lid :: pot | pot lid,1,0,0.0,0.0,0.0
+Manipulate adhesive strip :: adhesive strip | paper sheets | puzzle box | smartphone | water bottle,5,0,0.0,0.0,0.0
+Manipulate bead :: bead piles | container | paper strips | yellow bead,2,0,0.0,0.0,0.0
+Manipulate beads :: blue beads | power bank | smartphone | yellow beads,2,0,0.0,0.0,0.0
+Manipulate craft paper strips :: paper strips | scissors | smartphone,4,0,0.0,0.0,0.0
+Manipulate craft piece :: craft pieces | scissors | smartphone,4,0,0.0,0.0,0.0
+Manipulate material :: blue crafting material | hand,2,0,0.0,0.0,0.0
+Manipulate paper decoration :: paper cone | paper decoration | smartphone | water bottle,5,0,0.0,0.0,0.0
+Manipulate paper edge :: hands | paper cone | puzzle box | smartphone | water bottle,5,0,0.0,0.0,0.0
+Manipulate paper strip :: container with tools | table | yellow paper strip,2,0,0.0,0.0,0.0
+Manipulate paper strip :: craft materials | purple paper strip | scissors | smartphone,4,0,0.0,0.0,0.0
+Manipulate paper strip :: paper cone | paper strip | puzzle box | smartphone | water bottle,5,0,0.0,0.0,0.0
+Manipulate paper strip :: purple paper strip | quilling paper pile | smartphone,3,0,0.0,0.0,0.0
+Manipulate plastic strip :: purple plastic strip | storage bin | water bottle,3,0,0.0,0.0,0.0
+Manipulate plastic strips :: desk | plastic strips | water bottle,3,0,0.0,0.0,0.0
+Manipulate puzzle piece :: jigsaw puzzle | puzzle piece,3,0,0.0,0.0,0.0
+Manipulate puzzle pieces :: puzzle box | puzzle mat | puzzle pieces,3,0,0.0,0.0,0.0
+Manipulate yellow strip :: beads | cell phone | pen | yellow strip,2,0,0.0,0.0,0.0
+Manipulating paper strips :: beads | blue paper strip | yellow paper strip,2,0,0.0,0.0,0.0
+Mark cardboard piece :: cardboard piece | marker,1,0,0.0,0.0,0.0
+Mark cardboard piece :: cardboard piece | marker | pouch,2,0,0.0,0.0,0.0
+Marking cardboard piece :: cardboard pieces | marker | ruler | scissors,3,0,0.0,0.0,0.0
+Move dustpan to side :: dustpan,1,0,0.0,0.0,0.0
+Move hand away :: canned food | retail shelf,2,0,0.0,0.0,0.0
+Move hand away from shelf :: canned food | cardboard box | store shelf,2,0,0.0,0.0,0.0
+Move marker and adjust hand :: cardboard pieces | marker,3,0,0.0,0.0,0.0
+Move phone :: cardboard | smartphone | utility knife,7,0,0.0,0.0,0.0
+Move pot :: faucet | pot | sink,1,0,0.0,0.0,0.0
+Move smartphone :: craft beads | paper strips | smartphone,3,0,0.0,0.0,0.0
+Move through aisle :: aisle floor | display hooks | metal shelving units,2,0,0.0,0.0,0.0
+Move through the training room :: chairs | fire extinguisher | tables | vr headsets,3,0,0.0,0.0,0.0
+Move to shelf :: cardboard box | colleague | shelves,2,0,0.0,0.0,0.0
+Move towards kitchen area :: cloth | sink,1,0,0.0,0.0,0.0
+Move towards the stove :: blue bowl | faucet | metal container | red bowl | sink,1,0,0.0,0.0,0.0
+Observe and pause :: cardboard pieces | marker | pencil case | ruler | scissors,2,0,0.0,0.0,0.0
+Observe and walk through store :: colleague | inventory boxes | shelves,2,0,0.0,0.0,0.0
+Observe colleague and workspace :: price tag | shelves | watch,2,0,0.0,0.0,0.0
+Observe puzzle progress :: hand | jigsaw puzzle,3,0,0.0,0.0,0.0
+Observe workspace :: cardboard boxes | colleague | shelving unit,2,0,0.0,0.0,0.0
+Open earbud case :: earbud case,2,0,0.0,0.0,0.0
+Open folded paper lantern :: cardboard box | red pleated paper lantern,2,0,0.0,0.0,0.0
+Open paper lantern :: red paper honeycomb lantern,2,0,0.0,0.0,0.0
+Open paper lantern component :: paper lantern component,2,0,0.0,0.0,0.0
+Open stove pot lid :: blue bowl | cloth | faucet | red bowl | sink | soap dispenser | white bowl,1,0,0.0,0.0,0.0
+Operate smartphone :: craft paper strips | folded paper fan | smartphone,4,0,0.0,0.0,0.0
