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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
VLA-0 (Epoch 12) | Failure | Counting | 0 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [blue pen, yellow block, green pencil sharpener] | ADD any one table object; finish with 1 object in the bowl | didn't move | In-distribution concept baseline | ID-F01 | In-distribution: one via trained 0→1 addition | null | 801 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 801. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 2 | 2 |
VLA-0 (Epoch 12) | Failure | Counting | 1 | Adjust the bowl so that it contains two objects. | Bowl objects: [yellow block] | Table objects: [blue pen, green pencil sharpener] | ADD any one table object; finish with 2 objects in the bowl | tried to pick the blue pen, but didn't even open the gripper | In-distribution concept baseline | ID-F01 | In-distribution: two via trained 1→2 addition | null | 809 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 809. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 3 | 3 |
VLA-0 (Epoch 12) | Failure | Counting | 2 | Leave exactly three objects in the bowl. | Bowl objects: [blue pen, yellow block, green pencil sharpener, airplane toy without propellers] | Table objects: [none] | REMOVE any one bowl object; finish with 3 objects in the bowl | started gripping in middle of workspace like it's going for a soda can or cup | In-distribution concept baseline | ID-F01 | In-distribution: three via trained 4→3 removal | null | 843 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 843. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 4 | 3 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 4 | 4 |
VLA-0 (Epoch 12) | Failure | Counting | 3 | Adjust the bowl so that it contains zero objects. | Bowl objects: [blue pen] | Table objects: [green pencil sharpener, airplane toy without propellers] | REMOVE the only bowl object; finish with 0 objects in the bowl | didn't move | In-distribution concept baseline | ID-F01 | In-distribution: zero via trained 1→0 removal | null | 826 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 826. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 1 | 0 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 5 | 5 |
VLA-0 (Epoch 12) | Failure | Counting | 4 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [yellow block, blue pen] | ADD any one table object; finish with 1 object in the bowl | went to middle of workspace and couldn't grab anything | In-distribution concept baseline | ID-F02 | In-distribution: one via trained 0→1 addition | null | 852 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 852. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 6 | 6 |
VLA-0 (Epoch 12) | Failure | Counting | 5 | Adjust the bowl so that it contains two objects. | Bowl objects: [green pencil sharpener] | Table objects: [yellow block, airplane toy without propellers] | ADD any one table object; finish with 2 objects in the bowl | went to the yellow block, but couldn't grab it | In-distribution concept baseline | ID-F02 | In-distribution: two via trained 1→2 addition | null | 859 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 859. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 7 | 7 |
VLA-0 (Epoch 12) | Failure | Counting | 6 | Leave exactly three objects in the bowl. | Bowl objects: [yellow block, green pencil sharpener, airplane toy without propellers, blue pen] | Table objects: [none] | REMOVE any one bowl object; finish with 3 objects in the bowl | Went to bowl but couldn't grab anything | In-distribution concept baseline | ID-F02 | In-distribution: three via trained 4→3 removal | null | 893 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 893. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 4 | 3 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 8 | 8 |
VLA-0 (Epoch 12) | Failure | Counting | 7 | Adjust the bowl so that it contains zero objects. | Bowl objects: [yellow block] | Table objects: [blue pen] | REMOVE the only bowl object; finish with 0 objects in the bowl | didn't move | In-distribution concept baseline | ID-F02 | In-distribution: zero via trained 1→0 removal | null | 878 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 878. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 1 | 0 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 9 | 9 |
VLA-0 (Epoch 12) | Failure | Counting | 8 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [green pencil sharpener, yellow block] | ADD any one table object; finish with 1 object in the bowl | went towards the yellow block which is on the right side of workspace but didn't grab it | In-distribution concept baseline | ID-F03 | In-distribution: one via trained 0→1 addition | null | 902 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 902. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F03 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 10 | 10 |
VLA-0 (Epoch 12) | Failure | Counting | 9 | Adjust the bowl so that it contains two objects. | Bowl objects: [blue pen] | Table objects: [green pencil sharpener, airplane toy without propellers] | ADD any one table object; finish with 2 objects in the bowl | went to airplane toy but couldn't grab it | In-distribution concept baseline | ID-F03 | In-distribution: two via trained 1→2 addition | null | 909 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 909. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F03 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | VLA0 Results | 11 | 11 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 10 | Put the second object from the right in the bowl. | L1: blue tape ball, L2: airplane toy with propellers | blue tape ball | just jittered around the home position | In-distribution concept baseline | ID-EXACT01 | Exact training recreation — source episode 658 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 658; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 658: blue tape ball | airplane toy with propellers. | null | 2 | null | null | null | null | None — independent exact training recreation | null | null | null | L1 | second from right | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 2 | 2 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 11 | Put the second object from the left in the bowl. | L1: blue tape ball, L2: airplane toy with propellers | airplane toy with propellers | went to airplane toy but didn't pick it up | In-distribution concept baseline | ID-EXACT02 | Exact training recreation — source episode 619 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 619; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 619: blue tape ball | airplane toy with propellers. | null | 2 | null | null | null | null | None — independent exact training recreation | null | null | null | L2 | second from left | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 3 | 3 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 12 | Move the second item counted from the left into the bowl. | L1: airplane toy with propellers, L2: green highlighter | green highlighter | went to airplane toy but didn't pick it up | In-distribution concept baseline | ID-EXACT03 | Exact training recreation — source episode 719 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 719; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 719: airplane toy with propellers | green highlighter. | null | 2 | null | null | null | null | None — independent exact training recreation | null | null | null | L2 | second from left | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 4 | 4 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 13 | Move the second item counted from the right into the bowl. | L1: yellow pen, L2: airplane toy with propellers | yellow pen | moved to middle of the workspace again | In-distribution concept baseline | ID-EXACT04 | Exact training recreation — source episode 758 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 758; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 758: yellow pen | airplane toy with propellers. | null | 2 | null | null | null | null | None — independent exact training recreation | null | null | null | L1 | second from right | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 5 | 5 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 14 | Put the third object from the right in the bowl. | L1: airplane toy with propellers, L2: yellow pen, L3: blue tape ball | airplane toy with propellers | went for yellow pen but didn't grasp it. seems to just be moving the arm to the middle of the workspace | In-distribution concept baseline | ID-EXACT05 | Exact training recreation — source episode 604 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 604; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 604: airplane toy with propellers | yellow pen | blue tape ball. | null | 3 | null | null | null | null | None — independent exact training recreation | null | null | null | L1 | third from right | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 