README.md

Evaluation Assets (GE30 + v6cond)

This folder is a minimal Hugging Face upload payload for updating UCBProject/eval_assets.

It mirrors repository-relative paths, so after downloading you can sync it into the repo root and the files land in the correct locations.

What this update contains

• evaluation/configs/eval_objects_merged_success_ge30.csv
  • 87 objects (criterion: round≥3 robot_gt cumulative success_count ≥ 30)
• evaluation/configs/README.md
  • Notes about GE30 being current; GE20/GE40 deprecated
• output/pdm/checkpoints_yaw_v6cond/best_model.pth
• output/pdm/checkpoints_yaw_v6cond/pose_stats.pt
• output/affordance_no_rot_executed/min20/checkpoints_v6/best_v6_model.pth

What is intentionally NOT included

This upload does not change heavy assets (mesh/USD/scene files), and does not include evaluation outputs:

• data_hub/meshes/SAM3DMesh/rotated_mesh/
• data_hub/ProcessedData/obj_meshes/*/scale.json
• output/obj_usd/
• sim/assets_scene/, sim/object_rotation_overrides.json
• output/evaluation/** (logs/videos/results)

Those stay as-is in the existing dataset version.

How to use after download

Download to a temp directory and sync into the repo root:

huggingface-cli download UCBProject/eval_assets \
  --repo-type dataset \
  --local-dir /tmp/a2g_eval_assets

cd /path/to/Affordance2Grasp
rsync -a /tmp/a2g_eval_assets/ ./

Notes

• The evaluation object list is now GE30 (eval_objects_merged_success_ge30.csv).
• PDM default checkpoint used by current eval scripts is yaw-conditioned v6cond under output/pdm/checkpoints_yaw_v6cond/.