+Organize cardboard pieces :: cardboard pieces | marker | pencil case | ruler | scissors,2,0,0.0,0.0,0.0
+Pick up button :: buttons | table,3,0,0.0,0.0,0.0
+Pick up can :: canned food | cardboard box,2,0,0.0,0.0,0.0
+Pick up canned food :: canned food | cardboard box,2,0,0.0,0.0,0.0
+Pick up dustpan :: dustpan | smartphone,1,0,0.0,0.0,0.0
+Pick up items from the shopping bag :: cardboard boxes | red shopping bag | retail shelf,2,0,0.0,0.0,0.0
+Pick up new cardboard piece :: cardboard piece | marker,2,0,0.0,0.0,0.0
+Pick up packaged paper lantern component :: cardboard box | packaged paper lantern component,1,0,0.0,0.0,0.0
+Pick up pen :: paper | pen | star beads,2,0,0.0,0.0,0.0
+Pick up puzzle piece :: jigsaw puzzle | puzzle piece,3,0,0.0,0.0,0.0
+Pick up small piece of material :: blue crafting material | hand,2,0,0.0,0.0,0.0
+Pick up smartphone :: cans | shelf | smartphone,2,0,0.0,0.0,0.0
+Pick up star bead :: cardboard squares | mobile phone | paper | pen | power bank | star beads,2,0,0.0,0.0,0.0
+Pick up utility knife :: cardboard | utility knife,6,0,0.0,0.0,0.0
+Picking up bottle :: bottle,1,0,0.0,0.0,0.0
+Picking up crafting material :: beads | papers | pen | table,2,0,0.0,0.0,0.0
+Place and count bead :: paper | pen | star beads,2,0,0.0,0.0,0.0
+Place another canned food on shelf :: box | canned food,2,0,0.0,0.0,0.0
+Place button :: buttons | hand | smartphone | table,1,0,0.0,0.0,0.0
+Place button :: buttons | hand | table,2,0,0.0,0.0,0.0
+Place can on shelf :: canned food | retail shelf,2,0,0.0,0.0,0.0
+Place canned food on shelf :: can of vegetables | cardboard boxes | store shelf,1,0,0.0,0.0,0.0
+Place cloth on floor :: cloth,1,0,0.0,0.0,0.0
+Place hand on table :: craft beads | paper strips | smartphone,3,0,0.0,0.0,0.0
+Place item on shelf :: stationery package,2,0,0.0,0.0,0.0
+Place items on the shelf :: packaged items | retail shelf,2,0,0.0,0.0,0.0
+Place lid back :: pot | pot lid,1,0,0.0,0.0,0.0
+Place marked piece down :: cardboard piece | marker,2,0,0.0,0.0,0.0
+Place material :: bead design | blue crafting material | hand,2,0,0.0,0.0,0.0
+Place phone down :: beads | pencil holder | smartphone | yellow paper strip,2,0,0.0,0.0,0.0
+Place piece into puzzle :: jigsaw puzzle | puzzle piece,3,0,0.0,0.0,0.0
+Place puzzle piece :: puzzle board | puzzle piece,3,0,0.0,0.0,0.0
+Place smartphone down :: power bank | quilling paper strips | small paper stars | smartphone,1,0,0.0,0.0,0.0
+Place smartphone down :: quilling paper strips | small paper stars | smartphone,2,0,0.0,0.0,0.0
+Place smartphone on stand :: saucepan | smartphone | smartphone stand | yellow jacket,1,0,0.0,0.0,0.0
+Place towel :: pot | towel,1,0,0.0,0.0,0.0
+Placing paper strip :: adhesive strip | paper cone | phone,2,0,0.0,0.0,0.0
+Placing paper strip :: paper cone | phone | puzzle box | water bottle,2,0,0.0,0.0,0.0
+Preparing to craft :: beads | chairs | table,2,0,0.0,0.0,0.0
+Put down smartphone :: paper stars | paper strips | smartphone,2,0,0.0,0.0,0.0
+Put down smartphone :: power bank | smartphone,1,0,0.0,0.0,0.0
+Reach for another item :: item | shelf,1,0,0.0,0.0,0.0
+Reach for cleaning supplies :: bowls | chopping board | cleaning fluid bottle,1,0,0.0,0.0,0.0
+Reach for craft items :: smartphone | star-shaped craft items | table,3,0,0.0,0.0,0.0
+Reach for next can :: can of vegetables | cardboard boxes | store shelf,1,0,0.0,0.0,0.0
+Reach for next canned food :: box | canned food | retail shelf,1,0,0.0,0.0,0.0
+Reach for next item :: packaged item | shelf,1,0,0.0,0.0,0.0
+Reach for puzzle piece :: puzzle board | puzzle box | puzzle pieces,2,0,0.0,0.0,0.0
+Reach for wire hangers :: cardboard box | wire hangers,1,0,0.0,0.0,0.0
+Reach into box :: box of cans,1,0,0.0,0.0,0.0
