0017-garfield-garlic-bread-New Predicted: (shaker,f:1.0,m:0.8,d:0.17) (knife,f:1.0,m:0.21,d:0.29) (fork,f:1.0,m:0.28,d:0.3) (butter,f:1.0,m:0.02,d:0.38) (bowl,f:1.0,m:0.17,d:0.38) (bread,f:1.0,m:0.01,d:0.41) (baking tray,f:1.0,m:0.02,d:0.5) (bread,f:1.0,m:0.01,d:0.5) (shaker,0.37) (knife,0.18) (fork,0.19) (butter,0.07) (bowl,0.1) (bread,0.05) (baking tray,0.02) (bread,0.02) Possible motions by looking up history: 46 rank1 1634 0.24: [shaker] ===(hold)==> [shaker] rank2 1054 0.24: [shaker] ===(close)==> [shaker] rank3 1052 0.24: [shaker] ===(open)==> [shaker] rank4 1051 0.24: [shaker] ===(read)==> [shaker] rank5 2492 0.03: [fork] ===(wash)==> [fork] rank6 936 0.03: [shaker,pepper,bowl] ===(sprinkle)==> [bowl] rank7 935 0.03: [shaker,salt,bowl] ===(sprinkle)==> [bowl] rank8 2828 0.02: [knife] ===(pick + place)==> [knife] rank9 2825 0.02: [knife] ===(peel)==> [knife] rank10 2547 0.02: [knife] ===(test sharpness)==> [knife] rank11 2419 0.02: [knife] ===(remove)==> [knife] rank12 2401 0.02: [knife] ===(clean)==> [knife] rank13 1157 0.02: [knife] ===(shake)==> [knife] rank14 1096 0.02: [knife] ===(wash)==> [knife] rank15 134 0.0: [bowl,fork] ===(mix)==> [bowl,fork] rank16 542 -0.02: [bowl,fork] ===(mix)==> [bowl] rank17 427 -0.02: [bowl,fork] ===(stir)==> [bowl] rank18 133 -0.02: [bowl,fork] ===(mash)==> [bowl] rank19 146 -0.04: [bread,knife] ===(slice)==> [bread,knife] rank20 230 -0.05: [baking tray,bread,butter,bowl,knife] ===(spread)==> [bread,baking tray] rank21 953 -0.06: [knife,garlic,bowl] ===(pour)==> [bowl] rank22 236 -0.06: [butter,bowl] ===(pick + place)==> [bowl] rank23 2973 -0.07: [butter,bowl] ===(add)==> [butter,bowl] rank24 1629 -0.07: [butter,bowl] ===(spread)==> [butter,bowl] rank25 242 -0.07: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank26 100 -0.07: [butter,bowl] ===(pick + place)==> [bowl,butter] rank27 1170 -0.08: [bowl] ===(wash)==> [bowl] rank28 843 -0.08: [bowl] ===(mix)==> [bowl] rank29 154 -0.08: [baking tray,bread,knife] ===(unwrap)==> [bread] rank30 545 -0.09: [bread,bowl] ===(pick + place)==> [bread,bowl] rank31 920 -0.1: [knife,mayonnaise,bread] ===(spread)==> [bread] rank32 734 -0.1: [bowl,butter,spoon] ===(scoop)==> [bowl,butter] rank33 546 -0.1: [bread,bowl] ===(flip)==> [bread] rank34 234 -0.1: [cutting board,bread,knife] ===(cut)==> [bread] rank35 220 -0.1: [cutting board,bread,knife] ===(slice)==> [bread] rank36 826 -0.12: [baking tray,bowl] ===(pour)==> [baking tray,bowl] rank37 1248 -0.14: [bread] ===(pick + place)==> [bread] rank38 243 -0.14: [bread] ===(attach)==> [bread] rank39 151 -0.14: [baking tray,bread] ===(wrap)==> [bread] rank40 106 -0.14: [bowl,baking tray] ===(roll)==> [bowl,baking tray,peanut butter] rank41 150 -0.15: [baking tray,bread] ===(pick + place)==> [baking tray,bread] rank42 921 -0.16: [cutting board,bread,bread] ===(pick + place)==> [bread] rank43 760 -0.16: [bread,plate,bread] ===(pick + place)==> [bread] rank44 523 -0.16: [baking tray,bowl,sweet potato] ===(pick + place)==> [baking tray] rank45 153 -0.16: [baking tray,baking tray,bread] ===(bake)==> [bread] rank46 2240 -0.18: [baking tray] ===(wash)==> [baking tray] ------------------------- ------------------------- FU1 NOTINFOON: [bowl,shaker,garlic salt] ===(shake)==> [bowl] 0: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 1: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 2: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 3: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 4: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 5: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 6: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 