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robotics

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evaluation

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test

The dataset viewer is not available for this split.

Cannot load the dataset split (in streaming mode) to extract the first rows.

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
metric_schema_version: string
metadata: struct<policy_name: string, base_seed: null, seed_policy: null, randomization_recorded: null, n_epis (... 1159 chars omitted)
  child 0, policy_name: string
  child 1, base_seed: null
  child 2, seed_policy: null
  child 3, randomization_recorded: null
  child 4, n_episodes: null
  child 5, successes: null
  child 6, error_count: null
  child 7, evaluation_protocol: null
  child 8, early_stop: null
  child 9, success_definition: null
  child 10, measurement_window: null
  child 11, max_episode_steps: null
  child 12, dwell_time_s: null
  child 13, field_semantics: struct<success_rate: string, avg_time_to_success_s: string, task_efficiency: string, avg_steps_to_su (... 851 chars omitted)
      child 0, success_rate: string
      child 1, avg_time_to_success_s: string
      child 2, task_efficiency: string
      child 3, avg_steps_to_success: string
      child 4, avg_policy_steps_to_success: string
      child 5, avg_policy_queries_to_success: string
      child 6, safe_success_rate: string
      child 7, hard_violation_rate: string
      child 8, drop_rate: string
      child 9, high_speed_violation_rate: string
      child 10, excessive_impact_rate: string
      child 11, robot_constraint_violation_rate: string
      child 12, finger_joint_limit_saturation_rate: string
      child 13, joint_limit_active_step_rate: string
      child 14, finger_joint_limit_saturation_step_rate: string
      child 15, max_joint_limit_excess_rad: string
 