+Record count :: paper | pen | star-shaped beads,2,0,0.0,0.0,0.0
+Release cardboard piece and gesture :: cardboard piece | cardboard piles | marker | pouch | ruler | scissors,2,0,0.0,0.0,0.0
+Release hook :: display hook,1,0,0.0,0.0,0.0
+Release lantern :: red paper lantern,1,0,0.0,0.0,0.0
+Release paper strip :: craft beads | paper strip | scissors | smartphone,4,0,0.0,0.0,0.0
+Release puzzle piece :: jigsaw puzzle | puzzle box | puzzle pieces,2,0,0.0,0.0,0.0
+Release scissors :: craft paper strips | folded paper fan | scissors | smartphone,3,0,0.0,0.0,0.0
+Release smartphone :: paper scraps | scissors | smartphone | table,3,0,0.0,0.0,0.0
+Remove cleaning bottle :: cleaning bottle | plastic bowls,1,0,0.0,0.0,0.0
+Remove paper lantern part from packaging :: paper lantern | red hand fan,1,0,0.0,0.0,0.0
+Remove plastic packaging :: packaging | paper lantern component,1,0,0.0,0.0,0.0
+Reposition hand :: cardboard | utility knife,3,0,0.0,0.0,0.0
+Resume observation :: cardboard pieces | marker | pencil case | ruler | scissors,2,0,0.0,0.0,0.0
+Retrieve canned food from box :: box | canned food,1,0,0.0,0.0,0.0
+Retrieve next canned food item :: canned food | cardboard box,1,0,0.0,0.0,0.0
+Retrieving more beads :: paper | pen | star beads,2,0,0.0,0.0,0.0
+Rinse cloth in sink :: cloth | sink | water faucet,1,0,0.0,0.0,0.0
+Scroll smartphone screen :: paper stars | paper strips | smartphone,3,0,0.0,0.0,0.0
+Search for puzzle piece :: jigsaw puzzle | puzzle pieces,2,0,0.0,0.0,0.0
+Secure paper edges with adhesive :: adhesive strip | paper cone pieces | puzzle box | smartphone | water bottle,4,0,0.0,0.0,0.0
+Securing paper structure :: decorative stars | paper strips | smartphone | water bottle,4,0,0.0,0.0,0.0
+Sort and adjust button line :: buttons | smartphone | table,3,0,0.0,0.0,0.0
+Sort and arrange buttons :: buttons | smartphones | soda can | table,3,0,0.0,0.0,0.0
+Sort and count beads :: paper | pen | star beads,2,0,0.0,0.0,0.0
+Sort and place buttons :: buttons | coca-cola can | smartphone,3,0,0.0,0.0,0.0
+Sort beads :: paper | pen | smartphone | star-shaped beads,2,0,0.0,0.0,0.0
+Sort beads and write count :: paper | pen | power bank | smartphone | star-shaped beads,1,0,0.0,0.0,0.0
+Sort button :: buttons | cell phone,3,0,0.0,0.0,0.0
+Sort buttons :: buttons | table,3,0,0.0,0.0,0.0
+Sort craft items :: star-shaped craft items | table,3,0,0.0,0.0,0.0
+Sort puzzle pieces :: jigsaw puzzle pieces | table,2,0,0.0,0.0,0.0
+Sort small craft pieces :: paper strips | scissors | smartphone | star-shaped craft pieces,3,0,0.0,0.0,0.0
+Sort star-shaped beads :: marker | mobile phone | paper | power bank | star-shaped beads,1,0,0.0,0.0,0.0
+Start cutting :: cardboard | utility knife,2,0,0.0,0.0,0.0
+Stir contents :: cooking utensil | pot,1,0,0.0,0.0,0.0
+Use phone :: beads | paper | power bank | smartphone,2,0,0.0,0.0,0.0
+Use phone while crafting :: beads | pencil holder | smartphone | yellow paper strip,1,0,0.0,0.0,0.0
+Use smartphone :: buttons | chair | smartphone | table,2,0,0.0,0.0,0.0
+Use smartphone :: buttons | smartphone | table,1,0,0.0,0.0,0.0
+Use smartphone :: charging cable | paper strips | power bank | smartphone | star-shaped paper crafts,2,0,0.0,0.0,0.0
+Use smartphone :: containers | kettle | kitchen counter | rice cooker | smartphone,1,0,0.0,0.0,0.0
+Walk towards other aisles :: retail store aisle,1,0,0.0,0.0,0.0
+Walk towards shelves :: cardboard boxes | red bin | shelving unit,1,0,0.0,0.0,0.0
+Walking across the room :: chair | fire extinguisher | office | table,1,0,0.0,0.0,0.0
+Walking in the hallway :: hallway | people | tables | vr headsets,3,0,0.0,0.0,0.0
+Walking towards door :: door | dustpan,1,0,0.0,0.0,0.0