7: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 8: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 9: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:4] [guessed:0] 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) ===================================================== (fork,f:0.69,m:0.73,d:0.26) (shaker,f:1.0,m:0.18,d:0.27) (butter,f:0.99,m:0.38,d:0.28) (bowl,f:1.0,m:0.21,d:0.28) (knife,f:1.0,m:0.31,d:0.34) (bread,f:1.0,m:0.01,d:0.43) (baking tray,f:1.0,m:0.04,d:0.5) (bread,f:1.0,m:0.02,d:0.5) (fork,0.36) (shaker,0.22) (butter,0.21) (bowl,0.18) (knife,0.07) (bread,0.01) (baking tray,0.02) (bread,0.01) Possible motions by looking up history: 46 rank1 134 0.24: [bowl,fork] ===(mix)==> [bowl,fork] rank2 2492 0.22: [fork] ===(wash)==> [fork] rank3 542 0.2: [bowl,fork] ===(mix)==> [bowl] rank4 427 0.2: [bowl,fork] ===(stir)==> [bowl] rank5 133 0.2: [bowl,fork] ===(mash)==> [bowl] rank6 2973 0.1: [butter,bowl] ===(add)==> [butter,bowl] rank7 1629 0.1: [butter,bowl] ===(spread)==> [butter,bowl] rank8 100 0.1: [butter,bowl] ===(pick + place)==> [bowl,butter] rank9 236 0.09: [butter,bowl] ===(pick + place)==> [bowl] rank10 1634 0.05: [shaker] ===(hold)==> [shaker] rank11 1054 0.05: [shaker] ===(close)==> [shaker] rank12 1052 0.05: [shaker] ===(open)==> [shaker] rank13 1051 0.05: [shaker] ===(read)==> [shaker] rank14 734 0.05: [bowl,butter,spoon] ===(scoop)==> [bowl,butter] rank15 936 0.01: [shaker,pepper,bowl] ===(sprinkle)==> [bowl] rank16 935 0.01: [shaker,salt,bowl] ===(sprinkle)==> [bowl] rank17 1170 0.0: [bowl] ===(wash)==> [bowl] rank18 843 0.0: [bowl] ===(mix)==> [bowl] rank19 953 -0.04: [knife,garlic,bowl] ===(pour)==> [bowl] rank20 230 -0.06: [baking tray,bread,butter,bowl,knife] ===(spread)==> [bread,baking tray] rank21 826 -0.08: [baking tray,bowl] ===(pour)==> [baking tray,bowl] rank22 545 -0.08: [bread,bowl] ===(pick + place)==> [bread,bowl] rank23 106 -0.1: [bowl,baking tray] ===(roll)==> [bowl,baking tray,peanut butter] rank24 546 -0.12: [bread,bowl] ===(flip)==> [bread] rank25 2828 -0.13: [knife] ===(pick + place)==> [knife] rank26 2825 -0.13: [knife] ===(peel)==> [knife] rank27 2547 -0.13: [knife] ===(test sharpness)==> [knife] rank28 2419 -0.13: [knife] ===(remove)==> [knife] rank29 2401 -0.13: [knife] ===(clean)==> [knife] rank30 1157 -0.13: [knife] ===(shake)==> [knife] rank31 1096 -0.13: [knife] ===(wash)==> [knife] rank32 242 -0.13: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank33 523 -0.14: [baking tray,bowl,sweet potato] ===(pick + place)==> [baking tray] rank34 146 -0.16: [bread,knife] ===(slice)==> [bread,knife] rank35 154 -0.17: [baking tray,bread,knife] ===(unwrap)==> [bread] rank36 2240 -0.19: [baking tray] ===(wash)==> [baking tray] rank37 920 -0.19: [knife,mayonnaise,bread] ===(spread)==> [bread] rank38 234 -0.19: [cutting board,bread,knife] ===(cut)==> [bread] rank39 220 -0.19: [cutting board,bread,knife] ===(slice)==> [bread] rank40 150 -0.19: [baking tray,bread] ===(pick + place)==> [baking tray,bread] rank41 1248 -0.2: [bread] ===(pick + place)==> [bread] rank42 243 -0.2: [bread] ===(attach)==> [bread] rank43 151 -0.2: [baking tray,bread] ===(wrap)==> [bread] rank44 921 -0.21: [cutting board,bread,bread] ===(pick + place)==> [bread] rank45 760 -0.21: [bread,plate,bread] ===(pick + place)==> [bread] rank46 153 -0.21: [baking tray,baking tray,bread] ===(bake)==> [bread] ------------------------- ------------------------- FU2 EVALUATED: [fork,bowl] ===(mix)==> [bowl] 0: [precision: 0.75] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:4] 1: [precision: 0.75] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:4] 