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lewam_eval_pnpt_pi05_frozen

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eval rollouts from wandb run j164asgr

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  1. README.md +296 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. eval_session.json +185 -0
  4. meta/episodes/chunk-000/file-000.parquet +3 -0
  5. meta/info.json +184 -0
  6. meta/stats.json +934 -0
  7. meta/tasks.parquet +3 -0
  8. videos/observation.images.wrist_cam/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.zed_left/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.zed_right/chunk-000/file-000.mp4 +3 -0
README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - robotics
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+ - b601
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+ - lewam
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+ - eval
11
+ - real-robot
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+ - pnpt
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
16
+ ---
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+
18
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
19
+
20
+
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+ <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=ehalicki/lewam_eval_pnpt_pi05_frozen">
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+ <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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+ <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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+ </a>
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+
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+
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+ ## Dataset Description
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+
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+
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+ Real-robot evaluation rollouts recorded on a **Rebot B601** 7-DoF arm, from the LeWAM
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+ project. Every episode here is a policy rollout on the physical robot — not a
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+ teleoperated demonstration — scored by a human operator immediately after it ran.
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+
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+ - **Task:** **pick-and-place T** (`b601_pnpt`): the arm picks up a T-shaped block and places it onto its outline. Trained on [`ehalicki/b601_pusht_pick_and_place`](https://huggingface.co/datasets/ehalicki/b601_pusht_pick_and_place).
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+ - **Policy:** **π0.5** (`pi05_frozen`), LeRobot's `pi05` fine-tuned from [`lerobot/pi05_base`](https://huggingface.co/lerobot/pi05_base) with the VLM backbone **frozen** (`train_expert_only=True`), predicting a 36-action chunk
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+ - **Success rate:** **14/30 = 46.7%**
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+ - **Episodes:** 30 · **frames:** 19265 ·
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+ **fps:** 30 · **robot time:** 10.7 min
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+ - **Wall-clock:** 29.9 min
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+ (median 58s, max 126s per episode) — longer
41
+ than robot time because inference on this hardware runs slower than real time
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+ - **wandb run:** [`j164asgr`](https://wandb.ai/halicki/lewam-testing/runs/j164asgr)
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+ (`eval-pnpt_pi05_frozen`)
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+ - **Episode cap:** 5400 steps — an episode that hits it is scored a failure.
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+
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+ ### Observations
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+
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+ Three synchronised camera streams (`observation.images.zed_left`,
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+ `observation.images.zed_right` from a ZED Mini, `observation.images.wrist_cam` from a
50
+ wrist-mounted USB camera) plus `observation.state`. `action` is the 7-DoF joint command
51
+ the policy emitted.
52
+
53
+ Note the policies were served **torque-only** state (`observation.state` sliced to
54
+ `*.torq`); the `observation.state` recorded here is the robot's full state vector, so
55
+ reproducing what the policy actually saw means applying the same slice.
56
+
57
+ ### Per-episode scoring
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+
59
+ `eval_session.json` holds the operator's label for each episode:
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+
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+ | episode | success | steps | seconds |
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+ |---|---|---|---|
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+ | 0 | ✅ | 416 | 39.0 |
64
+ | 1 | ❌ | 250 | 23.9 |
65
+ | 2 | ✅ | 450 | 42.0 |
66
+ | 3 | ❌ | 704 | 64.6 |
67
+ | 4 | ✅ | 200 | 19.5 |
68
+ | 5 | ❌ | 565 | 51.7 |
69
+ | 6 | ❌ | 812 | 74.3 |
70
+ | 7 | ❌ | 668 | 61.3 |
71
+ | 8 | ❌ | 1334 | 121.6 |
72
+ | 9 | ✅ | 229 | 22.1 |
73
+ | 10 | ❌ | 668 | 61.8 |
74
+ | 11 | ❌ | 794 | 72.7 |
75
+ | 12 | ❌ | 1208 | 110.8 |
76
+ | 13 | ✅ | 236 | 27.4 |
77
+ | 14 | ❌ | 1198 | 108.8 |
78
+ | 15 | ✅ | 560 | 53.3 |
79
+ | 16 | ❌ | 920 | 84.5 |
80
+ | 17 | ❌ | 412 | 38.1 |
81
+ | 18 | ❌ | 164 | 16.6 |
82
+ | 19 | ✅ | 848 | 78.5 |
83
+ | 20 | ❌ | 541 | 50.1 |
84
+ | 21 | ✅ | 632 | 58.2 |
85
+ | 22 | ✅ | 602 | 55.7 |
86
+ | 23 | ✅ | 218 | 22.1 |
87
+ | 24 | ❌ | 812 | 76.8 |
88
+ | 25 | ❌ | 902 | 85.6 |
89
+ | 26 | ✅ | 183 | 18.2 |
90
+ | 27 | ✅ | 1397 | 126.5 |
91
+ | 28 | ✅ | 614 | 57.2 |
92
+ | 29 | ✅ | 758 | 70.1 |
93
+
94
+
95
+ - **Homepage:** https://github.com/erykhalicki/LeWAM
96
+ - **Paper:** [More Information Needed]
97
+ - **License:** apache-2.0
98
+
99
+ ## Dataset Structure
100
+
101
+ [meta/info.json](meta/info.json):
102
+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "fps": 30,
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+ "features": {
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+ "observation.state": {
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+ "shape": [
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+ ],
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+ "names": [
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+ "shoulder_pan.pos",
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+ "shoulder_lift.pos",
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+ "elbow_flex.pos",
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+ "wrist_flex.pos",
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+ "wrist_yaw.pos",
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+ "wrist_roll.pos",
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+ "gripper.pos",
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+ "shoulder_pan.torq",
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+ "shoulder_lift.torq",
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+ "elbow_flex.torq",
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+ "wrist_flex.torq",
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+ "wrist_yaw.torq",
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+ "wrist_roll.torq",
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+ "gripper.torq",
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+ "shoulder_pan.vel",
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+ "shoulder_lift.vel",
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+ "elbow_flex.vel",
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+ "wrist_flex.vel",
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+ "wrist_yaw.vel",
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+ "wrist_roll.vel",
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+ "gripper.vel"
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+ ]
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+ },
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+ "observation.images.zed_left": {
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+ "dtype": "video",
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "is_depth_map": false,
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+ "video.width": 672,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false,
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+ "video.g": 2,
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+ "video.crf": 30,
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+ "video.preset": null,
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+ "video.fast_decode": 0,
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+ "video.video_backend": "pyav",
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+ "video.crf": 30,
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+ "video.fast_decode": 0,
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+ "video.video_backend": "pyav",
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+ "video.extra_options": {}
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+ }
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "shoulder_pan.pos",
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+ "shoulder_lift.pos",
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+ "elbow_flex.pos",
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+ "wrist_flex.pos",
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+ "wrist_yaw.pos",
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+ "wrist_roll.pos",
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+ "gripper.pos"
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+ ]
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+ },
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ },
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+ "total_episodes": 30,
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+ "total_frames": 19265,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 200,
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "robot_type": null,
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+ "splits": {
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+ "train": "0:30"
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+ }
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+ }
287
+ ```
288
+
289
+
290
+ ## Citation
291
+
292
+ **BibTeX:**
293
+
294
+ ```bibtex
295
+ [More Information Needed]
296
+ ```
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+ "wrist_flex.torq",
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+ "wrist_yaw.torq",
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+ "wrist_roll.torq",
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+ "gripper.torq",
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