+Washing hands in sink :: faucet | sink,1,0,0.0,0.0,0.0
+Wipe kitchen counter :: door | laundry basket | mop,1,0,0.0,0.0,0.0
+Wiping countertop :: cleaning cloth | countertop,1,0,0.0,0.0,0.0
+Write count on paper :: marker | mobile phone | paper | power bank | star-shaped beads,1,0,0.0,0.0,0.0
+Write on paper :: cardboard square | paper | pen | star beads,1,0,0.0,0.0,0.0
+sort craft materials :: paper pieces | scissors | smartphone,3,0,0.0,0.0,0.0
+Pick up and place canned goods on shelf :: bin | canned goods | shelf,0,4,0.0,0.0,0.0
+Browsing smartphone content :: smartphone,0,60,0.0,0.0,0.0
+Place item on shelf :: retail item | shelf,0,8,0.0,0.0,0.0
+Place item on shelf :: canned food | shelf,0,7,0.0,0.0,0.0
+<missing_pred_relation>,0,226,0.0,0.0,0.0
+Approach packing area :: items to pack | packing area,0,11,0.0,0.0,0.0
+Approach restocking supplies :: aisle | restocking supplies | shelf,0,1,0.0,0.0,0.0
+unknown :: unknown,0,7,0.0,0.0,0.0
+Approach table :: materials | table | tools | work surface,0,1,0.0,0.0,0.0
+Place item in container :: canned goods | plastic container | shopping bag,0,2,0.0,0.0,0.0
+Pick up canned food :: canned food | shelf,0,2,0.0,0.0,0.0
+Adjusting items on the shelf :: items | shelf,0,1,0.0,0.0,0.0
+Wipe hands :: hands | sink | water bottle,0,1,0.0,0.0,0.0
+Approach the stove :: cooking pot | kitchen counter | stove,0,1,0.0,0.0,0.0
+Place item on shelf :: plush toy | shelf,0,1,0.0,0.0,0.0
+Place item on shelf :: canned goods | shelf,0,1,0.0,0.0,0.0
+Adjust cardboard :: cardboard pieces | workspace surface,0,1,0.0,0.0,0.0
+Adjust cardboard :: cardboard | cutting mat | glue stick | marker | measuring tape | ruler | scissors | work table,0,1,0.0,0.0,0.0
+Approach packing area :: cardboard pieces | marker | ruler | scissors | work table,0,1,0.0,0.0,0.0
+Adjust cardboard :: cardboard piece | marker | ruler | workspace surface,0,2,0.0,0.0,0.0
+Adjust cardboard position :: cardboard piece | marker | ruler | scissors | work surface,0,1,0.0,0.0,0.0
+Adjust cardboard position :: cardboard piece | hands | work surface,0,1,0.0,0.0,0.0
+Adjust cardboard :: cardboard piece | glue stick | marker | measuring tape | pencil | ruler | scissors | work table,0,1,0.0,0.0,0.0
+Adjust cardboard :: cardboard | glue stick | marker | measuring tape | pencil | ruler | scissors | work table,0,1,0.0,0.0,0.0
+Adjust cardboard position :: cardboard piece | scissors | work table,0,1,0.0,0.0,0.0
+Adjust cardboard position :: cardboard piece | scissors | work surface,0,2,0.0,0.0,0.0
+Cut cardboard with utility knife :: cardboard | ruler | table | utility knife,0,3,0.0,0.0,0.0
+Cut cardboard :: cardboard | glue | marker | measuring tape | pen | ruler | scissors | work surface,0,1,0.0,0.0,0.0
+Adjusting items on shelf :: containers | retail items | shelf,0,2,0.0,0.0,0.0
+Approach packing area :: container | items to pack | packing area,0,1,0.0,0.0,0.0
+Adjust cardboard divider :: cardboard divider | retail items | shelf,0,1,0.0,0.0,0.0
+Adjusting items on shelf :: retail items | shelf,0,3,0.0,0.0,0.0
+Approach packing area :: boxes | items to pack | packing area,0,2,0.0,0.0,0.0
+Adjust grip :: canned food | plastic container | shelf,0,2,0.0,0.0,0.0
+Adjust item on shelf :: retail items | shelf,0,1,0.0,0.0,0.0
+Approach packing area :: cardboard pieces | packing area | storage bins,0,1,0.0,0.0,0.0
+Adjust cardboard position :: cardboard pieces | scissors | table surface,0,1,0.0,0.0,0.0
+Adjust cardboard divider :: cardboard divider | cardboard pieces | table surface,0,1,0.0,0.0,0.0
+Adjust cardboard divider :: cardboard divider | cardboard pieces | scissors | table,0,1,0.0,0.0,0.0
+Place canned food on shelf :: canned food | shelf,0,9,0.0,0.0,0.0
+Pick up canned food :: bin | canned food | shelf,0,1,0.0,0.0,0.0
