0049-turkey-sandwich-New Predicted: (turkey,f:1.0,m:0.37,d:0.11) (plate,f:1.0,m:0.3,d:0.14) (turkey,f:0.49,m:0.29,d:0.16) (bread,f:1.0,m:0.3,d:0.16) (knife,f:1.0,m:0.31,d:0.17) (lemon,f:1.0,m:0.13,d:0.17) (bread,f:0.8,m:0.27,d:0.17) (jelly,f:1.0,m:0.46,d:0.18) (cutting board,f:1.0,m:0.18,d:0.18) (butter,f:1.0,m:0.43,d:0.18) (bowl,f:1.0,m:0.43,d:0.26) (greens,f:1.0,m:0.37,d:0.39) (tomato,f:1.0,m:0.31,d:0.43) (bowl,f:1.0,m:0.32,d:0.45) (bowl,f:0.63,m:0.44,d:0.5) (turkey,0.29) (plate,0.24) (turkey,0.19) (bread,0.19) (knife,0.17) (lemon,0.14) (bread,0.16) (jelly,0.18) (cutting board,0.12) (butter,0.17) Possible motions by looking up history: 57 rank1 1238 0.01: [knife,butter,bread,plate] ===(spread)==> [knife,butter,bread,plate] rank2 2183 -0.02: [knife,bread,plate] ===(cut)==> [knife,bread,plate] rank3 911 -0.02: [cutting board,bread,turkey] ===(pick + place)==> [cutting board,bread] rank4 221 -0.02: [cutting board,bread,plate] ===(pick + place)==> [bread,cutting board,plate] rank5 342 -0.03: [bread,plate] ===(pick + place)==> [bread,plate] rank6 248 -0.03: [bread,plate] ===(unwrap)==> [plate,bread] rank7 757 -0.05: [bread,plate,bread] ===(pick + place)==> [bread] rank8 234 -0.05: [cutting board,bread,knife] ===(cut)==> [bread] rank9 220 -0.05: [cutting board,bread,knife] ===(slice)==> [bread] rank10 1976 -0.06: [knife,bread,cutting board] ===(cut)==> [knife,bread,cutting board] rank11 1225 -0.06: [knife,bread,cutting board] ===(slice)==> [knife,bread,cutting board] rank12 247 -0.06: [plate,bread] ===(pick + place)==> [plate] rank13 159 -0.06: [cutting board,knife,bread] ===(slice)==> [cutting board,bread] rank14 914 -0.07: [cutting board,bread,plate,bacon] ===(pick + place)==> [cutting board,bread] rank15 233 -0.07: [plate,bread,baking tray] ===(pick + place)==> [plate,bread] rank16 1256 -0.08: [plate] ===(wash)==> [plate] rank17 920 -0.08: [cutting board,sandwich,bread,knife] ===(cut)==> [bread] rank18 918 -0.08: [cutting board,bread,bread] ===(pick + place)==> [bread] rank19 909 -0.08: [cutting board,knife,mayonnaise,bread] ===(spread)==> [bread] rank20 344 -0.08: [bread,jar,jelly,knife] ===(spread)==> [bread] rank21 242 -0.08: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank22 146 -0.08: [bread,knife] ===(slice)==> [bread,knife] rank23 756 -0.09: [plate,bread,chocolate] ===(pick + place)==> [bread] rank24 2969 -0.1: [knife,butter,cutting board] ===(cut)==> [knife,butter,cutting board] rank25 1245 -0.1: [bread] ===(pick + place)==> [bread] rank26 913 -0.1: [cutting board,bread,bread] ===(pick + place)==> [cutting board,bread] rank27 763 -0.1: [bread,spatula,plate] ===(pick + place)==> [plate] rank28 243 -0.1: [bread] ===(attach)==> [bread] rank29 917 -0.11: [knife,mayonnaise,bread] ===(spread)==> [bread] rank30 154 -0.11: [baking tray,bread,knife] ===(unwrap)==> [bread] rank31 2168 -0.13: [knife,lemon,cutting board] ===(slice)==> [knife,lemon,cutting board] rank32 1203 -0.13: [knife,lemon,cutting board] ===(cut)==> [knife,lemon,cutting board] rank33 916 -0.14: [cutting board,bread,tomato] ===(pick + place)==> [cutting board,bread] rank34 915 -0.14: [cutting board,bread,lettuce] ===(pick + place)==> [cutting board,bread] rank35 912 -0.14: [cutting board,bread,cheese] ===(pick + place)==> [cutting board,bread] rank36 910 -0.14: [cutting board,bread,ham] ===(pick + place)==> [cutting board,bread] rank37 158 -0.14: [bread,cutting board] ===(pick + place)==> [cutting board] rank38 2543 -0.15: [knife,cutting board] ===(pour)==> [knife,cutting board] rank39 2468 -0.15: [knife,cutting board] ===(pick + place)==> [knife,cutting board] rank40 1443 -0.15: [knife,lemon] ===(cut off ends)==> [knife,lemon] rank41 1202 -0.15: [knife,lemon] ===(peel)==> [knife,lemon] rank42 