{ "task": "tomato-to-bowl", "interactions": [ "independent-observe", "independent-tasking", "r2h", "h2r-air", "handover-table", "hover", "stop", "takeaway", "redirect" ], "trajectory_root": "/mnt/data/data_nhat/hitbench/hitbench-1.0/raw", "perturbation_bank": "/mnt/data/data_nhat/hitbench/evaluation_assets/tomato_to_bowl/frozen_perturbation_bank", "human_annotations_root": "/mnt/data/data_nhat/hitbench/human_annotations", "object_perturbation_m": 0.005, "max_steps": 650, "video_fps": 30, "models": [ "hri-diff" ], "checkpoints": { "hri-diff": "/mnt/data/data_nhat/hitbench/outputs/hri_diff/joint_large_h50_100k/checkpoints/100000/hri_diff" }, "evaluation_protocol": "hri-diff-rgbd-history-prompts-v1", "expected_total_rollouts": 180, "episodes_per_cell": 20, "policy_payload_contract": "E", "visual_history_frames": 4, "history_indices": [ -9, -6, -3, 0 ], "rgb_input_contract": { "storage": "av1_yuv420_video", "codec_roundtrip": { "vcodec": "libsvtav1", "canonical_codec": "av1", "pix_fmt": "yuv420p", "fps": 20, "g": 2, "crf": 30 }, "alignment": "exact_odd_gop; causal_current_frame_approximation; exact_history_after_next_frame" }, "flow_steps": 20, "action_horizon": 50, "execute_horizon": 1, "worker_gpu_ids": [ 0, 1, 2, 3, 4, 5, 6, 7 ], "worker_ports": [ 5690, 5691, 5692, 5693, 5694, 5695, 5696, 5697 ], "worker_interactions": [ [ "independent-observe", "redirect" ], [ "independent-tasking" ], [ "r2h" ], [ "h2r-air" ], [ "handover-table" ], [ "hover" ], [ "stop" ], [ "takeaway" ] ], "status": "complete", "started_at": 1790842038.0985682, "finished_at": 1790857099.250132 }