+Pick up canned food :: box | canned food | shelf,0,1,0.0,0.0,0.0
+Pick up canned food :: canned food | container | shelf,0,1,0.0,0.0,0.0
+Adjust canned food on shelf :: canned food | shelf,0,1,0.0,0.0,0.0
+Move along the shelf :: retail items | shelf,0,1,0.0,0.0,0.0
+Picking up and placing canned goods :: canned goods | shelf,0,1,0.0,0.0,0.0
+Move along the shelf :: canned goods | plastic container | shelf,0,1,0.0,0.0,0.0
+Adjust item on shelf :: retail item | shelf,0,1,0.0,0.0,0.0
+Browsing smartphone content :: retail items | shelf | smartphone,0,1,0.0,0.0,0.0
+Manipulate paper strip :: paper strip | scissors | table,0,7,0.0,0.0,0.0
+Manipulate paper strip :: marker | paper strip | pink cloth | ruler | scissors | smartphone | table | water bottle,0,1,0.0,0.0,0.0
+Adjust grip :: hand | red container,0,1,0.0,0.0,0.0
+Approach packing area :: boxes | packaging materials | red hat | table,0,1,0.0,0.0,0.0
+Approach packing area :: boxes | packaging materials | red cap | table,0,1,0.0,0.0,0.0
+Manipulate paper strip :: paper strip,0,3,0.0,0.0,0.0
+Adjust lantern string :: handle | lantern | string,0,1,0.0,0.0,0.0
+Adjust grip :: lid | red container,0,1,0.0,0.0,0.0
+Approach packing area :: items to pack | packing area | packing materials,0,1,0.0,0.0,0.0
+Adjust lantern string :: lantern handle | lantern string | paper lantern,0,2,0.0,0.0,0.0
+Adjust grip :: red container | small white object,0,1,0.0,0.0,0.0
+Adjust lantern string :: handle component | paper lantern | string,0,1,0.0,0.0,0.0
+Approach table :: people | table,0,1,0.0,0.0,0.0
+Approach table :: items on table | people | table,0,1,0.0,0.0,0.0
+Adjust Mahjong tile :: mahjong tile | mahjong tile stack | table surface,0,2,0.0,0.0,0.0
+Adjusting and placing down paper pieces :: hand | paper pieces | table,0,1,0.0,0.0,0.0
+Approach table :: cardboard | chair | mahjong tiles | marker | paper | ruler | scissors | table,0,2,0.0,0.0,0.0
+Approach table :: beads | cardboard | marker | paper | pen | ruler | scissors | table,0,1,0.0,0.0,0.0
+Manipulate paper strip :: craft materials | hands | marker | paper strip | ruler | scissors | table | workspace,0,5,0.0,0.0,0.0
+Manipulate paper strip :: craft materials | glue | hands | marker | paper strip | ruler | scissors | table,0,2,0.0,0.0,0.0
+Adjust bead piles :: beads | table,0,3,0.0,0.0,0.0
+Manipulate paper strip :: beads | glue | marker | paper strip | ruler | scissors | smartphone | table,0,1,0.0,0.0,0.0
+Manipulate paper strip :: beads | mahjong tiles | marker | paper strip | ruler | scissors | smartphone | table,0,1,0.0,0.0,0.0
+Manipulate colorful pieces :: buttons | table,0,4,0.0,0.0,0.0
+Manipulate colorful pieces :: buttons,0,1,0.0,0.0,0.0
+Adjust Mahjong tile :: mahjong tile | mahjong tile stack | table,0,1,0.0,0.0,0.0
+Approach packing area :: cardboard box | items to pack | packing area,0,1,0.0,0.0,0.0
+Interacting with colleagues :: person,0,2,0.0,0.0,0.0
+Gathering items :: boxes | chairs | equipment | materials | people | supplies | tables | tools,0,1,0.0,0.0,0.0
+Interacting with phone :: ceiling | chair | door | floor | person | smartphone | table | wall,0,2,0.0,0.0,0.0
+Manipulate paper strip :: cardboard | craft materials | hands | marker | paper strip | ruler | scissors | table,0,1,0.0,0.0,0.0
+Write on paper :: paper | pen | star beads,0,4,0.0,0.0,0.0
+Manipulate paper strip :: chair | glue | marker | paper strip | person | ruler | scissors | table,0,1,0.0,0.0,0.0
+Sort and arrange buttons :: buttons | table,0,3,0.0,0.0,0.0

scripts/omni/score_existing_model_output_task_probes.py

@@ -0,0 +1,354 @@
+#!/usr/bin/env python3
+"""Score task probes that are already present in verified model outputs.