716 -0.16: [lemon,knife] ===(cut)==> [lemon] rank43 425 -0.16: [plate,tortilla,cutting board] ===(pick + place)==> [cutting board] rank44 256 -0.16: [lemon,knife] ===(slice)==> [lemon] rank45 2825 -0.17: [knife] ===(pick + place)==> [knife] rank46 2822 -0.17: [knife] ===(peel)==> [knife] rank47 2544 -0.17: [knife] ===(test sharpness)==> [knife] rank48 2416 -0.17: [knife] ===(remove)==> [knife] rank49 2398 -0.17: [knife] ===(clean)==> [knife] rank50 1154 -0.17: [knife] ===(shake)==> [knife] ------------------------- ------------------------- FU4 EVALUATED: [cutting board,plate,bread,turkey] ===(pick + place)==> [cutting board,bread] 0: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 1: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 2: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] 3: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] 4: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] 5: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] 6: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] 7: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] 8: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] 9: [precision: 1.0] [recall: 0.83] [overlap: 5] [grTruth:6] [guessed:5] rank-1 221 -1: [cutting board,bread,plate] ===(pick + place)==> [bread,cutting board,plate] rank-1 911 -1: [cutting board,bread,turkey] ===(pick + place)==> [cutting board,bread] rank-1 914 -1: [cutting board,bread,plate,bacon] ===(pick + place)==> [cutting board,bread] rank-1 1226 -1: [bread,cutting board,plate] ===(pick + place)==> [bread,cutting board,plate] For rank 2: (full: 0.0) (thresh=0.83: 1.0) (thresh=0.8: 1.0) (thresh=0.75: 1.0) For rank 9: (full: 0.0) (thresh=0.83: 1.0) (thresh=0.8: 1.0) (thresh=0.75: 1.0) ===================================================== (turkey,f:0.15,m:0.28,d:0.22) (jelly,f:0.96,m:0.3,d:0.23) (bread,f:1.0,m:0.23,d:0.23) (knife,f:1.0,m:0.74,d:0.26) (jelly,f:0.27,m:0.86,d:0.27) (cutting board,f:0.73,m:0.18,d:0.29) (bread,f:1.0,m:0.21,d:0.3) (turkey,f:1.0,m:0.23,d:0.31) (plate,f:1.0,m:0.24,d:0.34) (lemon,f:1.0,m:0.36,d:0.35) (greens,f:0.27,m:0.45,d:0.5) (bowl,f:0.31,m:0.68,d:0.51) (bowl,f:0.31,m:0.81,d:0.52) (tomato,f:0.46,m:0.83,d:0.53) (turkey,0.26) (jelly,0.19) (bread,0.18) (knife,0.16) (jelly,0.18) (cutting board,0.04) (bread,0.05) (turkey,0.06) (plate,0.06) (lemon,0.08) Possible motions by looking up history: 55 rank1 344 0.02: [bread,jar,jelly,knife] ===(spread)==> [bread] rank2 911 0.01: [cutting board,bread,turkey] ===(pick + place)==> [cutting board,bread] rank3 146 0.01: [bread,knife] ===(slice)==> [bread,knife] rank4 234 -0.0: [cutting board,bread,knife] ===(cut)==> [bread] rank5 220 -0.0: [cutting board,bread,knife] ===(slice)==> [bread] rank6 1245 -0.02: [bread] ===(pick + place)==> [bread] rank7 243 -0.02: [bread] ===(attach)==> [bread] rank8 2183 -0.03: [knife,bread,plate] ===(cut)==> [knife,bread,plate] rank9 1976 -0.03: [knife,bread,cutting board] ===(cut)==> [knife,bread,cutting board] rank10 1225 -0.03: [knife,bread,cutting board] ===(slice)==> [knife,bread,cutting board] rank11 920 -0.03: [cutting board,sandwich,bread,knife] ===(cut)==> [bread] rank12 917 -0.03: [knife,mayonnaise,bread] ===(spread)==> [bread] rank13 909 -0.03: [cutting board,knife,mayonnaise,bread] ===(spread)==> [bread] rank14 242 -0.03: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank15 154 -0.03: [baking tray,bread,knife] ===(unwrap)==> [bread] rank16 159 -0.04: [cutting board,knife,bread] ===(slice)==> [cutting board,bread] rank17 918 -0.05: [cutting board,bread,bread] ===(pick + place)==> [bread] rank18 2825 -0.06: [knife] ===(pick + place)==> [knife] rank19 2822 -0.06: [knife] ===(peel)==> [knife] rank20 