2: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] 3: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] 4: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] 5: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] 6: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] 7: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] 8: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] 9: [precision: 1.0] [recall: 1.0] [overlap: 3] [grTruth:3] [guessed:3] rank-1 134 -1: [bowl,fork] ===(mix)==> [bowl,fork] rank-1 542 -1: [bowl,fork] ===(mix)==> [bowl] rank-1 657 -1: [bowl,fork] ===(mix)==> [bowl] For rank 2: (full: 1.0) (thresh=0.83: 1.0) (thresh=0.8: 1.0) (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) ===================================================== (knife,f:0.64,m:0.7,d:0.18) (shaker,f:0.89,m:0.18,d:0.18) (bread,f:1.0,m:0.27,d:0.27) (fork,f:1.0,m:0.11,d:0.32) (butter,f:0.82,m:0.08,d:0.37) (bowl,f:1.0,m:0.1,d:0.37) (baking tray,f:1.0,m:0.04,d:0.56) (bread,f:1.0,m:0.03,d:0.56) (knife,0.35) (shaker,0.25) (bread,0.19) (fork,0.09) (butter,0.05) (bowl,0.05) (baking tray,0.02) (bread,0.02) Possible motions by looking up history: 46 rank1 2828 0.22: [knife] ===(pick + place)==> [knife] rank2 2825 0.22: [knife] ===(peel)==> [knife] rank3 2547 0.22: [knife] ===(test sharpness)==> [knife] rank4 2419 0.22: [knife] ===(remove)==> [knife] rank5 2401 0.22: [knife] ===(clean)==> [knife] rank6 1157 0.22: [knife] ===(shake)==> [knife] rank7 1096 0.22: [knife] ===(wash)==> [knife] rank8 146 0.18: [bread,knife] ===(slice)==> [bread,knife] rank9 154 0.11: [baking tray,bread,knife] ===(unwrap)==> [bread] rank10 1634 0.1: [shaker] ===(hold)==> [shaker] rank11 1054 0.1: [shaker] ===(close)==> [shaker] rank12 1052 0.1: [shaker] ===(open)==> [shaker] rank13 1051 0.1: [shaker] ===(read)==> [shaker] rank14 920 0.08: [knife,mayonnaise,bread] ===(spread)==> [bread] rank15 242 0.08: [bowl,knife,cutting board,bread] ===(spread)==> [bread] rank16 234 0.08: [cutting board,bread,knife] ===(cut)==> [bread] rank17 220 0.08: [cutting board,bread,knife] ===(slice)==> [bread] rank18 230 0.05: [baking tray,bread,butter,bowl,knife] ===(spread)==> [bread,baking tray] rank19 1248 0.03: [bread] ===(pick + place)==> [bread] rank20 243 0.03: [bread] ===(attach)==> [bread] rank21 546 0.0: [bread,bowl] ===(flip)==> [bread] rank22 151 -0.01: [baking tray,bread] ===(wrap)==> [bread] rank23 953 -0.03: [knife,garlic,bowl] ===(pour)==> [bowl] rank24 545 -0.03: [bread,bowl] ===(pick + place)==> [bread,bowl] rank25 921 -0.04: [cutting board,bread,bread] ===(pick + place)==> [bread] rank26 760 -0.04: [bread,plate,bread] ===(pick + place)==> [bread] rank27 153 -0.04: [baking tray,baking tray,bread] ===(bake)==> [bread] rank28 150 -0.05: [baking tray,bread] ===(pick + place)==> [baking tray,bread] rank29 936 -0.08: [shaker,pepper,bowl] ===(sprinkle)==> [bowl] rank30 935 -0.08: [shaker,salt,bowl] ===(sprinkle)==> [bowl] rank31 2492 -0.1: [fork] ===(wash)==> [fork] rank32 134 -0.1: [bowl,fork] ===(mix)==> [bowl,fork] rank33 542 -0.11: [bowl,fork] ===(mix)==> [bowl] rank34 427 -0.11: [bowl,fork] ===(stir)==> [bowl] rank35 133 -0.11: [bowl,fork] ===(mash)==> [bowl] rank36 2973 -0.12: [butter,bowl] ===(add)==> [butter,bowl] rank37 1629 -0.12: [butter,bowl] ===(spread)==> [butter,bowl] rank38 236 -0.12: [butter,bowl] ===(pick + place)==> [bowl] rank39 100 -0.12: [butter,bowl] ===(pick + place)==> [bowl,butter] rank40 1170 -0.14: [bowl] ===(wash)==> [bowl] rank41 843 -0.14: [bowl] ===(mix)==> [bowl] rank42 734 -0.14: [bowl,butter,spoon] ===(scoop)==> [bowl,butter] rank43 826 -0.16: [baking