6 | 6 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 15 | Put the object that is first from the right in the bowl. | L1: airplane toy with propellers, L2: green highlighter, L3: blue tape ball | blue tape ball | went for blue tape ball which actually wasn't in center of workspace; the green pen was in the center. couldn't pick up the tape ball | In-distribution concept baseline | ID-EXACT06 | Exact training recreation — source episode 679 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 679; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 679: airplane toy with propellers | green highlighter | blue tape ball. | null | 3 | null | null | null | null | None — independent exact training recreation | null | null | null | L3 | first from right | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 7 | 7 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 16 | Put the object that is third from the left in the bowl. | L1: green highlighter, L2: blue tape ball, L3: yellow pen | yellow pen | went to green highlighter but didn't pick it up | In-distribution concept baseline | ID-EXACT07 | Exact training recreation — source episode 784 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 784; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 784: green highlighter | blue tape ball | yellow pen. | null | 3 | null | null | null | null | None — independent exact training recreation | null | null | null | L3 | third from left | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 8 | 8 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 17 | Put the first object from the left in the bowl. | L1: green highlighter, L2: airplane toy with propellers, L3: blue tape ball | green highlighter | went towards the green highlighter, but couldn't pick it up | In-distribution concept baseline | ID-EXACT08 | Exact training recreation — source episode 706 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 706; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 706: green highlighter | airplane toy with propellers | blue tape ball. | null | 3 | null | null | null | null | None — independent exact training recreation | null | null | null | L1 | first from left | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 9 | 9 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 18 | Put the fourth object from the right in the bowl. | L1: blue tape ball, L2: green highlighter, L3: airplane toy with propellers, L4: yellow pen | blue tape ball | went for green highlighter/sort of towards the blue tape ball | In-distribution concept baseline | ID-EXACT09 | Exact training recreation — source episode 652 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 652; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 652: blue tape ball | green highlighter | airplane toy with propellers | yellow pen. | null | 4 | null | null | null | null | None — independent exact training recreation | null | null | null | L1 | fourth from right | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 10 | 10 |
VLA-0 (Epoch 12) | Failure | Ordinal Position | 19 | Put the second object from the left in the bowl. | L1: blue tape ball, L2: airplane toy with propellers, L3: yellow pen, L4: green highlighter | airplane toy with propellers | went towards airplane toy but didn't grasp it | In-distribution concept baseline | ID-EXACT10 | Exact training recreation — source episode 614 | null | null | null | 1 — In-distribution baselines | Independently recreate the prompt and ordered object list from training episode 614; do not reuse the preceding baseline scene. | Exact final prompt and complete left-to-right object order from explicit training episode 614: blue tape ball | airplane toy with propellers | yellow pen | green highlighter. | null | 4 | null | null | null | null | None — independent exact training recreation | null | null | null | L2 | second from left | null | null | null | null | null | null | null | null | Eval_Ordinal_Reference_Ordering.xlsm | VLA0 | 11 | 11 |
VLA-0 (Epoch 12) | Failure | Physical State | 20 | Put the open white cup in the bowl. | white cup A (O, RU); white cup B (C, RU); glass spice container A (O, RU); yellow-white striped cup B (O, RU) | white cup A | went for striped cup and knocked it over | In-distribution concept baseline | SR-ID01 | Exact training-supported state-object baseline | null | 2 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. All objects are upright, matching the context of every explicit open/closed training demonstration. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The orthogonal orientation axis is fixed: every object is RU. | null | 4 | 1 | Empty | O | white cup | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 2 | 2 |
VLA-0 (Epoch 12) | Failure | Physical State | 21 | Put the upright white cup in the bowl. | white cup A (O, RU); white cup B (O, UD) | white cup A | went for upside-down white cup and didn't even grip it | In-distribution concept baseline | SR-ID02 | Exact training-supported state-object baseline | null | 26 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The same-category candidates share the orthogonal C/O state (O). | null | 2 | 1 | Empty | RU | white cup | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 3 | 3 |
VLA-0 (Epoch 12) | Failure | Physical State | 22 | Move the closed yellow-white striped cup into the bowl. | yellow-white striped cup B (C, RU); yellow-white striped cup A (O, RU); white cup A (C, RU) | yellow-white striped cup B | correctly went for the closed striped cup but then drift to grabbing empty space between the striped cup and white cup. Also started moving to the left of the workspace, pushing the white cup. | In-distribution concept baseline | SR-ID03 | Exact training-supported state-object baseline | null | 51 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. All objects are upright, matching the context of every explicit open/closed training demonstration. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The orthogonal orientation axis is fixed: every object is RU. | null | 3 | 1 | Empty | C | yellow-white striped cup | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 4 | 4 |
VLA-0 (Epoch 12) | Failure | Physical State | 23 | Move the upside-down yellow-white striped cup into the bowl. | yellow-white striped cup B (O, UD); yellow-white striped cup A (O, RU); brown cup B (C, RU); glass spice container A (O, RU) | yellow-white striped cup B | went for the brown cup and then kind of was moving in between the brown cup and upright striped cup | In-distribution concept baseline | SR-ID04 | Exact training-supported state-object baseline | null | 78 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The same-category candidates share the orthogonal C/O state (O). | null | 4 | 1 | Empty | UD | yellow-white striped cup | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 5 | 5 |
VLA-0 (Epoch 12) | Failure | Physical State | 24 | Put the open brown cup in the bowl. | brown cup B (O, RU); brown cup A (C, RU); glass spice container A (O, RU) | brown cup B | went for open glass container. had it between grippers, but didn't close the grippers | In-distribution concept baseline | SR-ID05 | Exact training-supported state-object baseline | null | 104 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. All objects are upright, matching the context of every explicit open/closed training demonstration. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The orthogonal orientation axis is fixed: every object is RU. | null | 3 | 1 | Empty | O | brown cup | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 6 | 6 |
VLA-0 (Epoch 12) | Failure | Physical State | 25 | Put the upside-down brown cup in the bowl. | brown cup A (O, UD); brown cup B (O, RU) | brown cup A | null | In-distribution concept baseline | SR-ID06 | Exact training-supported state-object baseline | null | 125 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The same-category candidates share the orthogonal C/O state (O). | null | 2 | 1 | Empty | UD | brown cup | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 7 | 7 |
VLA-0 (Epoch 12) | Failure | Physical State | 26 | Put the upright brown cup in the bowl. | brown cup B (C, RU); brown cup A (C, UD) | brown cup B | grasped thin air | In-distribution concept baseline | SR-ID07 | Exact training-supported state-object baseline | null | 134 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The same-category candidates share the orthogonal C/O state (C). | null | 2 | 1 | Empty | RU | brown cup | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 8 | 8 |