2544 -0.06: [knife] ===(test sharpness)==> [knife] rank21 2416 -0.06: [knife] ===(remove)==> [knife] rank22 2398 -0.06: [knife] ===(clean)==> [knife] rank23 1154 -0.06: [knife] ===(shake)==> [knife] rank24 1093 -0.06: [knife] ===(wash)==> [knife] rank25 757 -0.06: [bread,plate,bread] ===(pick + place)==> [bread] rank26 756 -0.07: [plate,bread,chocolate] ===(pick + place)==> [bread] rank27 342 -0.07: [bread,plate] ===(pick + place)==> [bread,plate] rank28 248 -0.07: [bread,plate] ===(unwrap)==> [plate,bread] rank29 1443 -0.08: [knife,lemon] ===(cut off ends)==> [knife,lemon] rank30 1202 -0.08: [knife,lemon] ===(peel)==> [knife,lemon] rank31 2168 -0.09: [knife,lemon,cutting board] ===(slice)==> [knife,lemon,cutting board] rank32 1203 -0.09: [knife,lemon,cutting board] ===(cut)==> [knife,lemon,cutting board] rank33 913 -0.09: [cutting board,bread,bread] ===(pick + place)==> [cutting board,bread] rank34 221 -0.09: [cutting board,bread,plate] ===(pick + place)==> [bread,cutting board,plate] rank35 2543 -0.1: [knife,cutting board] ===(pour)==> [knife,cutting board] rank36 2468 -0.1: [knife,cutting board] ===(pick + place)==> [knife,cutting board] rank37 716 -0.1: [lemon,knife] ===(cut)==> [lemon] rank38 256 -0.1: [lemon,knife] ===(slice)==> [lemon] rank39 233 -0.1: [plate,bread,baking tray] ===(pick + place)==> [plate,bread] rank40 916 -0.11: [cutting board,bread,tomato] ===(pick + place)==> [cutting board,bread] rank41 915 -0.11: [cutting board,bread,lettuce] ===(pick + place)==> [cutting board,bread] rank42 914 -0.11: [cutting board,bread,plate,bacon] ===(pick + place)==> [cutting board,bread] rank43 912 -0.11: [cutting board,bread,cheese] ===(pick + place)==> [cutting board,bread] rank44 910 -0.11: [cutting board,bread,ham] ===(pick + place)==> [cutting board,bread] rank45 247 -0.11: [plate,bread] ===(pick + place)==> [plate] rank46 158 -0.12: [bread,cutting board] ===(pick + place)==> [cutting board] rank47 763 -0.14: [bread,spatula,plate] ===(pick + place)==> [plate] rank48 1725 -0.16: [lemon] ===(throw away)==> [lemon] rank49 1213 -0.16: [lemon] ===(smell)==> [lemon] rank50 1201 -0.16: [lemon] ===(shake)==> [lemon] ------------------------- ------------------------- FU5 NOTINFOON: [cutting board,bread,bowl,jelly,knife] ===(spread)==> [cutting board,bread] 0: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 1: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 2: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 3: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 4: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 5: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 6: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 7: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 8: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] 9: [precision: 0.8] [recall: 0.57] [overlap: 4] [grTruth:7] [guessed:5] For rank 2: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) For rank 9: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) ===================================================== (greens,f:1.0,m:0.55,d:0.24) (turkey,f:0.81,m:0.12,d:0.28) (bowl,f:1.0,m:0.26,d:0.29) (lemon,f:1.0,m:0.31,d:0.39) (tomato,f:1.0,m:0.36,d:0.43) (plate,f:1.0,m:0.35,d:0.43) (bread,f:1.0,m:0.34,d:0.44) (knife,f:0.27,m:0.05,d:0.46) (jelly,f:0.77,m:0.31,d:0.46) (bread,f:1.0,m:0.24,d:0.47) (bowl,f:1.0,m:0.41,d:0.51) (greens,f:0.19,m:0.49,d:0.54) (cutting board,f:0.58,m:0.17,d:0.57) (jelly,f:0.73,m:0.33,d:0.58) (bowl,f:0.46,m:0.42,d:0.6) (greens,0.32) (turkey,0.18) (bowl,0.19) (lemon,0.07) (tomato,0.08) (plate,0.08) (bread,0.08) (knife,0.01) (jelly,0.07) (bread,0.06) Possible motions by looking up history: 52 rank1 722 0.14: [greens,bowl] ===(pour)==> [bowl,greens] rank2 1167 0.0: [bowl] ===(wash)==> [bowl] rank3 840 0.0: [bowl] ===(mix)==> [bowl] rank4 551 -0.03: [bread,bowl] ===(pick + place)==> [bread,bowl] rank5 552 -0.05: [bread,bowl] ===(flip)==> [bread] rank6 950 -0.07: [knife,garlic,bowl] ===(pour)==> [bowl] rank7 557 -0.07: [plate,bread,bowl,strawberry] ===(pick + place)==> [plate,bread] rank8 556 -0.07: [plate,bread,bowl,syrup] ===(pour)==> [plate,bread] rank9 251 -0.07: [bowl,knife,baking tray,bread] ===(spread)==> [bowl,bread] rank10 758 -0.1: [bowl,egg,plate] ===(pour)==> [plate] rank11 342 -0.1: [bread,plate] ===(pick + place)==> [bread,plate] rank12 248 -0.1: [bread,plate] ===(unwrap)==> [plate,bread] rank13 242 -0.1: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank14 757 -0.11: [bread,plate,bread] ===(pick + place)==> [bread] rank15 1245 -0.12: [bread] ===(pick + place)==> [bread] rank16 247 -0.12: [plate,bread] ===(pick + place)==> [plate] rank17 243 -0.12: [bread] ===(attach)==> [bread] rank18 2183 -0.13: [knife,bread,plate] ===(cut)==> [knife,bread,plate] rank19 1256 -0.13: [plate] ===(wash)==> [plate] rank20 1137 -0.13: [tomato] ===(pull apart)==> [tomato] rank21 989 -0.13: [tomato] ===(shake)==> [tomato] rank22 988 -0.13: [tomato] ===(wash)==> [tomato] rank23 756 -0.13: [plate,bread,chocolate] ===(pick + place)==> [bread] rank24 344 -0.13: [bread,jar,jelly,knife] ===(spread)==> [bread] rank25 233 -0.13: [plate,bread,baking tray] ===(pick + place)==> [plate,bread] rank26 1725 -0.14: [lemon] ===(throw away)==> [lemon] rank27 1213 -0.14: [lemon] ===(smell)==> [lemon] rank28 1201 -0.14: [lemon] ===(shake)==> [lemon] rank29 1200 -0.14: [lemon] ===(wash)==> [lemon] rank30 763 -0.14: [bread,spatula,plate] ===(pick + place)==> [plate] rank31 918 -0.15: [cutting board,bread,bread] ===(pick + place)==> [bread] rank32 917 -0.15: [knife,mayonnaise,bread] ===(spread)==> [bread] rank33 234 -0.15: [cutting board,bread,knife] ===(cut)==> [bread] rank34 220 -0.15: [cutting board,bread,knife] ===(slice)==> [bread] rank35 154 -0.15: [baking tray,bread,knife] ===(unwrap)==> [bread] rank36 146 -0.15: [bread,knife] ===(slice)==> [bread,knife] rank37 716 -0.16: [lemon,knife] ===(cut)==> [lemon] rank38 256 -0.16: [lemon,knife] ===(slice)==> [lemon] rank39 1443 -0.17: [knife,lemon] ===(cut off ends)==> [knife,lemon] rank40 1376 -0.17: [knife,tomato] ===(cut)==> [knife,tomato] rank41 1202 -0.17: [knife,lemon] ===(peel)==> [knife,lemon] rank42 994 -0.17: [knife,tomato] ===(cut out inside)==> [knife,tomato] rank43 907 -0.17: [cutting board,tomato,knife] ===(slice)==> [tomato] rank44 906 -0.17: [cutting board,tomato,knife] ===(cut)==> [tomato] rank45 405 -0.18: [cutting board,tomato,knife] ===(cut)==> [tomato,knife] rank46 2825 -0.22: [knife] ===(pick + place)==> [knife] rank47 2822 -0.22: [knife] ===(peel)==> [knife] rank48 2544 -0.22: [knife] ===(test sharpness)==> [knife] rank49 2416 -0.22: [knife] ===(remove)==> [knife] rank50 2398 -0.22: [knife] ===(clean)==> [knife] ------------------------- ------------------------- FU6 NOTINFOON: [cutting board,bread,bowl,greens] ===(pick + place)==> [cutting board,bread] 0: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 1: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 2: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 3: [precision: 0.75] [recall: 0.5] [overlap: 3] [grTruth:6] [guessed:4] 4: [precision: 0.75] [recall: 0.5] [overlap: 3] [grTruth:6] [guessed:4] 5: [precision: 0.75] [recall: 0.5] [overlap: 3] [grTruth:6] [guessed:4] 6: [precision: 0.75] [recall: 0.5] [overlap: 3] [grTruth:6] [guessed:4] 7: [precision: 0.75] [recall: 0.5] [overlap: 3] [grTruth:6] [guessed:4] 8: [precision: 0.75] [recall: 0.5] [overlap: 