ehalicki/lewam_eval_pnpt_pi05_frozen

This dataset was created using LeRobot.

Dataset Description

Real-robot evaluation rollouts recorded on a Rebot B601 7-DoF arm, from the LeWAM project. Every episode here is a policy rollout on the physical robot — not a teleoperated demonstration — scored by a human operator immediately after it ran.

• 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.
• Policy: π0.5 (pi05_frozen), LeRobot's pi05 fine-tuned from lerobot/pi05_base with the VLM backbone frozen (train_expert_only=True), predicting a 36-action chunk
• Success rate: 14/30 = 46.7%
• Episodes: 30 · frames: 19265 · fps: 30 · robot time: 10.7 min
• Wall-clock: 29.9 min (median 58s, max 126s per episode) — longer than robot time because inference on this hardware runs slower than real time
• wandb run: j164asgr (eval-pnpt_pi05_frozen)
• Episode cap: 5400 steps — an episode that hits it is scored a failure.

Observations

Three synchronised camera streams (observation.images.zed_left, observation.images.zed_right from a ZED Mini, observation.images.wrist_cam from a wrist-mounted USB camera) plus observation.state. action is the 7-DoF joint command the policy emitted.

Note the policies were served torque-only state (observation.state sliced to *.torq); the observation.state recorded here is the robot's full state vector, so reproducing what the policy actually saw means applying the same slice.

Per-episode scoring

eval_session.json holds the operator's label for each episode:

episode	success	steps	seconds
0	✅	416	39.0
1	❌	250	23.9
2	✅	450	42.0
3	❌	704	64.6
4	✅	200	19.5
5	❌	565	51.7
6	❌	812	74.3
7	❌	668	61.3
8	❌	1334	121.6
9	✅	229	22.1
10	❌	668	61.8
11	❌	794	72.7
12	❌	1208	110.8
13	✅	236	27.4
14	❌	1198	108.8
15	✅	560	53.3
16	❌	920	84.5
17	❌	412	38.1
18	❌	164	16.6
19	✅	848	78.5
20	❌	541	50.1
21	✅	632	58.2
22	✅	602	55.7
23	✅	218	22.1
24	❌	812	76.8
25	❌	902	85.6
26	✅	183	18.2
27	✅	1397	126.5
28	✅	614	57.2
29	✅	758	70.1

• Homepage: https://github.com/erykhalicki/LeWAM
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                21
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "shoulder_pan.torq",
                "shoulder_lift.torq",
                "elbow_flex.torq",
                "wrist_flex.torq",
                "wrist_yaw.torq",
                "wrist_roll.torq",
                "gripper.torq",
                "shoulder_pan.vel",
                "shoulder_lift.vel",
                "elbow_flex.vel",
                "wrist_flex.vel",
                "wrist_yaw.vel",
                "wrist_roll.vel",
                "gripper.vel"
            ]
        },
        "observation.images.zed_left": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 376,
                "video.width": 672,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.zed_right": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 376,
                "video.width": 672,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.wrist_cam": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_yaw.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 30,
    "total_frames": 19265,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": null,
    "splits": {
        "train": "0:30"
    }
}

Citation

BibTeX:

[More Information Needed]