tray,bowl] ===(pour)==> [baking tray,bowl] rank44 106 -0.17: [bowl,baking tray] ===(roll)==> [bowl,baking tray,peanut butter] rank45 2240 -0.18: [baking tray] ===(wash)==> [baking tray] rank46 523 -0.18: [baking tray,bowl,sweet potato] ===(pick + place)==> [baking tray] ------------------------- ------------------------- FU3 NOTINFOON: [bowl,knife,baking tray,bread] ===(spread)==> [bowl,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: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 4: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 5: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 6: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 7: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 8: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 9: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:6] [guessed:0] 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) ===================================================== (bread,f:0.67,m:0.39,d:0.23) (baking tray,f:0.88,m:0.32,d:0.29) (oven,f:1.0,m:0.1,d:0.5) (bread,0.29) (baking tray,0.2) (oven,0.03) Possible motions by looking up history: 23 rank1 151 0.34: [baking tray,bread] ===(wrap)==> [bread] rank2 150 0.32: [baking tray,bread] ===(pick + place)==> [baking tray,bread] rank3 154 0.29: [baking tray,bread,knife] ===(unwrap)==> [bread] rank4 153 0.29: [baking tray,baking tray,bread] ===(bake)==> [bread] rank5 1248 0.24: [bread] ===(pick + place)==> [bread] rank6 243 0.24: [bread] ===(attach)==> [bread] rank7 232 0.2: [bread,oven,baking tray] ===(cook)==> [oven,bread] rank8 231 0.2: [oven,baking tray,bread] ===(pick + place)==> [bread,oven] rank9 2240 0.14: [baking tray] ===(wash)==> [baking tray] rank10 246 0.14: [bread,oven] ===(bake)==> [oven,bread] rank11 157 0.14: [oven] ===(bake)==> [bread] rank12 152 0.13: [baking tray,bread,oven] ===(pick + place)==> [oven] rank13 1309 0.07: [baking tray,oven] ===(remove)==> [baking tray,oven] rank14 828 0.07: [baking tray,oven] ===(bake)==> [baking tray,oven] rank15 525 0.04: [baking tray,oven] ===(bake)==> [oven,baking tray,fries] rank16 524 0.02: [baking tray,oven] ===(pick + place)==> [oven] rank17 257 -0.0: [rib,baking tray,oven] ===(pick + place)==> [oven] rank18 2736 -0.07: [oven] ===(turn off)==> [oven] rank19 1788 -0.07: [oven] ===(open-close)==> [oven] rank20 1646 -0.07: [oven] ===(open)==> [oven] rank21 1520 -0.07: [oven] ===(close)==> [oven] rank22 1484 -0.07: [oven] ===(change temperature)==> [oven] rank23 276 -0.07: [oven] ===(turn on)==> [oven] ------------------------- ------------------------- FU4 EVALUATED: [baking tray,bread,oven] ===(pick + place)==> [bread,oven] 0: [precision: 0.0] [recall: 0.0] [overlap: 0] [grTruth:5] [guessed:0] 1: [precision: 0.75] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:4] 2: [precision: 0.75] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:4] 3: [precision: 0.75] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:4] 4: [precision: 0.75] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:4] 5: [precision: 0.75] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:4] 6: [precision: 0.75] [recall: 0.6] [overlap: 3] [grTruth:5] [guessed:4] 7: [precision: 1.0] [recall: 1.0] [overlap: 5] [grTruth:5] [guessed:5] 8: [precision: 1.0] [recall: 1.0] [overlap: 5] [grTruth:5] [guessed:5] 9: [precision: 1.0] [recall: 1.0] [overlap: 5] [grTruth:5] [guessed:5] rank-1 231 -1: [oven,baking tray,bread] ===(pick + place)==> [bread,oven] 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: 1.0) (thresh=0.83: 1.0) (thresh=0.8: 1.0) (thresh=0.75: 1.0) =====================================================