3] [grTruth:6] [guessed:4] 9: [precision: 0.75] [recall: 0.5] [overlap: 3] [grTruth:6] [guessed:4] For rank 2: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) For rank 9: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) ===================================================== (sandwich,f:0.45,m:0.76,d:0.13) (bread,f:0.64,m:0.6,d:0.16) (bread,f:0.27,m:0.48,d:0.22) (turkey,f:1.0,m:0.17,d:0.32) (bowl,f:1.0,m:0.15,d:0.32) (lemon,f:1.0,m:0.3,d:0.37) (greens,f:1.0,m:0.37,d:0.44) (knife,f:1.0,m:0.17,d:0.45) (greens,f:0.27,m:0.0,d:0.46) (bowl,f:1.0,m:0.33,d:0.53) (jelly,f:0.82,m:0.64,d:0.55) (bowl,f:1.0,m:0.54,d:0.57) (plate,f:1.0,m:0.45,d:0.57) (tomato,f:1.0,m:0.47,d:0.57) (sandwich,0.36) (bread,0.32) (bread,0.22) (turkey,0.07) (bowl,0.06) (lemon,0.08) (greens,0.08) (knife,0.04) (greens,0.0) (bowl,0.08) Possible motions by looking up history: 52 rank1 345 0.31: [bread,bread] ===(pick + place)==> [bread,sandwich] rank2 1245 0.21: [bread] ===(pick + place)==> [bread] rank3 243 0.21: [bread] ===(attach)==> [bread] rank4 920 0.19: [cutting board,sandwich,bread,knife] ===(cut)==> [bread] rank5 918 0.13: [cutting board,bread,bread] ===(pick + place)==> [bread] rank6 757 0.13: [bread,plate,bread] ===(pick + place)==> [bread] rank7 552 0.12: [bread,bowl] ===(flip)==> [bread] rank8 917 0.07: [knife,mayonnaise,bread] ===(spread)==> [bread] rank9 242 0.07: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank10 234 0.07: [cutting board,bread,knife] ===(cut)==> [bread] rank11 220 0.07: [cutting board,bread,knife] ===(slice)==> [bread] rank12 154 0.07: [baking tray,bread,knife] ===(unwrap)==> [bread] rank13 551 0.06: [bread,bowl] ===(pick + place)==> [bread,bowl] rank14 146 0.04: [bread,knife] ===(slice)==> [bread,knife] rank15 251 0.02: [bowl,knife,baking tray,bread] ===(spread)==> [bowl,bread] rank16 70 -0.03: [sandwich,cutting board,knife] ===(cut)==> [sandwich,knife] rank17 722 -0.15: [greens,bowl] ===(pour)==> [bowl,greens] rank18 97 -0.16: [bowl,bowl] ===(pour)==> [bowl,bowl] rank19 1725 -0.17: [lemon] ===(throw away)==> [lemon] rank20 1213 -0.17: [lemon] ===(smell)==> [lemon] rank21 1201 -0.17: [lemon] ===(shake)==> [lemon] rank22 1200 -0.17: [lemon] ===(wash)==> [lemon] rank23 1167 -0.17: [bowl] ===(wash)==> [bowl] rank24 840 -0.17: [bowl] ===(mix)==> [bowl] rank25 716 -0.17: [lemon,knife] ===(cut)==> [lemon] rank26 547 -0.17: [bowl,bowl] ===(pour)==> [bowl] rank27 256 -0.17: [lemon,knife] ===(slice)==> [lemon] rank28 1443 -0.18: [knife,lemon] ===(cut off ends)==> [knife,lemon] rank29 1202 -0.18: [knife,lemon] ===(peel)==> [knife,lemon] rank30 950 -0.19: [knife,garlic,bowl] ===(pour)==> [bowl] rank31 828 -0.19: [bowl,bowl,salt] ===(sprinkle)==> [bowl] rank32 737 -0.19: [bowl,bowl,spoon] ===(scoop)==> [bowl] rank33 662 -0.19: [bowl,bowl,milk] ===(pour)==> [bowl] rank34 524 -0.19: [bowl,bowl,garlic] ===(sprinkle)==> [bowl] rank35 458 -0.19: [bowl,vegetable oil,bowl] ===(pour)==> [bowl] rank36 435 -0.19: [bowl,baking soda,bowl] ===(pour)==> [bowl] rank37 321 -0.19: [bowl,bowl,spatula] ===(scrape)==> [bowl] rank38 139 -0.19: [bowl,bowl,potato] ===(pour)==> [bowl,bowl] rank39 132 -0.19: [bowl,bowl,egg] ===(pour)==> [bowl] rank40 129 -0.19: [bowl,bowl,shrimp] ===(pour)==> [bowl] rank41 126 -0.19: [bowl,bowl,celery] ===(pour)==> [bowl] rank42 95 -0.19: [bowl,bowl,salt] ===(pour)==> [bowl] rank43 94 -0.19: [bowl,sugar,bowl] ===(pour)==> [bowl] rank44 87 -0.19: [bowl,bowl,lemon juice] ===(pour)==> [bowl] rank45 77 -0.19: [bowl,olive oil,bowl] ===(pour)==> [bowl] rank46 2825 -0.21: [knife] ===(pick + place)==> [knife] rank47 2822 -0.21: [knife] ===(peel)==> [knife] rank48 2544 -0.21: [knife] ===(test sharpness)==> [knife] rank49 2416 -0.21: [knife] ===(remove)==> [knife] rank50 2398 -0.21: [knife] ===(clean)==> [knife] ------------------------- ------------------------- FU7 EVALUATED: [cutting board,bread,bread] ===(pick + place)==> [cutting board,bread,sandwich] 0: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 1: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 2: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 3: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 4: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 5: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 6: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 7: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 8: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] 9: [precision: 1.0] [recall: 0.67] [overlap: 4] [grTruth:6] [guessed:4] rank-1 69 -1: [bread,cutting board,bread] ===(pick + place)==> [sandwich,cutting board] rank-1 913 -1: [cutting board,bread,bread] ===(pick + place)==> [cutting board,bread] For rank 2: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) For rank 9: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) ===================================================== (cutting board,f:0.26,m:0.15,d:0.14) (sandwich,f:0.55,m:0.53,d:0.16) (knife,f:1.0,m:0.57,d:0.24) (knife,f:0.65,m:0.3,d:0.27) (turkey,f:1.0,m:0.22,d:0.36) (bowl,f:1.0,m:0.16,d:0.38) (lemon,f:1.0,m:0.16,d:0.38) (tomato,f:1.0,m:0.28,d:0.62) (cutting board,0.24) (sandwich,0.31) (knife,0.25) (knife,0.15) (turkey,0.07) (bowl,0.05) (lemon,0.05) (tomato,0.07) Possible motions by looking up history: 48 rank1 70 0.26: [sandwich,cutting board,knife] ===(cut)==> [sandwich,knife] rank2 2543 0.16: [knife,cutting board] ===(pour)==> [knife,cutting board] rank3 2468 0.16: [knife,cutting board] ===(pick + place)==> [knife,cutting board] rank4 1497 0.1: [knife,tomato,cutting board] ===(cut off ends)==> [knife,tomato,cutting board] rank5 991 0.1: [knife,tomato,cutting board] ===(slice)==> [knife,tomato,cutting board] rank6 990 0.1: [knife,tomato,cutting board] ===(cut)==> [knife,tomato,cutting board] rank7 2825 0.09: [knife] ===(pick + place)==> [knife] rank8 2822 0.09: [knife] ===(peel)==> [knife] rank9 2544 0.09: [knife] ===(test sharpness)==> [knife] rank10 2416 0.09: [knife] ===(remove)==> [knife] rank11 2398 0.09: [knife] ===(clean)==> [knife] rank12 2168 0.09: [knife,lemon,cutting board] ===(slice)==> [knife,lemon,cutting board] rank13 1203 0.09: [knife,lemon,cutting board] ===(cut)==> [knife,lemon,cutting board] rank14 1154 0.09: [knife] ===(shake)==> [knife] rank15 1093 0.09: [knife] ===(wash)==> [knife] rank16 405 0.09: [cutting board,tomato,knife] ===(cut)==> [tomato,knife] rank17 993 0.08: [knife,tomato,cutting board,bowl] ===(add)==> [knife,tomato,cutting board,bowl] rank18 1706 0.05: [cutting board] ===(wash)==> [cutting board] rank19 905 0.03: [cutting board,tomato] ===(pick + place)==> [cutting board] rank20 1376 0.02: [knife,tomato] ===(cut)==> [knife,tomato] rank21 994 0.02: [knife,tomato] ===(cut out inside)==> [knife,tomato] rank22 907 0.02: [cutting board,tomato,knife] ===(slice)==> [tomato] rank23 906 0.02: [cutting board,tomato,knife] ===(cut)==> [tomato] rank24 1443 0.0: [knife,lemon] ===(cut off ends)==> [knife,lemon] rank25 1202 0.0: [knife,lemon] ===(peel)==> [knife,lemon] rank26 2006 -0.01: [tomato,cutting board] ===(pick + place)==> [tomato,cutting board] rank27 1498 -0.01: [tomato,cutting board] ===(cut)==> [tomato,cutting board] rank28 1994 -0.02: [lemon,cutting board] ===(pick + place)==> [lemon,cutting board] rank29 1514 -0.04: [tomato,cutting board,bowl] ===(pick + place)==> [tomato,cutting board,bowl] rank30 1153 -0.04: [tomato,cutting board,bowl] ===(add)==> [tomato,cutting board,bowl] rank31 483 -0.05: [cutting board,tofu,bowl] ===(pour)==> [bowl,cutting board] rank32 373 -0.05: [bowl,cutting board,cheese] ===(pick + place)==> [bowl,cutting board] rank33 716 -0.08: [lemon,knife] ===(cut)==> [lemon] rank34 256 -0.08: [lemon,knife] ===(slice)==> [lemon] rank35 873 -0.1: [cutting board,cilantro,bowl] ===(pour)==> [bowl] rank36 870 -0.1: [cutting board,garlic,bowl] ===(pour)==> [bowl] rank37 868 -0.1: [cutting board,onion,bowl] ===(pour)==> [bowl] rank38 617 -0.1: [cutting board,bowl,sweet pepper] ===(pick + place)==> [bowl] rank39 950 -0.11: [knife,garlic,bowl] ===(pour)==> [bowl] rank40 1137 -0.15: [tomato] ===(pull apart)==> [tomato] rank41 989 -0.15: [tomato] ===(shake)==> [tomato] rank42 988 -0.15: [tomato] ===(wash)==> [tomato] rank43 1725 -0.18: [lemon] ===(throw away)==> [lemon] rank44 1213 -0.18: [lemon] ===(smell)==> [lemon] rank45 1201 -0.18: [lemon] ===(shake)==> [lemon] rank46 1200 -0.18: [lemon] ===(wash)==> [lemon] rank47 1167 -0.18: [bowl] ===(wash)==> [bowl] rank48 840 -0.18: [bowl] ===(mix)==> [bowl] ------------------------- ------------------------- FU8 NOTINFOON: [cutting board,bread,knife] ===(cut)==> [bread,sandwich] 0: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 1: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 2: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 3: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 4: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 5: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 6: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 7: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 8: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] 9: [precision: 0.6] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:5] For rank 2: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) For rank 9: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 0.0) ===================================================== (sandwich,f:0.67,m:0.45,d:0.14) (plate,f:0.24,m:0.21,d:0.16) (bread,f:0.62,m:0.5,d:0.22) (knife,f:0.43,m:0.65,d:0.33) (turkey,f:1.0,m:0.34,d:0.38) (bowl,f:1.0,m:0.24,d:0.38) (knife,f:0.38,m:0.39,d:0.46) (lemon,f:1.0,m:0.5,d:0.47) (bowl,f:0.29,m:0.62,d:0.56) (tomato,f:0.43,m:0.56,d:0.56) (sandwich,0.3) (plate,0.24) (bread,0.23) (knife,0.15) (turkey,0.08) (bowl,0.06) (knife,0.08) (lemon,0.11) (bowl,0.13) (tomato,0.12) Possible motions by looking up history: 70 rank1 923 0.11: [plate,bread] ===(pick + place)==> [plate,sandwich] rank2 2183 0.05: [knife,bread,plate] ===(cut)==> [knife,bread,plate] rank3 764 0.05: [plate,bread,sugar] ===(sprinkle)==> [bread,plate,sandwich] rank4 920 0.03: [cutting board,sandwich,bread,knife] ===(cut)==> [bread] rank5 342 0.03: [bread,plate] ===(pick + place)==> [bread,plate] rank6 248 0.03: [bread,plate] ===(unwrap)==> [plate,bread] rank7 247 0.03: [plate,bread] ===(pick + place)==> [plate] rank8 1256 -0.01: [plate] ===(wash)==> [plate] rank9 1245 -0.02: [bread] ===(pick + place)==> [bread] rank10 763 -0.02: [bread,spatula,plate] ===(pick + place)==> [plate] rank11 757 -0.02: [bread,plate,bread] ===(pick + place)==> [bread] rank12 756 -0.02: [plate,bread,chocolate] ===(pick + place)==> [bread] rank13 557 -0.02: [plate,bread,bowl,strawberry] ===(pick + place)==> [plate,bread] rank14 556 -0.02: [plate,bread,bowl,syrup] ===(pour)==> [plate,bread] rank15 243 -0.02: [bread] ===(attach)==> [bread] rank16 233 -0.02: [plate,bread,baking tray] ===(pick + place)==> [plate,bread] rank17 146 -0.02: [bread,knife] ===(slice)==> [bread,knife] rank18 70 -0.02: [sandwich,cutting board,knife] ===(cut)==> [sandwich,knife] rank19 552 -0.05: [bread,bowl] ===(flip)==> [bread] rank20 242 -0.05: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank21 