+
+This script does not run new model inference. It only derives task-specific
+scores from committed held-out prediction JSONL files when the required target
+and prediction fields are both already present.
+"""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import json
+import re
+from datetime import datetime, timezone
+from pathlib import Path
+from typing import Any
+
+from qwen3_omni_dataset_utils import class_metrics
+
+
+ROOT = Path(__file__).resolve().parents[2]
+DEFAULT_OUTPUT_DIR = ROOT / "results/omni_finetune/model_output_task_probes_20260616"
+MISSING_PRED_RELATION = "<missing_pred_relation>"
+
+MODEL_SPECS = {
+    "qwen3_omni_v6_lora": {
+        "label": "Qwen3-Omni v6 LoRA",
+        "prediction_jsonl": (
+            "results/omni_finetune/verified_public/"
+            "xperience10m_qwen3_omni_128ep_multiscale_cap96_v6_rank64_lr5e5_full8gpu_lora_eval_test_full/"
+            "eval/predictions.jsonl"
+        ),
+    },
+    "cosmos3_super_reasoner": {
+        "label": "Cosmos3-Super Reasoner",
+        "prediction_jsonl": (
+            "results/omni_finetune/verified_public/"
+            "xperience10m_cosmos3_super_reasoner_128ep_test_full_20260607/"
+            "eval/predictions.jsonl"
+        ),
+    },
+    "cosmos3_nano_future_window": {
+        "label": "Cosmos3-Nano Future Window",
+        "prediction_jsonl": (
+            "results/omni_finetune/verified_public/"
+            "xperience10m_cosmos3_nano_128ep_future_window_h5_compat_adapter_eval_test_full/"
+            "eval/future_predictions.jsonl"
+        ),
+        "unsupported_reason": "verified future-window predictions do not contain object-set fields",
+    },
+}
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument(
+        "--workspace",
+        type=Path,
+        default=ROOT,
+        help="Repository root. Defaults to the current checkout.",
+    )
+    parser.add_argument(
+        "--output-dir",
+        type=Path,
+        default=DEFAULT_OUTPUT_DIR,
+        help="Directory for derived task-probe artifacts.",
+    )
+    return parser.parse_args()
+
+
+def read_jsonl(path: Path) -> list[dict[str, Any]]:
+    rows: list[dict[str, Any]] = []
+    with path.open("r", encoding="utf-8") as fp:
+        for line_number, line in enumerate(fp, start=1):
+            line = line.strip()
+            if not line:
+                continue
+            try:
+                rows.append(json.loads(line))
+            except json.JSONDecodeError as exc:
+                raise ValueError(f"invalid JSONL at {path}:{line_number}: {exc}") from exc
+    return rows
+
+
+def write_json(path: Path, payload: dict[str, Any]) -> None:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    path.write_text(json.dumps(payload, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+
+
+def write_csv(path: Path, rows: list[dict[str, Any]], fieldnames: list[str]) -> None:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    with path.open("w", newline="", encoding="utf-8") as fp:
+        writer = csv.DictWriter(fp, fieldnames=fieldnames, extrasaction="ignore", lineterminator="\n")
+        writer.writeheader()
+        writer.writerows(rows)
+
+
+def relpath(path: Path, root: Path) -> str:
+    resolved = path.resolve()
+    try:
+        return resolved.relative_to(root.resolve()).as_posix()
+    except ValueError:
+        return resolved.as_posix()
+
+
+def normalize_text(value: Any) -> str:
+    text = re.sub(r"\s+", " ", str(value or "").strip())
+    return text.strip("`'\". ")
+
+
+def normalize_objects(value: Any) -> list[str]:
+    if not isinstance(value, list):
+        return []
+    seen: set[str] = set()
+    objects: list[str] = []
+    for item in value:
+        obj = normalize_text(item).casefold()
+        if not obj or obj in seen:
+            continue
+        seen.add(obj)
+        objects.append(obj)
+    return sorted(objects)
+
+
+def relation_label(action: Any, objects: Any, *, missing_label: str | None = None) -> str | None:
+    action_text = normalize_text(action)
+    object_set = normalize_objects(objects)
+    if not action_text or not object_set:
+        return missing_label
+    return f"{action_text} :: {' | '.join(object_set)}"
+
+
+def score_action_object_relation(
+    *,
+    model_id: str,
+    spec: dict[str, Any],
+    prediction_jsonl: Path,
+    output_dir: Path,
+    workspace: Path,
+) -> dict[str, Any]:
+    rows = read_jsonl(prediction_jsonl)
+    scored_rows: list[dict[str, Any]] = []
+    y_true: list[str] = []
+    y_pred: list[str] = []
+    valid_pred_count = 0
+    missing_pred_count = 0
+
+    for row in rows:
+        true_json = row.get("true_json") if isinstance(row.get("true_json"), dict) else {}
+        pred_json = row.get("pred_json") if isinstance(row.get("pred_json"), dict) else {}
+        true_action = row.get("true_label") or true_json.get("action")
+        pred_action = row.get("predicted_label") or pred_json.get("action")
+        true_relation = relation_label(true_action, true_json.get("objects"))
+        if true_relation is None:
+            continue
+        pred_relation = relation_label(
+            pred_action,
+            pred_json.get("objects"),
+            missing_label=MISSING_PRED_RELATION,
+        )
+        if pred_relation == MISSING_PRED_RELATION:
+            missing_pred_count += 1
+        else:
+            valid_pred_count += 1
+        y_true.append(true_relation)
+        y_pred.append(pred_relation or MISSING_PRED_RELATION)
+        scored_rows.append(
+            {
+                "id": row.get("id"),
+                "split": row.get("split"),
+                "episode_id": row.get("episode_id"),
+                "center_window": json.dumps(row.get("center_window"), sort_keys=True),
+                "true_action": true_action,
+                "pred_action": pred_action,
+                "true_objects": json.dumps(normalize_objects(true_json.get("objects")), ensure_ascii=False),
+                "pred_objects": json.dumps(normalize_objects(pred_json.get("objects")), ensure_ascii=False),
+                "true_relation": true_relation,
+                "pred_relation": pred_relation,
+                "correct": int(true_relation == pred_relation),
+            }
+        )
+
+    if not y_true:
+        raise RuntimeError(f"no action-object relation targets found in {prediction_jsonl}")
+
+    label_options = sorted(set(y_true))
+    metrics, per_class, _ = class_metrics(y_true, y_pred, label_options)
+    metrics.update(
+        {
+            "title": f"{spec['label']} Action-Object Relation Probe",
+            "status": "pass",
+            "generated_at_utc": datetime.now(timezone.utc).isoformat(timespec="seconds"),
+            "model_id": model_id,
+            "model_label": spec["label"],
+            "task_id": "action_object_relation",
+            "task_number": 16,
+            "task_label": "Action-Object Relation",
+            "metric_key": "action_object_relation_macro_f1",
+            "primary_metric": "action_object_relation_macro_f1",
+            "primary_score": metrics["macro_f1"],
+            "action_object_relation_macro_f1": metrics["macro_f1"],
+            "action_object_relation_accuracy": metrics["accuracy"],
+            "source_prediction_jsonl": relpath(prediction_jsonl, workspace),
+            "scope": "held_out_test_existing_verified_prediction_json",
+            "score_policy": (
+                "Derived from existing verified held-out prediction JSON. No new model "
+                "inference was run; rows without a predicted action/object relation are "
+                "counted as missing predictions."
+            ),
+            "normalization_policy": (
+                "The action component uses the verified predicted action label when "
+                "present. The object component is a canonical casefolded set because "
+                "task 16 is an action plus object-set relation."