VLA-0 (Epoch 12) | Failure | Physical State | 27 | Place the closed glass spice container in the bowl. | glass spice container A (C, RU); glass spice container B (O, RU); yellow-white striped cup A (C, RU) | glass spice container A | was facing closed spice container, but didn't do anything; kind of froze | In-distribution concept baseline | SR-ID08 | Exact training-supported state-object baseline | null | 151 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. All objects are upright, matching the context of every explicit open/closed training demonstration. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The orthogonal orientation axis is fixed: every object is RU. | null | 3 | 1 | Empty | C | glass spice container | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 9 | 9 |
VLA-0 (Epoch 12) | Failure | Physical State | 28 | Move the open glass spice container into the bowl. | glass spice container B (O, RU); glass spice container A (C, RU); white cup B (O, RU) | glass spice container B | didn't move | In-distribution concept baseline | SR-ID09 | Exact training-supported state-object baseline | null | 156 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. All objects are upright, matching the context of every explicit open/closed training demonstration. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The orthogonal orientation axis is fixed: every object is RU. | null | 3 | 1 | Empty | O | glass spice container | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 10 | 10 |
VLA-0 (Epoch 12) | Failure | Physical State | 29 | Put the upside-down glass spice container in the bowl. | glass spice container B (C, UD); glass spice container A (C, RU) | glass spice container B | went for upright glass spice container, but didn't grip it; was reaching around the right side of the container | In-distribution concept baseline | SR-ID10 | Exact training-supported state-object baseline | null | 176 | Exact manifest episode: trained state-object cell, prompt, same-category candidate structure, and object membership match; physical layout is manually recreated. | 1 | Recreate the listed manifest scene with the bowl empty. | The queried state-object combination and same-category discrimination structure are explicitly represented in training. The same-category candidates share the orthogonal C/O state (C). | null | 2 | 1 | Empty | UD | glass spice container | null | null | null | null | null | null | null | null | null | null | null | null | null | null | Eval_State_Recognition.xlsm | VLA0 Results | 11 | 11 |
VLA-0 (Epoch 12) | Failure | Referential Description | 30 | Move the crushed soda can lying between the green pencil sharpener and the green pen into the bowl. | crushed Coke can; crushed Pepsi can; green pencil sharpener; green pen | crushed Coke can | moved wrist up a bit but didn't move to a can | In-distribution concept baseline | RD-ID01 | Exact training-supported relation × candidate-category baseline | null | 430 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 4 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 4 | 1 | Empty | null | null | null | null | null | null | null | between | null | null | null | null | crushed soda can | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 2 | 2 |
VLA-0 (Epoch 12) | Failure | Referential Description | 31 | Pick up the crushed soda can positioned between the airplane toy with propellers and the green pen, then place it in the bowl. | crushed Coke can; crushed Pepsi can; airplane toy with propellers; green pen; green pencil sharpener | crushed Coke can | went to coke can, but didn't open gripper to actually grab it; stayed pretty still when it was by the coke can | In-distribution concept baseline | RD-ID02 | Exact training-supported relation × candidate-category baseline | null | 432 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 5 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 5 | 1 | Empty | null | null | null | null | null | null | null | between | null | null | null | null | crushed soda can | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 3 | 3 |
VLA-0 (Epoch 12) | Failure | Referential Description | 32 | Pick up the crushed soda can positioned between the airplane toy with propellers and the green pencil sharpener, then place it in the bowl. | crushed Coke can; crushed Pepsi can; airplane toy with propellers; green pencil sharpener | crushed Coke can | didn't start moving to the coke can until end of episode; once got gripper around coke can, didn't seem like it was gonna close | In-distribution concept baseline | RD-ID03 | Exact training-supported relation × candidate-category baseline | null | 431 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 4 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 4 | 1 | Empty | null | null | null | null | null | null | null | between | null | null | null | null | crushed soda can | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 4 | 4 |
VLA-0 (Epoch 12) | Failure | Referential Description | 33 | Pick up the crushed soda can furthest from the green pen and place it in the bowl. | crushed Coke can; crushed Pepsi can; green pen | crushed Pepsi can | turned towards pepsi can sort of, but then started gripping in middle of nowhere between the pepsi can and coke can; drifted closer to coke can until it push the coke can to the left | In-distribution concept baseline | RD-ID04 | Exact training-supported relation × candidate-category baseline | null | 415 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 3 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 3 | 1 | Empty | null | null | null | null | null | null | null | furthest | null | null | null | null | crushed soda can | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 5 | 5 |
VLA-0 (Epoch 12) | Failure | Referential Description | 34 | Pick up the crushed soda can furthest from the yellow pen and place it in the bowl. | crushed Coke can; crushed Pepsi can; yellow pen; airplane toy with propellers | crushed Coke can | went to coke can in correct gripping strategy, but with grippers closed | In-distribution concept baseline | RD-ID05 | Exact training-supported relation × candidate-category baseline | null | 416 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 4 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 4 | 1 | Empty | null | null | null | null | null | null | null | furthest | null | null | null | null | crushed soda can | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 6 | 6 |
VLA-0 (Epoch 12) | Failure | Referential Description | 35 | Pick up the pencil sharpener nearest to the crushed Coke can and place it in the bowl. | green pencil sharpener; red pencil sharpener; crushed Coke can | green pencil sharpener | went for red pencil sharpener, but couldn't get it | In-distribution concept baseline | RD-ID06 | Exact training-supported relation × candidate-category baseline | null | 450 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 3 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 3 | 1 | Empty | null | null | null | null | null | null | null | closest | null | null | null | null | pencil sharpener | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 7 | 7 |
VLA-0 (Epoch 12) | Failure | Referential Description | 36 | Move the pencil sharpener that is closest to the crushed Pepsi can into the bowl. | green pencil sharpener; red pencil sharpener; crushed Pepsi can; airplane toy with propellers | red pencil sharpener | started going to the pepsi can with top down gripping position, then suddenly jerked up to soada can gripping strategy; knocked the soda can out of the workspace | In-distribution concept baseline | RD-ID07 | Exact training-supported relation × candidate-category baseline | null | 451 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 4 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 4 | 1 | Empty | null | null | null | null | null | null | null | closest | null | null | null | null | pencil sharpener | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 8 | 8 |
VLA-0 (Epoch 12) | Failure | Referential Description | 37 | Move the pencil sharpener that is closest to the green pen into the bowl. | green pencil sharpener; red pencil sharpener; green pen | green pencil sharpener | almost gripped the green sharpener, but after closing gripper, couldn't recover | In-distribution concept baseline | RD-ID08 | Exact training-supported relation × candidate-category baseline | null | 452 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 3 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 3 | 1 | Empty | null | null | null | null | null | null | null | closest | null | null | null | null | pencil sharpener | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 9 | 9 |
VLA-0 (Epoch 12) | Failure | Referential Description | 38 | Pick up the pencil sharpener furthest from the yellow pen and place it in the bowl. | green pencil sharpener; red pencil sharpener; yellow pen; airplane toy without propellers | green pencil sharpener | went towards teh yellow pen, but couldn't grip it | In-distribution concept baseline | RD-ID09 | Exact training-supported relation × candidate-category baseline | null | 466 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 4 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 4 | 1 | Empty | null | null | null | null | null | null | null | furthest | null | null | null | null | pencil sharpener | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 10 | 10 |