...
, joint_effort_rm (... 8 chars omitted)
  child 0, joint_velocity_rms: null
  child 1, joint_acceleration_rms: null
  child 2, joint_jerk_rms: null
  child 3, joint_effort_rms: null
normalized_progress_score: null
first_success_step: null
chain_depth_progress_score: null
kinematic_grasp_stability_index: null
stable_success_step: null
episode_violation_rate: null
violation_counts: struct<drop_to_table_obj_194_wineglass_1: null, drop_to_table_obj_194_wineglass_2: null>
  child 0, drop_to_table_obj_194_wineglass_1: null
  child 1, drop_to_table_obj_194_wineglass_2: null
robot_constraint_violation: null
max_episode_steps: null
task_efficiency: null
steps_to_stable_success: null
expert_time_s: null
stage_first_completion_step: struct<place_first_glass: null, place_second_glass: null>
  child 0, place_first_glass: null
  child 1, place_second_glass: null
safety_violation_rate_event: null
perturbation_axis: string
joint_limit_active_step_rate: null
episode_seed: null
error: null
dwell_time_s: null
stage_completion_rate: null
robot_key: null
safety_violation_step_rate: null
policy_query_count: null
safety_violation_rate_time: null
excessive_impact_violation: null
latched_stage_completion_rate: null
max_joint_limit_excess_rad: null
at_end_success_observed: null
timeseries: null
terminal_success_rate: null
current_stage_completion: struct<place_first_glass: null, place_second_glass: null>
  child 0, place_first_glass: null
  child 1, place_second_glass: null
at_end_success_budget: null
to
{'scene': Value('string'), 'episode_index': Value('null'), 'seed': Value('null'), 'success': Value('null'), 'steps': Value('null'), 'metric_schema_version': Value('string'), 'error': Value('null'), 'episode_seed': Value('null'), 'base_seed': Value('null'), 'seed_policy': Value('null'), 'scene_generalization_sample': {'robot_key': Value('null'), 'appearance': {'background': {'enabled': Value('null'), 'clean_background': Value('null'), 'intensity': Value('null'), 'yaw_deg': Value('null'), 'base_yaw_deg': Value('null'), 'flip_180_applied': Value('null'), 'physics_enabled': Value('null'), 'fill_light_intensity': Value('null'), 'fill_light_jitter_ratio': Value('null'), 'asset_kind': Value('null'), 'asset_category': Value('null'), 'asset_id': Value('null'), 'asset_split': Value('null'), 'asset_pool_size': Value('null'), 'asset_uri': Value('null'), 'scene_offset': List(Value('null'))}, 'table_surface': {'enabled': Value('null'), 'clean_surface': Value('null'), 'asset_name': Value('null'), 'asset_uri': Value('null'), 'asset_category': Value('null'), 'asset_id': Value('null'), 'asset_split': Value('null'), 'asset_pool_size': Value('null')}, 'usd_scene_light': {'enabled': Value('null'), 'distant': {'intensity': Value('null'), 'color': List(Value('null')), 'pitch_deg': Value('null'), 'yaw_deg': Value('null'), 'angle_deg': Value('null')}, 'dome': {'intensity': Value('null'), 'color': List(Value('null')), 'exposure': Value('null')}, 'profile_name': Value('null'), 'profile_split': Value('n
...
 List(Value('null'))}), 'joint_limit_active_steps': Value('null'), 'joint_limit_hard_episode_events': Value('null'), 'joint_limit_in_core_safety': Value('null'), 'finger_joint_limit_saturation_steps': Value('null'), 'max_joint_limit_excess_rad': Value('null'), 'max_joint_limit_excess_joint': Value('null'), 'joint_role_manifest_available': Value('null'), 'joint_role_manifest_robot_key': Value('null'), 'joint_limit_hard_source_available': Value('null'), 'joint_limit_soft_source': Value('null'), 'joint_limit_hard_source': Value('null')}, 'joint_limit_active_steps': Value('null'), 'joint_limit_active_step_rate': Value('null'), 'finger_joint_limit_saturation_steps': Value('null'), 'finger_joint_limit_saturation_step_rate': Value('null'), 'max_joint_limit_excess_rad': Value('null'), 'max_joint_limit_excess_joint': Value('null'), 'stage_completion': {'place_first_glass': Value('null'), 'place_second_glass': Value('null')}, 'current_stage_completion': {'place_first_glass': Value('null'), 'place_second_glass': Value('null')}, 'stage_first_completion_step': {'place_first_glass': Value('null'), 'place_second_glass': Value('null')}, 'violation_counts': {'drop_to_table_obj_194_wineglass_1': Value('null'), 'drop_to_table_obj_194_wineglass_2': Value('null')}, 'policy_query_count': Value('null'), 'terminated_reason': Value('null'), 'timeseries': Value('null'), 'evaluation_protocol': Value('null'), 'early_stop': Value('null'), 'max_episode_steps': Value('null'), 'dwell_time_s': Value('null')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              metric_schema_version: string
              metadata: struct<policy_name: string, base_seed: null, seed_policy: null, randomization_recorded: null, n_epis (... 1159 chars omitted)
                child 0, policy_name: string
                child 1, base_seed: null
                child 2, seed_policy: null
                child 3, randomization_recorded: null
                child 4, n_episodes: null
                child 5, successes: null
                child 6, error_count: null
                child 7, evaluation_protocol: null
                child 8, early_stop: null
                child 9, success_definition: null
                child 10, measurement_window: null
                child 11, max_episode_steps: null
                child 12, dwell_time_s: null
                child 13, field_semantics: struct<success_rate: string, avg_time_to_success_s: string, task_efficiency: string, avg_steps_to_su (... 851 chars omitted)
                    child 0, success_rate: string
                    child 1, avg_time_to_success_s: string
                    child 2, task_efficiency: string
                    child 3, avg_steps_to_success: string
                    child 4, avg_policy_steps_to_success: string
                    child 5, avg_policy_queries_to_success: string
                    child 6, safe_success_rate: string
                    child 7, hard_violation_rate: string
                    child 8, drop_rate: string
                    child 9, high_speed_violation_rate: string
                    child 10, excessive_impact_rate: string
                    child 11, robot_constraint_violation_rate: string
                    child 12, finger_joint_limit_saturation_rate: string
                    child 13, joint_limit_active_step_rate: string
                    child 14, finger_joint_limit_saturation_step_rate: string
                    child 15, max_joint_limit_excess_rad: string
               
