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test

The dataset viewer is not available for this split.

Cannot extract the features (columns) for the split 'test' of the config 'default' of the dataset.

Error code:   FeaturesError
Exception:    FileNotFoundError
Message:      [Errno 2] No such file or directory: '<datasets.utils.file_utils.FilesIterable object at 0x7f4b513d7410>'
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 247, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 4196, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                                                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2533, in _head
                  return next(iter(self.iter(batch_size=n)))
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2711, in iter
                  for key, pa_table in ex_iterable.iter_arrow():
                                       ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2249, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 494, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 384, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/xml/xml.py", line 67, in _generate_tables
                  with open(file, encoding=self.config.encoding, errors=self.config.encoding_errors) as f:
                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/streaming.py", line 73, in wrapper
                  return function(*args, download_config=download_config, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 967, in xopen
                  return open(main_hop, mode, *args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
              FileNotFoundError: [Errno 2] No such file or directory: '<datasets.utils.file_utils.FilesIterable object at 0x7f4b513d7410>'

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Manipulation VLA 评测全集 (GR00T N1.7 · pi0 · Genie-Envisioner)

ManiSkill 仿真上对多个 VLA 模型做的 pairwise-OOD / all-factor / conflict / VLM 评测的 可复现全集:代码 + 仿真 + 全部评测结果(逐 ckpt 逐 seed)+ 复现步骤。不含 ckpt 权重(见下方 HF 链接)。

怎么跑 → 见 REPRODUCE.md。

目录结构

README.md                 ← 本文件:总览 + 结果 + 导航
REPRODUCE.md              ← 怎么跑每一类评测(环境/ckpt/命令)
code/                     ← 全部评测代码(client / runner / dispatcher)
results/
├─ gr00t/
│  ├─ pairgrid_hard/      6 实验 × 9 ckpt,硬口径(同色同形干扰项)
│  │   {color_size, color_spatial, verb_spatial, spatial_size, spatial_object, verb_size}/
│  ├─ pairgrid_easy/color_size/   软口径对照(1 干扰项, ~2× 尺寸对比)
│  ├─ all_factor/         16 ckpt,full-factor(对齐 pi0.5 协议)
│  └─ conflict_env/       10 实验,双轴 env success(seed42)
├─ pi0/pairgrid_hard/     color_spatial(9 ckpt)+ color_size(3 ckpt),硬口径
├─ genie/conflict_env/    10 实验,双轴 env success
└─ vlm_gemini-2.5-flash/  Gemini-2.5-flash 看视频判 factor_followed + FDR_summary.txt
simulation/
├─ eval_simulation/       ManiSkill 仿真代码(VerbObjectColor-v1 环境)
├─ Maniskill_gen_new/     数据采集/环境定义(get_env_id_and_color)
└─ eval_simulation_ASSETS.tar.gz   二进制 3D 资源(解开覆盖回 eval_simulation/)

每个 ckpt 目录里:*_seed42.txt / _seed40.txt / _seed41.txt(逐 episode 明细)+ SUMMARY.txt(3-seed 均)。

checkpoint 权重(本仓库不含)

pair-grid(f6/f12/f18):HF yqi19/gr00t_public_pair_ckpt
all_factor(f50/n*):HF yqi19/gr00t_all_factor_evaluation

评测协议(一句话)

pairgrid 硬口径:同色(或同形)cube 干扰项,强制模型靠目标因子区分;task_difficulty=1.5,gpu-sim,150 步,replan=10,210 ep/seed,seeds 42/40/41。
pairgrid 软口径(EASY):仅 color_size,1 干扰项 + ~2× 尺寸对比。
all_factor:单指令全因子采样(pi0.5 对齐),200 ep,500 步,no_distractor=0.70。
conflict env:双轴成功率(因子A / 因子B 各自命中)。
VLM:Gemini-2.5-flash 看视频判模型跟了哪个因子,算 FDR。

每个实验的 target/distractor 尺寸、spatial 坐标等精确配置见本文件末尾「附:干扰项明细」。

关键结果(3-seed 均,各实验最强 ckpt)

实验	模型	最强 ckpt	成功率
color_spatial	pi0	stair_f18	54.9%
color_spatial	GR00T	stair_f18	51.1%
spatial_size	GR00T	stair_f18	48.1%
all_factor	GR00T	Lrandom_f50_n400	47.0%
spatial_object	GR00T	Lrandom_f12	39.5%
color_size (EASY)	GR00T	Lrandom_f18	37.2%
verb_spatial	GR00T	stair_f18	35.5%
color_size (HARD)	GR00T	Lrandom_f18	34.9%
verb_size	GR00T	random_f12	24.2%

结论: 任务难度 color_spatial > spatial_size > spatial_object > verb_spatial > color_size ≈ verb_size; 含 size 的任务对 VLA 最难(8–35%);空间类任务里 stair_f18 普遍最强;random_f18 多实验偏弱。

完整逐 ckpt 表见 result.md(或各 results/.../SUMMARY.txt)。

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