VLA-0 (Epoch 12) | Failure | Referential Description | 39 | Pick up the pencil sharpener furthest from the green pen and place it in the bowl. | green pencil sharpener; red pencil sharpener; green pen | red pencil sharpener | went for the red pencil sharpener; couldn't pick up | In-distribution concept baseline | RD-ID10 | Exact training-supported relation × candidate-category baseline | null | 465 | Exact manifest cell: prompt, relation × candidate-category combination, target identity, and object membership are explicitly represented in training; physical positions are manually recreated with a clear margin. | 1 | Place the 3 listed objects. Arrange Expected Target as the unique answer to the prompt; keep the bowl empty. | The relation, candidate category, target identity, and object membership occur together in the cited training episode. | null | 3 | 1 | Empty | null | null | null | null | null | null | null | furthest | null | null | null | null | pencil sharpener | null | null | null | Eval_Referential_Disambiguation.xlsm | VLA0 Results | 11 | 11 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 40 | Move the green pen to the front of the pink marker. | green pen, pink marker, red block | green pen → 2–8 cm edge gap in front of pink marker; centroid direction within ±45°. | went for red block but didn't even pick it up | In-distribution concept baseline | RP-ID-CF01 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | null | 204 | null | null | Build the listed neutral scene and save the first frame. | Exact explicitly trained ordered relation-object cell from training episode 204. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | front | green pen | pink marker | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 2 | 2 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 41 | Move the green pen to the back of the pink marker. | green pen, pink marker, red block | green pen → 2–8 cm edge gap behind pink marker; centroid direction within ±45°. | didn't move | In-distribution concept baseline | RP-ID-CF01 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | 0 | 217 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 217. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | behind | green pen | pink marker | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 3 | 3 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 42 | Move the pink marker to the front of the green pen. | green pen, pink marker, red block | pink marker → 2–8 cm edge gap in front of green pen; centroid direction within ±45°. | went for red block again; didn't move it or anything | In-distribution concept baseline | RP-ID-CF01 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | 0 | 305 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 305. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | front | pink marker | green pen | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 4 | 4 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 43 | Move the pink marker to the back of the green pen. | green pen, pink marker, red block | pink marker → 2–8 cm edge gap behind green pen; centroid direction within ±45°. | kind of jittered around home | In-distribution concept baseline | RP-ID-CF01 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | 0 | 317 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 317. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | behind | pink marker | green pen | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 5 | 5 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 44 | Move the green pen to the front of the blue block. | green pen, blue block, pink marker, red block | green pen → 2–8 cm edge gap in front of blue block; centroid direction within ±45°. | went for pink pen but didn't pick it | In-distribution concept baseline | RP-ID-CF02 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | null | 208 | null | null | Build the listed neutral scene and save the first frame. | Exact explicitly trained ordered relation-object cell from training episode 208. The four adjacent prompts share one initially unsatisfied scene. | null | 4 | null | null | null | null | null | null | null | null | null | null | front | green pen | blue block | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 6 | 6 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 45 | Move the green pen to the back of the blue block. | green pen, blue block, pink marker, red block | green pen → 2–8 cm edge gap behind blue block; centroid direction within ±45°. | similar trajectory as before | In-distribution concept baseline | RP-ID-CF02 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | 4 | 221 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 221. The four adjacent prompts share one initially unsatisfied scene. | null | 4 | null | null | null | null | null | null | null | null | null | null | behind | green pen | blue block | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 7 | 7 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 46 | Put the blue block on the table in front of the green pen. | green pen, blue block, pink marker, red block | blue block → 2–8 cm edge gap in front of green pen; centroid direction within ±45°. | went to green pen then returned home | In-distribution concept baseline | RP-ID-CF02 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | 4 | 350 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 350. The four adjacent prompts share one initially unsatisfied scene. | null | 4 | null | null | null | null | null | null | null | null | null | null | front | blue block | green pen | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 8 | 8 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 47 | Put the blue block on the table behind the green pen. | green pen, blue block, pink marker, red block | blue block → 2–8 cm edge gap behind green pen; centroid direction within ±45°. | didn't move | In-distribution concept baseline | RP-ID-CF02 | Four-way trained-cell counterfactual: front/behind polarity × target/reference role | 4 | 362 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 362. The four adjacent prompts share one initially unsatisfied scene. | null | 4 | null | null | null | null | null | null | null | null | null | null | behind | blue block | green pen | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 9 | 9 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 48 | Place the red block to the left of the pink marker. | red block, pink marker, blue block | red block → 2–8 cm edge gap to the left of pink marker; centroid direction within ±45°. | was gripping around the middle of the workspace; between blue and red block; did move towards the blue block; but couldn't pick it up | In-distribution concept baseline | RP-ID-CF03 | Four-way trained-cell counterfactual: left/right polarity × target/reference role | null | 275 | null | null | Build the listed neutral scene and save the first frame. | Exact explicitly trained ordered relation-object cell from training episode 275. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | left | red block | pink marker | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 10 | 10 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 49 | Place the red block to the right of the pink marker. | red block, pink marker, blue block | red block → 2–8 cm edge gap to the right of pink marker; centroid direction within ±45°. | went for blue block | In-distribution concept baseline | RP-ID-CF03 | Four-way trained-cell counterfactual: left/right polarity × target/reference role | 8 | 287 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 287. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | right | red block | pink marker | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 11 | 11 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 50 | Place the pink marker to the left of the red block. | red block, pink marker, blue block | pink marker → 2–8 cm edge gap to the left of red block; centroid direction within ±45°. | went for red block but couldn't pick it | In-distribution concept baseline | RP-ID-CF03 | Four-way trained-cell counterfactual: left/right polarity × target/reference role | 8 | 333 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 333. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | left | pink marker | red block | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 12 | 12 |
VLA-0 (Epoch 12) | Failure | Relational Placement | 51 | Place the pink marker to the right of the red block. | red block, pink marker, blue block | pink marker → 2–8 cm edge gap to the right of red block; centroid direction within ±45°. | didn't move | In-distribution concept baseline | RP-ID-CF03 | Four-way trained-cell counterfactual: left/right polarity × target/reference role | 8 | 346 | null | null | Reset the moved object to its marked pose; preserve the exact scene and change only the instruction. | Exact explicitly trained ordered relation-object cell from training episode 346. The four adjacent prompts share one initially unsatisfied scene. | null | 3 | null | null | null | null | null | null | null | null | null | null | right | pink marker | red block | null | null | null | null | null | Eval_Relational_Placement (1).xlsm | VLA0 | 13 | 13 |