              ...
              , joint_effort_rm (... 8 chars omitted)
                child 0, joint_velocity_rms: null
                child 1, joint_acceleration_rms: null
                child 2, joint_jerk_rms: null
                child 3, joint_effort_rms: null
              normalized_progress_score: null
              first_success_step: null
              chain_depth_progress_score: null
              kinematic_grasp_stability_index: null
              stable_success_step: null
              episode_violation_rate: null
              violation_counts: struct<drop_to_table_obj_194_wineglass_1: null, drop_to_table_obj_194_wineglass_2: null>
                child 0, drop_to_table_obj_194_wineglass_1: null
                child 1, drop_to_table_obj_194_wineglass_2: null
              robot_constraint_violation: null
              max_episode_steps: null
              task_efficiency: null
              steps_to_stable_success: null
              expert_time_s: null
              stage_first_completion_step: struct<place_first_glass: null, place_second_glass: null>
                child 0, place_first_glass: null
                child 1, place_second_glass: null
              safety_violation_rate_event: null
              perturbation_axis: string
              joint_limit_active_step_rate: null
              episode_seed: null
              error: null
              dwell_time_s: null
              stage_completion_rate: null
              robot_key: null
              safety_violation_step_rate: null
              policy_query_count: null
              safety_violation_rate_time: null
              excessive_impact_violation: null
              latched_stage_completion_rate: null
              max_joint_limit_excess_rad: null
              at_end_success_observed: null
              timeseries: null
              terminal_success_rate: null
              current_stage_completion: struct<place_first_glass: null, place_second_glass: null>
                child 0, place_first_glass: null
                child 1, place_second_glass: null
              at_end_success_budget: null
              to
              {'scene': Value('string'), 'episode_index': Value('null'), 'seed': Value('null'), 'success': Value('null'), 'steps': Value('null'), 'metric_schema_version': Value('string'), 'error': Value('null'), 'episode_seed': Value('null'), 'base_seed': Value('null'), 'seed_policy': Value('null'), 'scene_generalization_sample': {'robot_key': Value('null'), 'appearance': {'background': {'enabled': Value('null'), 'clean_background': Value('null'), 'intensity': Value('null'), 'yaw_deg': Value('null'), 'base_yaw_deg': Value('null'), 'flip_180_applied': Value('null'), 'physics_enabled': Value('null'), 'fill_light_intensity': Value('null'), 'fill_light_jitter_ratio': Value('null'), 'asset_kind': Value('null'), 'asset_category': Value('null'), 'asset_id': Value('null'), 'asset_split': Value('null'), 'asset_pool_size': Value('null'), 'asset_uri': Value('null'), 'scene_offset': List(Value('null'))}, 'table_surface': {'enabled': Value('null'), 'clean_surface': Value('null'), 'asset_name': Value('null'), 'asset_uri': Value('null'), 'asset_category': Value('null'), 'asset_id': Value('null'), 'asset_split': Value('null'), 'asset_pool_size': Value('null')}, 'usd_scene_light': {'enabled': Value('null'), 'distant': {'intensity': Value('null'), 'color': List(Value('null')), 'pitch_deg': Value('null'), 'yaw_deg': Value('null'), 'angle_deg': Value('null')}, 'dome': {'intensity': Value('null'), 'color': List(Value('null')), 'exposure': Value('null')}, 'profile_name': Value('null'), 'profile_split': Value('n
              ...
               List(Value('null'))}), 'joint_limit_active_steps': Value('null'), 'joint_limit_hard_episode_events': Value('null'), 'joint_limit_in_core_safety': Value('null'), 'finger_joint_limit_saturation_steps': Value('null'), 'max_joint_limit_excess_rad': Value('null'), 'max_joint_limit_excess_joint': Value('null'), 'joint_role_manifest_available': Value('null'), 'joint_role_manifest_robot_key': Value('null'), 'joint_limit_hard_source_available': Value('null'), 'joint_limit_soft_source': Value('null'), 'joint_limit_hard_source': Value('null')}, 'joint_limit_active_steps': Value('null'), 'joint_limit_active_step_rate': Value('null'), 'finger_joint_limit_saturation_steps': Value('null'), 'finger_joint_limit_saturation_step_rate': Value('null'), 'max_joint_limit_excess_rad': Value('null'), 'max_joint_limit_excess_joint': Value('null'), 'stage_completion': {'place_first_glass': Value('null'), 'place_second_glass': Value('null')}, 'current_stage_completion': {'place_first_glass': Value('null'), 'place_second_glass': Value('null')}, 'stage_first_completion_step': {'place_first_glass': Value('null'), 'place_second_glass': Value('null')}, 'violation_counts': {'drop_to_table_obj_194_wineglass_1': Value('null'), 'drop_to_table_obj_194_wineglass_2': Value('null')}, 'policy_query_count': Value('null'), 'terminated_reason': Value('null'), 'timeseries': Value('null'), 'evaluation_protocol': Value('null'), 'early_stop': Value('null'), 'max_episode_steps': Value('null'), 'dwell_time_s': Value('null')}
              because column names don't match