917 -0.06: [knife,mayonnaise,bread] ===(spread)==> [bread] rank22 234 -0.06: [cutting board,bread,knife] ===(cut)==> [bread] rank23 220 -0.06: [cutting board,bread,knife] ===(slice)==> [bread] rank24 154 -0.06: [baking tray,bread,knife] ===(unwrap)==> [bread] rank25 551 -0.07: [bread,bowl] ===(pick + place)==> [bread,bowl] rank26 251 -0.07: [bowl,knife,baking tray,bread] ===(spread)==> [bowl,bread] rank27 758 -0.08: [bowl,egg,plate] ===(pour)==> [plate] rank28 1376 -0.09: [knife,tomato] ===(cut)==> [knife,tomato] rank29 994 -0.09: [knife,tomato] ===(cut out inside)==> [knife,tomato] rank30 2825 -0.1: [knife] ===(pick + place)==> [knife] rank31 2822 -0.1: [knife] ===(peel)==> [knife] rank32 2544 -0.1: [knife] ===(test sharpness)==> [knife] rank33 2416 -0.1: [knife] ===(remove)==> [knife] rank34 2398 -0.1: [knife] ===(clean)==> [knife] rank35 1443 -0.1: [knife,lemon] ===(cut off ends)==> [knife,lemon] rank36 1202 -0.1: [knife,lemon] ===(peel)==> [knife,lemon] rank37 1154 -0.1: [knife] ===(shake)==> [knife] rank38 1093 -0.1: [knife] ===(wash)==> [knife] rank39 716 -0.13: [lemon,knife] ===(cut)==> [lemon] rank40 405 -0.13: [cutting board,tomato,knife] ===(cut)==> [tomato,knife] rank41 256 -0.13: [lemon,knife] ===(slice)==> [lemon] rank42 907 -0.15: [cutting board,tomato,knife] ===(slice)==> [tomato] rank43 906 -0.15: [cutting board,tomato,knife] ===(cut)==> [tomato] rank44 1137 -0.16: [tomato] ===(pull apart)==> [tomato] rank45 989 -0.16: [tomato] ===(shake)==> [tomato] rank46 988 -0.16: [tomato] ===(wash)==> [tomato] rank47 1725 -0.17: [lemon] ===(throw away)==> [lemon] rank48 1213 -0.17: [lemon] ===(smell)==> [lemon] rank49 1201 -0.17: [lemon] ===(shake)==> [lemon] rank50 1200 -0.17: [lemon] ===(wash)==> [lemon] ------------------------- ------------------------- FU9 EVALUATED: [bread,plate] ===(pick + place)==> [plate,bread] 0: [precision: 0.75] [recall: 0.75] [overlap: 3] [grTruth:4] [guessed:4] 1: [precision: 0.75] [recall: 0.75] [overlap: 3] [grTruth:4] [guessed:4] 2: [precision: 0.75] [recall: 0.75] [overlap: 3] [grTruth:4] [guessed:4] 3: [precision: 0.75] [recall: 0.75] [overlap: 3] [grTruth:4] [guessed:4] 4: [precision: 1.0] [recall: 1.0] [overlap: 4] [grTruth:4] [guessed:4] 5: [precision: 1.0] [recall: 1.0] [overlap: 4] [grTruth:4] [guessed:4] 6: [precision: 1.0] [recall: 1.0] [overlap: 4] [grTruth:4] [guessed:4] 7: [precision: 1.0] [recall: 1.0] [overlap: 4] [grTruth:4] [guessed:4] 8: [precision: 1.0] [recall: 1.0] [overlap: 4] [grTruth:4] [guessed:4] 9: [precision: 1.0] [recall: 1.0] [overlap: 4] [grTruth:4] [guessed:4] rank-1 221 -1: [cutting board,bread,plate] ===(pick + place)==> [bread,cutting board,plate] rank-1 233 -1: [plate,bread,baking tray] ===(pick + place)==> [plate,bread] rank-1 254 -1: [bread,baking tray,plate] ===(pick + place)==> [plate,bread] rank-1 342 -1: [bread,plate] ===(pick + place)==> [bread,plate] rank-1 477 -1: [bread,plate,beef,spatula] ===(pick + place)==> [bread,plate] rank-1 555 -1: [bread,plate,skillet,spatula] ===(pick + place)==> [plate,bread] rank-1 557 -1: [plate,bread,bowl,strawberry] ===(pick + place)==> [plate,bread] rank-1 755 -1: [plate,bread] ===(pick + place)==> [plate,bread] rank-1 759 -1: [plate,bread] ===(pick + place)==> [plate,bread] rank-1 1226 -1: [bread,cutting board,plate] ===(pick + place)==> [bread,cutting board,plate] rank-1 1228 -1: [plate,bread,counter] ===(pick + place)==> [plate,bread,counter] rank-1 1242 -1: [bread,plate] ===(pick + place)==> [bread,plate] For rank 2: (full: 0.0) (thresh=0.83: 0.0) (thresh=0.8: 0.0) (thresh=0.75: 1.0) For rank 9: (full: 1.0) (thresh=0.83: 1.0) (thresh=0.8: 1.0) (thresh=0.75: 1.0) =====================================================