VLA-0 (Epoch 12) | Failure | Relative Size | 52 | Move the object that is smallest into the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 red pencil sharpener; P2 green block; P3 juggling ball; P4 crushed Pepsi can. Adjacent centers 8 cm apart; row centered on the workspace; all objects fully visible and grasp paths clear. | MOVE red pencil sharpener to bowl | moved towards the red pencil sharpener, but didn't open gripper to pick it up. | In-distribution concept baseline | SZ-ID-SH01 | smallest | null | 1005 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1005; this establishes the familiar smallest × red pencil sharpener cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | red pencil sharpener | null | null | null | Left | 8 | Explicitly trained smallest × red pencil sharpener | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 2 | 2 |
VLA-0 (Epoch 12) | Failure | Relative Size | 53 | Pick up the smallest item and place it in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 crushed Pepsi can; P2 juggling ball; P3 green block. Adjacent centers 12 cm apart; row shifted 4 cm toward robot-left; all objects fully visible and grasp paths clear. | MOVE green block to bowl | also went towards the green block, but didn't go to the top of it; didn't open grippers properly to try and pick it up | In-distribution concept baseline | SZ-ID-GB01 | smallest | null | 1050 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1050; this establishes the familiar smallest × green block cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | green block | null | null | null | Right | 12 | Explicitly trained smallest × green block | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 3 | 3 |
VLA-0 (Epoch 12) | Failure | Relative Size | 54 | Put the largest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 juggling ball; P2 red pencil sharpener; P3 green block. Adjacent centers 16 cm apart; row shifted 4 cm toward robot-right; all objects fully visible and grasp paths clear. | MOVE juggling ball to bowl | went between the red pencil sharpener and green block, but didn't pick anything up | In-distribution concept baseline | SZ-ID-JB01 | largest | null | 1125 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1125; this establishes the familiar largest × juggling ball cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | juggling ball | null | null | null | Left | 16 | Explicitly trained largest × juggling ball | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 4 | 4 |
VLA-0 (Epoch 12) | Failure | Relative Size | 55 | Pick up the largest item and place it in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 red pencil sharpener; P2 green block; P3 juggling ball; P4 crushed Pepsi can. Adjacent centers 8 cm apart; row shifted 4 cm toward the robot; all objects fully visible and grasp paths clear. | MOVE crushed Pepsi can to bowl | went into the gripping strategy for the can, but didn't open the gripper to pick it up | In-distribution concept baseline | SZ-ID-PC01 | largest | null | 1155 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1155; this establishes the familiar largest × crushed Pepsi can cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | crushed Pepsi can | null | null | null | Right | 8 | Explicitly trained largest × crushed Pepsi can | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 5 | 5 |
VLA-0 (Epoch 12) | Failure | Relative Size | 56 | Pick up the smallest item and place it in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 juggling ball; P2 crushed Pepsi can; P3 green block; P4 red pencil sharpener. Adjacent centers 12 cm apart; row shifted 4 cm toward robot-left; all objects fully visible and grasp paths clear. | MOVE red pencil sharpener to bowl | went to pepsi can, but with non soda can gripping strategy | In-distribution concept baseline | SZ-ID-SH02 | smallest | null | 1006 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1006; this establishes the familiar smallest × red pencil sharpener cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | red pencil sharpener | null | null | null | Right | 12 | Explicitly trained smallest × red pencil sharpener | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 6 | 6 |
VLA-0 (Epoch 12) | Failure | Relative Size | 57 | Pick up the smallest item and place it in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 green block; P2 juggling ball; P3 crushed Pepsi can. Adjacent centers 16 cm apart; row shifted 4 cm toward robot-right; all objects fully visible and grasp paths clear. | MOVE green block to bowl | went to middle of workspace, but didn't grab anything | In-distribution concept baseline | SZ-ID-GB02 | smallest | null | 1051 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1051; this establishes the familiar smallest × green block cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | green block | null | null | null | Left | 16 | Explicitly trained smallest × green block | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 7 | 7 |
VLA-0 (Epoch 12) | Failure | Relative Size | 58 | Pick up the largest item and place it in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 green block; P2 red pencil sharpener; P3 juggling ball. Adjacent centers 8 cm apart; row shifted 4 cm toward the robot; all objects fully visible and grasp paths clear. | MOVE juggling ball to bowl | did go to the juggling ball but couldn't grip it | In-distribution concept baseline | SZ-ID-JB02 | largest | null | 1126 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1126; this establishes the familiar largest × juggling ball cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | juggling ball | null | null | null | Right | 8 | Explicitly trained largest × juggling ball | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 8 | 8 |
VLA-0 (Epoch 12) | Failure | Relative Size | 59 | Move the object that is largest into the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 crushed Pepsi can; P2 green block; P3 juggling ball; P4 red pencil sharpener. Adjacent centers 12 cm apart; row shifted 4 cm away from the robot; all objects fully visible and grasp paths clear. | MOVE crushed Pepsi can to bowl | turned to juggling ball with soda can gripping strategy; didn't grip the juggling ball | In-distribution concept baseline | SZ-ID-PC02 | largest | null | 1156 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1156; this establishes the familiar largest × crushed Pepsi can cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | crushed Pepsi can | null | null | null | Left | 12 | Explicitly trained largest × crushed Pepsi can | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 9 | 9 |
VLA-0 (Epoch 12) | Failure | Relative Size | 60 | Move the object that is smallest into the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 red pencil sharpener; P2 crushed Pepsi can; P3 green block; P4 juggling ball. Adjacent centers 16 cm apart; row shifted 4 cm toward robot-right; all objects fully visible and grasp paths clear. | MOVE red pencil sharpener to bowl | kind of went for green block | In-distribution concept baseline | SZ-ID-SH03 | smallest | null | 1007 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1007; this establishes the familiar smallest × red pencil sharpener cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | red pencil sharpener | null | null | null | Left | 16 | Explicitly trained smallest × red pencil sharpener | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 10 | 10 |
VLA-0 (Epoch 12) | Failure | Relative Size | 61 | Put the smallest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 crushed Pepsi can; P2 juggling ball; P3 green block. Adjacent centers 8 cm apart; row shifted 4 cm toward the robot; all objects fully visible and grasp paths clear. | MOVE green block to bowl | went to juggling ball and could not pick up | In-distribution concept baseline | SZ-ID-GB03 | smallest | null | 1052 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1052; this establishes the familiar smallest × green block cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | green block | null | null | null | Right | 8 | Explicitly trained smallest × green block | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 11 | 11 |
VLA-0 (Epoch 12) | Failure | Relative Size | 62 | Pick up the largest item and place it in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 juggling ball; P2 red pencil sharpener; P3 green block. Adjacent centers 12 cm apart; row shifted 4 cm away from the robot; all objects fully visible and grasp paths clear. | MOVE juggling ball to bowl | went to red pencil sharpener and did not move | In-distribution concept baseline | SZ-ID-JB03 | largest | null | 1127 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1127; this establishes the familiar largest × juggling ball cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | juggling ball | null | null | null | Left | 12 | Explicitly trained largest × juggling ball | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 12 | 12 |
