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Official-protocol eval: task 38 spraying_for_bugs
The final (25k, step 24,999) checkpoint of jermo1120/b1k-task38-spraying-for-bugs, also published on its own as jermo1120/pi05-b1k-task38-spraying-for-bugs-25k, evaluated with the 2026 challenge leaderboard protocol: public_test instance indices 0–9 (instance ids 301–310), 1 rollout each, default timeout, with video.
Q = 0.20 (mean q_score over the 10 instances). No full successes; one of the two plants was fully covered on 4 instances.
Results (q_score per instance)
| checkpoint | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | mean q_score | full successes |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
step_24999 |
0 | 0.5 | 0 | 0 | 0 | 0 | 0.5 | 0 | 0.5 | 0.5 | 0.20 | 0 |
Results for all 10 checkpoints on the non-leaderboard instances 311–315 are in jermo1120/b1k-task38-spraying-for-bugs-eval.
Setup
| Evaluator | BEHAVIOR-1K v3.9.3-post2 (python -m omnigibson.eval.eval), OmniGibson 3.9.3, Isaac Sim 5.1 |
| Episode limit | 9,720 steps (evaluator default: 1.5× mean human-demo length) |
| Robot / wrapper | omnigibson/eval/r1pro.yaml (robot robot_r1), default wrapper (224×224 RGB + proprio) |
| Policy server | behavior-1k-solution ca556f7 + the model repo's changes.patch, config pi_behavior_b1k_fast, 20 flow steps, the winners' eval tricks on, served through serve_2026_adapter.py (2025→2026 observation adapter, task id 38) |
| Hardware | 1× RTX 5090 (simulator and policy on the same GPU) |
The model was trained on 2025-format data. serve_2026_adapter.py maps the 2026 evaluator's 61-dim proprio into the 2025 256-dim layout and sets the task id to 38 (the same id in both numberings). Base velocity is passed in the robot frame, while the 2025 training data used the world frame.
q_score gives partial credit. The task's only goal is "every potted plant (2) is covered in insectifuge", so per-instance scores are 0, 0.5 or 1.0 (success).
Files: per-rollout metrics in results/<checkpoint>/*.json and results/summary.csv; videos (head + both wrist cameras) in videos/<checkpoint>/; the server adapter and run script at the top level.
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