LeWAM real-robot evaluations
Collection
Human-scored 30-trial policy rollouts on a Rebot B601 arm: Pick and Place T, Push-T, Tape Stack. • 12 items • Updated
Datasets:
30 episodes · 30 fps · 3 cameras · 672×376 h264
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: tape stack (
b601_tape_stack): the arm stacks the green roll of tape on the white roll of tape. Trained onehalicki/b601_tape_stack. - Policy: LeWAM self-supervised WAM (
selfwam_mot_mse), a mixture-of-transformers ViT predictor trained jointly on the action chunk and the future scene/wrist/state latents, with the vision encoder fine-tuned end to end - Success rate: 6/30 = 20.0%
- Episodes: 30 · frames: 37079 · fps: 30 · robot time: 20.6 min
- Wall-clock: 33.5 min (median 67s, max 156s per episode) — longer than robot time because inference on this hardware runs slower than real time
- wandb run:
j612evxk(eval-selfwam_mot_mse_b601_tape_stack) - 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 | ❌ | 2426 | 115.5 |
| 1 | ❌ | 2874 | 138.0 |
| 2 | ❌ | 2326 | 112.7 |
| 3 | ❌ | 776 | 44.4 |
| 4 | ❌ | 1298 | 83.5 |
| 5 | ❌ | 2249 | 111.4 |
| 6 | ❌ | 974 | 48.1 |
| 7 | ❌ | 2132 | 103.3 |
| 8 | ✅ | 218 | 15.1 |
| 9 | ✅ | 182 | 10.7 |
| 10 | ❌ | 1328 | 65.8 |
| 11 | ❌ | 1640 | 80.9 |
| 12 | ❌ | 720 | 35.9 |
| 13 | ❌ | 925 | 68.9 |
| 14 | ❌ | 506 | 25.8 |
| 15 | ❌ | 1377 | 67.4 |
| 16 | ✅ | 420 | 22.0 |
| 17 | ✅ | 338 | 18.0 |
| 18 | ❌ | 1258 | 64.2 |
| 19 | ✅ | 326 | 17.5 |
| 20 | ❌ | 946 | 54.7 |
| 21 | ❌ | 2162 | 105.1 |
| 22 | ❌ | 758 | 155.6 |
| 23 | ❌ | 1624 | 78.3 |
| 24 | ❌ | 1424 | 70.0 |
| 25 | ✅ | 164 | 9.5 |
| 26 | ❌ | 1449 | 73.9 |
| 27 | ❌ | 2464 | 120.4 |
| 28 | ❌ | 1175 | 58.0 |
| 29 | ❌ | 650 | 35.6 |
- Homepage: https://github.com/erykhalicki/LeWAM
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"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": 37079,
"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]
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