VLA-0 (Epoch 12) | Failure | Relative Size | 63 | Put the largest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 juggling ball; P2 red pencil sharpener; P3 green block; P4 crushed Pepsi can. Adjacent centers 16 cm apart; row centered on the workspace; all objects fully visible and grasp paths clear. | MOVE crushed Pepsi can to bowl | went into the can gripping strategy but didn't get it | In-distribution concept baseline | SZ-ID-PC03 | largest | null | 1157 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1157; this establishes the familiar largest × crushed Pepsi can cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | crushed Pepsi can | null | null | null | Right | 16 | Explicitly trained largest × crushed Pepsi can | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 13 | 13 |
VLA-0 (Epoch 12) | Failure | Relative Size | 64 | Put the smallest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 green block; P2 juggling ball; P3 crushed Pepsi can; P4 red pencil sharpener. Adjacent centers 8 cm apart; row shifted 4 cm toward the robot; all objects fully visible and grasp paths clear. | MOVE red pencil sharpener to bowl | null | In-distribution concept baseline | SZ-ID-SH04 | smallest | null | 1008 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1008; this establishes the familiar smallest × red pencil sharpener cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | red pencil sharpener | null | null | null | Right | 8 | Explicitly trained smallest × red pencil sharpener | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 14 | 14 |
VLA-0 (Epoch 12) | Failure | Relative Size | 65 | Put the smallest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 green block; P2 juggling ball; P3 crushed Pepsi can. Adjacent centers 12 cm apart; row shifted 4 cm away from the robot; all objects fully visible and grasp paths clear. | MOVE green block to bowl | slowly rotated towards right but didn't do anything | In-distribution concept baseline | SZ-ID-GB04 | smallest | null | 1053 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1053; this establishes the familiar smallest × green block cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | green block | null | null | null | Left | 12 | Explicitly trained smallest × green block | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 15 | 15 |
VLA-0 (Epoch 12) | Failure | Relative Size | 66 | Pick up the largest item and place it in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 green block; P2 red pencil sharpener; P3 juggling ball. Adjacent centers 16 cm apart; row centered on the workspace; all objects fully visible and grasp paths clear. | MOVE juggling ball to bowl | went for the green block, but couldn't grab it | In-distribution concept baseline | SZ-ID-JB04 | largest | null | 1128 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1128; this establishes the familiar largest × juggling ball cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | juggling ball | null | null | null | Right | 16 | Explicitly trained largest × juggling ball | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 16 | 16 |
VLA-0 (Epoch 12) | Failure | Relative Size | 67 | Put the largest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 crushed Pepsi can; P2 red pencil sharpener; P3 green block; P4 juggling ball. Adjacent centers 8 cm apart; row shifted 4 cm toward robot-left; all objects fully visible and grasp paths clear. | MOVE crushed Pepsi can to bowl | didn't rotate far enough to the right to grab the soda can. Had the right gripping strategy but was going to pencil sharpener | In-distribution concept baseline | SZ-ID-PC04 | largest | null | 1158 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1158; this establishes the familiar largest × crushed Pepsi can cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | crushed Pepsi can | null | null | null | Left | 8 | Explicitly trained largest × crushed Pepsi can | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 17 | 17 |
VLA-0 (Epoch 12) | Failure | Relative Size | 68 | Move the object that is smallest into the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 red pencil sharpener; P2 juggling ball; P3 crushed Pepsi can; P4 green block. Adjacent centers 12 cm apart; row shifted 4 cm away from the robot; all objects fully visible and grasp paths clear. | MOVE red pencil sharpener to bowl | went for juggling ball, then aggressively lifted wrist up and rolled it out of the workspace | In-distribution concept baseline | SZ-ID-SH05 | smallest | null | 1009 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1009; this establishes the familiar smallest × red pencil sharpener cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | red pencil sharpener | null | null | null | Left | 12 | Explicitly trained smallest × red pencil sharpener | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 18 | 18 |
VLA-0 (Epoch 12) | Failure | Relative Size | 69 | Put the smallest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 crushed Pepsi can; P2 juggling ball; P3 green block. Adjacent centers 16 cm apart; row centered on the workspace; all objects fully visible and grasp paths clear. | MOVE green block to bowl | moved to the green block, but didn't open up the gripper to pick it up | In-distribution concept baseline | SZ-ID-GB05 | smallest | null | 1054 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1054; this establishes the familiar smallest × green block cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | green block | null | null | null | Right | 16 | Explicitly trained smallest × green block | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 19 | 19 |
VLA-0 (Epoch 12) | Failure | Relative Size | 70 | Put the largest object in the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 juggling ball; P2 red pencil sharpener; P3 green block. Adjacent centers 8 cm apart; row shifted 4 cm toward robot-left; all objects fully visible and grasp paths clear. | MOVE juggling ball to bowl | tried to pick the red pencil sharpener and couldn't | In-distribution concept baseline | SZ-ID-JB05 | largest | null | 1129 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1129; this establishes the familiar largest × juggling ball cell. | null | 3 | null | null | null | null | null | null | null | null | null | null | null | juggling ball | null | null | null | Left | 8 | Explicitly trained largest × juggling ball | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 20 | 20 |
VLA-0 (Epoch 12) | Failure | Relative Size | 71 | Move the object that is largest into the bowl. | Bowl: empty. Table, robot-left→robot-right: P1 green block; P2 juggling ball; P3 red pencil sharpener; P4 crushed Pepsi can. Adjacent centers 12 cm apart; row shifted 4 cm toward robot-right; all objects fully visible and grasp paths clear. | MOVE crushed Pepsi can to bowl | moved between the pepsi can and juggling ball with soda can gripping technique. | In-distribution concept baseline | SZ-ID-PC05 | largest | null | 1159 | null | null | Build the listed manifest-supported scene. | Exact prompt and object composition from training episode 1159; this establishes the familiar largest × crushed Pepsi can cell. | null | 4 | null | null | null | null | null | null | null | null | null | null | null | crushed Pepsi can | null | null | null | Right | 12 | Explicitly trained largest × crushed Pepsi can | Eval_Size_Recognition (1).xlsm | VLA-0 Results | 21 | 21 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 0 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [blue pen, yellow block, green pencil sharpener] | ADD any one table object; finish with 1 object in the bowl | picked the yellow block | In-distribution concept baseline | ID-F01 | In-distribution: one via trained 0→1 addition | null | 801 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 801. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 2 | 2 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 1 | Adjust the bowl so that it contains two objects. | Bowl objects: [yellow block] | Table objects: [blue pen, green pencil sharpener] | ADD any one table object; finish with 2 objects in the bowl | didn't move | In-distribution concept baseline | ID-F01 | In-distribution: two via trained 1→2 addition | null | 809 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 809. