anonymous61116/supp-eval-data

Evaluation data for an anonymous submission

Everything scripts/evaluate.py of the supplementary code reads for the main table: the 256 held-out DROID clips (recorded and Cosmos-generated inputs), their labels, and the robot model files. For research use in reviewing the submission; see LICENSES.md for the terms of each component.

Folder	Content	configs/paths.yaml key
data_root/	per clip: <clip>.npz (RGB, VAE latents, joints, gripper, cameras) + .camera.npz, .depth.npz, .stereo_right.npz, .tracks.npz, .pwtracks.npz	data_root
split.json	the 256 evaluation episodes and their split	split_manifest
right_depth/	right-eye stereo depth labels	right_depth_labels, stereo_depth_labels
real_window_latents/	Wan2.2-VAE latents of the evaluated windows (LatentStem arms)	real_window_latents
cosmos_rollouts/	Cosmos 3 rollouts of the evaluated windows (--inputs cosmos)	cosmos_rollouts
droid_calibration/, droid_trajectories/	DROID calibration and trajectory files of the 256 episodes	droid_calibration, droid_trajectories
robot/meshes/, robot/gripper2wrist_transforms.json	Franka meshes and gripper-to-wrist transforms	robot_meshes, gripper_to_wrist_transforms
reference_results/	per-clip records, summary.json and table.md produced with the supplementary code (recorded inputs, Cosmos inputs, recorded-input ablations)	—

Download everything (21.9 GB):

hf download anonymous61116/supp-eval-data --repo-type dataset --local-dir eval_data

or only some clips (clip names are in split.json; indices refer to the code's configs/data/evaluation_clips.json):

from huggingface_hub import snapshot_download
clip = 'clip_ILIAD_50aee79f_2023-07-12-20h-55m-08s_0068'            # evaluation index 0
episode = 'ILIAD__success__2023-07-12__Wed_Jul_12_20:55:08_2023'
snapshot_download('anonymous61116/supp-eval-data', repo_type='dataset', local_dir='eval_data', allow_patterns=[
    f'data_root/{clip}*', f'right_depth/depth/{clip}*', 'right_depth/provenance.json', 'split.json',
    'real_window_latents/clip000.npz', 'cosmos_rollouts/clip000_repeat00/*', f'droid_calibration/{episode}*',
    f'droid_trajectories/{episode}*', 'robot/*', 'robot/meshes/*', 'robot/meshes/*/*'])

Then point the keys above to the downloaded folders, add the model locations (MoVieS, VGGT, ReSplat and the three checkpoints), then run scripts/evaluate.py and scripts/summarize.py as in the code's README and compare with reference_results/. Stage 1 records match bit for bit; Stage 2 records match up to GPU non-determinism. --indices evaluates a subset of the clips.

Local file paths recorded as provenance strings inside the original label files were reduced to file names; the arrays are unchanged.