+            ),
+            "total_prediction_rows": len(rows),
+            "scored_rows": len(scored_rows),
+            "excluded_rows_without_true_relation": len(rows) - len(scored_rows),
+            "valid_pred_relation_count": valid_pred_count,
+            "missing_pred_relation_count": missing_pred_count,
+            "valid_pred_relation_rate": valid_pred_count / len(scored_rows),
+            "artifact_files": {
+                "metrics_json": relpath(output_dir / "metrics.json", workspace),
+                "predictions_csv": relpath(output_dir / "predictions.csv", workspace),
+                "per_class_metrics_csv": relpath(output_dir / "per_class_metrics.csv", workspace),
+            },
+        }
+    )
+
+    write_json(output_dir / "metrics.json", metrics)
+    write_csv(
+        output_dir / "predictions.csv",
+        scored_rows,
+        [
+            "id",
+            "split",
+            "episode_id",
+            "center_window",
+            "true_action",
+            "pred_action",
+            "true_objects",
+            "pred_objects",
+            "true_relation",
+            "pred_relation",
+            "correct",
+        ],
+    )
+    write_csv(
+        output_dir / "per_class_metrics.csv",
+        per_class,
+        ["class_name", "support", "predicted", "precision", "recall", "f1"],
+    )
+    return metrics
+
+
+def build_report(summary: dict[str, Any]) -> str:
+    rows = []
+    for model_id, result in summary["methods"].items():
+        rows.append(
+            "| "
+            + " | ".join(
+                [
+                    result["label"],
+                    model_id,
+                    result["status"],
+                    str(result.get("scored_rows", "n/a")),
+                    (
+                        f"{result.get('action_object_relation_macro_f1', 0.0):.6f}"
+                        if result.get("action_object_relation_macro_f1") is not None
+                        else "n/a"
+                    ),
+                    result.get("reason") or result.get("source_prediction_jsonl", ""),
+                ]
+            )
+            + " |"
+        )
+    return f"""# Existing Model-Output Task Probes
+
+Generated: `{summary['generated_at_utc']}`
+
+This package scores only task targets already present in verified held-out
+prediction JSON. It does not run new inference and does not infer targets that
+are absent from a model branch.
+
+| Method | ID | Status | Scored rows | Task 16 macro-F1 | Evidence |
+| --- | --- | --- | ---: | ---: | --- |
+{chr(10).join(rows)}
+"""
+
+
+def main() -> int:
+    args = parse_args()
+    workspace = args.workspace.resolve()
+    output_dir = args.output_dir if args.output_dir.is_absolute() else workspace / args.output_dir
+    task_dir = output_dir / "action_object_relation"
+    methods: dict[str, Any] = {}
+
+    for model_id, spec in MODEL_SPECS.items():
+        prediction_path = workspace / spec["prediction_jsonl"]
+        if spec.get("unsupported_reason"):
+            methods[model_id] = {
+                "label": spec["label"],
+                "status": "unsupported_without_required_fields",
+                "source_prediction_jsonl": spec["prediction_jsonl"],
+                "reason": spec["unsupported_reason"],
+            }
+            continue
+        if not prediction_path.exists():
+            methods[model_id] = {
+                "label": spec["label"],
+                "status": "missing_prediction_jsonl",
+                "source_prediction_jsonl": spec["prediction_jsonl"],
+                "reason": "verified prediction JSONL was not found in the local checkout",
+            }
+            continue
+        metrics = score_action_object_relation(
+            model_id=model_id,
+            spec=spec,
+            prediction_jsonl=prediction_path,
+            output_dir=task_dir / model_id,
+            workspace=workspace,
+        )
+        methods[model_id] = {
+            "label": spec["label"],
+            "status": "scored",
+            "source_prediction_jsonl": metrics["source_prediction_jsonl"],
+            "source_metrics_json": metrics["artifact_files"]["metrics_json"],
+            "scored_rows": metrics["scored_rows"],
+            "valid_pred_relation_rate": metrics["valid_pred_relation_rate"],
+            "action_object_relation_macro_f1": metrics["action_object_relation_macro_f1"],
+            "action_object_relation_accuracy": metrics["action_object_relation_accuracy"],
+        }
+
+    summary = {
+        "title": "Existing Model-Output Task Probes",
+        "status": "pass",
+        "generated_at_utc": datetime.now(timezone.utc).isoformat(timespec="seconds"),
+        "scope": (
+            "Task-specific scoring from existing verified held-out model outputs. "
+            "No new model inference, training, or target backfilling is performed."
+        ),
+        "task_count_added_to_matrix": 1,
+        "scored_method_task_count_added": sum(1 for item in methods.values() if item["status"] == "scored"),
+        "methods": methods,
+    }
+    write_json(output_dir / "summary.json", summary)
+    (output_dir / "RUN_REPORT.md").write_text(build_report(summary), encoding="utf-8")
+    print(f"wrote {relpath(output_dir / 'summary.json', workspace)}")
+    print(f"wrote {relpath(output_dir / 'RUN_REPORT.md', workspace)}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())