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 3 | 3 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 2 | Leave exactly three objects in the bowl. | Bowl objects: [blue pen, yellow block, green pencil sharpener, airplane toy without propellers] | Table objects: [none] | REMOVE any one bowl object; finish with 3 objects in the bowl | picked both the airplane toy and green pencil sharpener simulataneously so left two items int he bowl | In-distribution concept baseline | ID-F01 | In-distribution: three via trained 4→3 removal | null | 843 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 843. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 4 | 3 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 4 | 4 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 3 | Adjust the bowl so that it contains zero objects. | Bowl objects: [blue pen] | Table objects: [green pencil sharpener, airplane toy without propellers] | REMOVE the only bowl object; finish with 0 objects in the bowl | null | In-distribution concept baseline | ID-F01 | In-distribution: zero via trained 1→0 removal | null | 826 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 826. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F01 | 1 | 0 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 5 | 5 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 4 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [yellow block, blue pen] | ADD any one table object; finish with 1 object in the bowl | null | In-distribution concept baseline | ID-F02 | In-distribution: one via trained 0→1 addition | null | 852 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 852. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 6 | 6 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 5 | Adjust the bowl so that it contains two objects. | Bowl objects: [green pencil sharpener] | Table objects: [yellow block, airplane toy without propellers] | ADD any one table object; finish with 2 objects in the bowl | tried to pick yellow block but couldn't | In-distribution concept baseline | ID-F02 | In-distribution: two via trained 1→2 addition | null | 859 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 859. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 7 | 7 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 6 | Leave exactly three objects in the bowl. | Bowl objects: [yellow block, green pencil sharpener, airplane toy without propellers, blue pen] | Table objects: [none] | REMOVE any one bowl object; finish with 3 objects in the bowl | went to bowl, but couldn't grab anything | In-distribution concept baseline | ID-F02 | In-distribution: three via trained 4→3 removal | null | 893 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 893. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 4 | 3 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 8 | 8 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 7 | Adjust the bowl so that it contains zero objects. | Bowl objects: [yellow block] | Table objects: [blue pen] | REMOVE the only bowl object; finish with 0 objects in the bowl | null | In-distribution concept baseline | ID-F02 | In-distribution: zero via trained 1→0 removal | null | 878 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 878. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F02 | 1 | 0 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 9 | 9 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 8 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [green pencil sharpener, yellow block] | ADD any one table object; finish with 1 object in the bowl | null | In-distribution concept baseline | ID-F03 | In-distribution: one via trained 0→1 addition | null | 902 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 902. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F03 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 10 | 10 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 9 | Adjust the bowl so that it contains two objects. | Bowl objects: [blue pen] | Table objects: [green pencil sharpener, airplane toy without propellers] | ADD any one table object; finish with 2 objects in the bowl | went for the airplane toy 5 times, but never moved it. | In-distribution concept baseline | ID-F03 | In-distribution: two via trained 1→2 addition | null | 909 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 909. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F03 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 11 | 11 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 10 | Leave exactly three objects in the bowl. | Bowl objects: [green pencil sharpener, airplane toy without propellers, blue pen, yellow block] | Table objects: [none] | REMOVE any one bowl object; finish with 3 objects in the bowl | went to bowl but couldn't pick anything up | In-distribution concept baseline | ID-F03 | In-distribution: three via trained 4→3 removal | null | 943 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 943. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F03 | 4 | 3 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 12 | 12 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 11 | Make the bowl contain exactly zero objects. | Bowl objects: [green pencil sharpener] | Table objects: [yellow block] | REMOVE the only bowl object; finish with 0 objects in the bowl | null | In-distribution concept baseline | ID-F03 | In-distribution: zero via trained 1→0 removal | null | 928 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 928. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F03 | 1 | 0 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 13 | 13 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 12 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [airplane toy without propellers, blue pen, yellow block] | ADD any one table object; finish with 1 object in the bowl | null | In-distribution concept baseline | ID-F04 | In-distribution: one via trained 0→1 addition | null | 951 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 951. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F04 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 14 | 14 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 13 | Make the bowl contain exactly two objects. | Bowl objects: [green pencil sharpener] | Table objects: [airplane toy without propellers, yellow block] | ADD any one table object; finish with 2 objects in the bowl | null | In-distribution concept baseline | ID-F04 | In-distribution: two via trained 1→2 addition | null | 960 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 960. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F04 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 15 | 15 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 14 | Leave exactly three objects in the bowl. | Bowl objects: [airplane toy without propellers, blue pen, yellow block, green pencil sharpener] | Table objects: [none] | REMOVE any one bowl object; finish with 3 objects in the bowl | went to bowl but couldn't remove anything | In-distribution concept baseline | ID-F04 | In-distribution: three via trained 4→3 removal | null | 993 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 993. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F04 | 4 | 3 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 16 | 16 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 15 | Leave no objects in the bowl. | Bowl objects: [airplane toy without propellers] | Table objects: [green pencil sharpener] | REMOVE the only bowl object; finish with 0 objects in the bowl | null | In-distribution concept baseline | ID-F04 | In-distribution: zero via trained 1→0 removal | null | 978 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 978. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F04 | 1 | 0 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 17 | 17 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 16 | Leave exactly one object in the bowl. | Bowl objects: [none] | Table objects: [yellow block] | ADD the only table object; finish with 1 object in the bowl | null | In-distribution concept baseline | ID-F05 | In-distribution: one via trained 0→1 addition | null | 857 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 857. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F05 | 0 | 1 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 18 | 18 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 17 | Make the bowl contain exactly two objects. | Bowl objects: [green pencil sharpener] | Table objects: [yellow block] | ADD the only table object; finish with 2 objects in the bowl | didn't move | In-distribution concept baseline | ID-F05 | In-distribution: two via trained 1→2 addition | null | 865 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 865. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F05 | 1 | 2 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 19 | 19 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 18 | Leave exactly three objects in the bowl. | Bowl objects: [airplane toy without propellers, blue pen, yellow block, green pencil sharpener] | Table objects: [none] | REMOVE any one bowl object; finish with 3 objects in the bowl | null | In-distribution concept baseline | ID-F05 | In-distribution: three via trained 4→3 removal | null | 994 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 994. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F05 | 4 | 3 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 20 | 20 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 19 | Make the bowl contain exactly zero objects. | Bowl objects: [yellow block] | Table objects: [none] | REMOVE the only bowl object; finish with 0 objects in the bowl | null | In-distribution concept baseline | ID-F05 | In-distribution: zero via trained 1→0 removal | null | 880 | Exact trained cell: prompt, count transition, and scene-object membership match; physical layout is not copied exactly. | 1 | Recreate the listed bowl/table membership from training episode 880. | Exact trained count transition and scene-object membership. Any object that reaches the requested final count is acceptable. | null | null | null | null | null | null | ID-F05 | 1 | 0 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 21 | 21 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 20 | Leave exactly one object in the bowl. | Bowl objects: [blue pen, airplane toy without propellers] | Table objects: [yellow block, green pencil sharpener] | REMOVE any one bowl object; finish with 1 object in the bowl | didn't move | Concept/compositional transfer | CT-CF09 | Primary: one via held-out 2→1 removal | null | 831 | Representative direct-instruction trajectory for blue pen; the evaluated count × transition composition is intentionally absent. | 3 | Build the listed count-2 scene. | The goal word one is trained, and this 2→1 trajectory is trained under a direct instruction, but the combination is withheld. | null | null | null | null | null | null | CT-CF09-REMOVE | 2 | 1 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 22 | 22 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 21 | Move the airplane toy without propellers from the bowl to the table. | Bowl objects: [blue pen, airplane toy without propellers] | Table objects: [yellow block, green pencil sharpener] | REMOVE airplane toy without propellers | null | Matched manipulation control | CT-CF09 | Matched direct REMOVE control | 20 | 985 | Exact direct-prompt trajectory for the named object and action direction; evaluation layout is reset manually. | 3 | Reset the exact count-2 scene; change only the prompt. | The direct prompt is present in Counting training for this same-task object and action direction. | null | null | null | null | null | null | CT-CF09-REMOVE | 2 | 1 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 23 | 23 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Success | Counting | 22 | Move the green pencil sharpener into the bowl. | Bowl objects: [blue pen, airplane toy without propellers] | Table objects: [yellow block, green pencil sharpener] | ADD green pencil sharpener | null | Matched manipulation control | CT-CF09 | Matched direct ADD control | null | 917 | Exact direct-prompt trajectory for the named object and action direction; evaluation layout is reset manually. | 3 | Reset the exact count-2 scene; change only the prompt. | The direct prompt is present in Counting training for this same-task object and action direction. | null | null | null | null | null | null | CT-CF09-ADD | 2 | 3 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 24 | 24 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 23 | Leave exactly three objects in the bowl. | Bowl objects: [blue pen, airplane toy without propellers] | Table objects: [yellow block, green pencil sharpener] | ADD any one table object; finish with 3 objects in the bowl | didn't move | Concept/compositional transfer | CT-CF09 | Primary: three via held-out 2→3 addition | 22 | 916 | Representative direct-instruction trajectory for green pencil sharpener; the evaluated count × transition composition is intentionally absent. | 3 | Reset the exact count-2 scene; change only the prompt. | The goal word three is trained, and this 2→3 trajectory is trained under a direct instruction, but the combination is withheld. | null | null | null | null | null | null | CT-CF09-ADD | 2 | 3 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 25 | 25 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 24 | Leave exactly three objects in the bowl. | Bowl objects: [green pencil sharpener, airplane toy without propellers] | Table objects: [blue pen, yellow block] | ADD any one table object; finish with 3 objects in the bowl | didn't move | Concept/compositional transfer | CT-CF24 | Primary: three via held-out 2→3 addition | null | 816 | Representative direct-instruction trajectory for blue pen; the evaluated count × transition composition is intentionally absent. | 4 | Reset the exact count-2 scene; change only the prompt. | The goal word three is trained, and this 2→3 trajectory is trained under a direct instruction, but the combination is withheld. | null | null | null | null | null | null | CT-CF24-ADD | 2 | 3 | ADD | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 26 | 26 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 25 | Leave exactly one object in the bowl. | Bowl objects: [green pencil sharpener, airplane toy without propellers] | Table objects: [blue pen, yellow block] | REMOVE any one bowl object; finish with 1 object in the bowl | didn't move | Concept/compositional transfer | CT-CF24 | Primary: one via held-out 2→1 removal | 24 | 981 | Representative direct-instruction trajectory for airplane toy without propellers; the evaluated count × transition composition is intentionally absent. | 4 | Build the listed count-2 scene. | The goal word one is trained, and this 2→1 trajectory is trained under a direct instruction, but the combination is withheld. | null | null | null | null | null | null | CT-CF24-REMOVE | 2 | 1 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 27 | 27 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 26 | Leave exactly one object in the bowl. | Bowl objects: [blue pen, yellow block] | Table objects: [green pencil sharpener] | REMOVE any one bowl object; finish with 1 object in the bowl | didn't move | Concept/compositional transfer | CT-CF01 | Primary: one via held-out 2→1 removal | null | 831 | Representative direct-instruction trajectory for blue pen; the evaluated count × transition composition is intentionally absent. | 2 | Build the listed count-2 scene. | The goal word one is trained, and this 2→1 trajectory is trained under a direct instruction, but the combination is withheld. | null | null | null | null | null | null | CT-CF01-REMOVE | 2 | 1 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 28 | 28 |
GR00T-N1.7 (Frozen LLM, Epoch 12) | Failure | Counting | 27 | Move the blue pen from the bowl to the table. | Bowl objects: [blue pen, yellow block] | Table objects: [green pencil sharpener] | REMOVE blue pen | went to bowl but couldn't take the pen out | Matched manipulation control | CT-CF01 | Matched direct REMOVE control | 26 | 835 | Exact direct-prompt trajectory for the named object and action direction; evaluation layout is reset manually. | 2 | Reset the exact count-2 scene; change only the prompt. | The direct prompt is present in Counting training for this same-task object and action direction. | null | null | null | null | null | null | CT-CF01-REMOVE | 2 | 1 | REMOVE | null | null | null | null | null | null | null | null | null | null | Eval_Counting.xlsm | GR00T vision only Results | 29 | 29 |
End of preview. Expand in Data Studio
Spa-Bench data information
This repository exposes two reviewer-friendly tables through Hugging Face Data Studio:
- Model Evaluation Data Information: 2,892 scored physical rollouts across five checkpoints.
- Training Data Information: the 1,200-row prompt and compositional-design manifest.
Use the configuration selector in the viewer to switch between the two tables. Task names are normalized to Counting, Ordinal Position, Physical State, Referential Description, Relational Placement, and Relative Size.
Training-design summary
All atomic concepts and object identities appear during training. The benchmark withholds selected concept–argument combinations rather than unseen words, objects, or motor outputs. Each task family contains 200 demonstrations.
Models
- GR00T-N1.7 Frozen LLM — Spa-Bench Epoch 12
- GR00T-N1.7 Full Fine-Tune — Spa-Bench Epoch 12
- VLA-0 — Spa-Bench Epoch 12
- MolmoAct2 — Spa-Bench Step 76,596
- pi0.5 — Spa-Bench Step 76,596
Evaluation rollouts
- Spa-Bench Evaluation Rollouts — pi0.5 (Full)
- Spa-Bench Evaluation Rollouts — MolmoAct2 (Full)
- Spa-Bench Evaluation Rollouts — GR00T-N1.7 Frozen LLM (Full)
- Spa-Bench Evaluation Rollouts — GR00T-N1.7 Full Fine-Tune (Partial)
- Spa-Bench Evaluation Rollouts — VLA-0 (Partial)
Training dataset
Double-blind release note
Author, institution, source-repository, and archival citation details are intentionally omitted during review. They will be restored in the archival release.
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