# Evaluation Assets (GE30 + v6cond)

This folder is a **minimal Hugging Face upload payload** for updating
[`UCBProject/eval_assets`](https://huggingface.co/datasets/UCBProject/eval_assets/tree/main).

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:

```bash
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/`.