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🧪 Bench2Dex Leaderboard Logs

Community evaluation logs for the Bench2Dex leaderboard. Submit your policy's README, results JSON, and organization logo separately to the GitHub leaderboard repository.

📦 Submit your policy logs

Copy policy_template/, rename the policy directory and results JSON, and place your policy directly at the repository root:

<policy_id>/
├── README.md
├── leaderboard_<policy_id>.json
└── per_task_eval/
    └── <task_id>_<task_name>/
        └── <channel>/
            ├── per_episode.jsonl
            └── summary.json

The example logs mirror native Bench2Dex output, with null placeholders. Replace them with your complete sanitized evaluation files and remove unused example directories; do not fill the examples by hand.

Copy the README/results JSON from your GitHub submission. Use the same policy ID in the directory, filename, and model.id.

Submit the original per_episode.jsonl and summary.json generated by Bench2Dex, after sanitization. Preserve the full native JSON structure, fields, and units. Do not convert logs to another schema or add template fields.
Include all successful, failed, and error episodes from one selected run per task/channel. Report actual episode counts, budgets, and protocol changes.
Submit at least Full results and logs; all four channels and SR, LSCR, Eff. are encouraged. List all 26 tasks in the results JSON, using null (NR) for missing scores.
Results JSON channel keys are None, Equi., Inv., Full; directory names are None, Equi, Inv, Full. Retain the original channel metadata inside the native files.
Only the leaderboard results JSON uses SR/LSCR percentages on 0–100 and Eff. as a ratio. Keep native log values unchanged; compute the published scores using the metric definitions.
In the results JSON, use source.runId to identify the selected run and paths relative to <policy_id>/ for source.perEpisodeFile and source.summaryFile. Set evaluation.logs.repository to Bench2Dex/Leaderboard and policyPath to your policy ID. These submission references do not need to be added to the native logs.

🤝 Review

Open PRs against main here and in the GitHub leaderboard repository, then cross-link them. Policy IDs, scores, coverage, and protocol must agree. Authors may leave evaluation.logs.revision as null; after log review, maintainers record the accepted HF commit in the GitHub results JSON before publishing the entry.

🔒 Privacy and permissions

Replace private absolute paths with relative paths or consistent anonymized identifiers, including nested asset paths and error messages. Redact credentials, personal/confidential information, internal URLs, and restricted content in files, media, links, and PR descriptions. Preserve native fields, metrics, episode counts, seeds, task/channel identity, and randomization/protocol metadata. Confirm publication rights under applicable licenses and data-use terms.

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