Datasets:
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action list | observation.state list | timestamp float32 0 59.7 ⌀ | frame_index int64 0 1.79k ⌀ | episode_index int64 0 29 ⌀ | index int64 0 28.6k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
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rollout_eval_pi05_ft
Rollout evaluation of Jingyi-Z/pi05-sotac-ft (pi0.5 full fine-tune, 20k
steps on sotac_vp ep 0-70, LeRobot 0.6.1) on the SO-101 bench, 2026-09-16.
First pi0.5 evaluation on this rig.
Protocol: bowl fixed at point 1, ball at points 6, 5, 4, 3, 2, 7; five consecutive 60 s episodes per scene, 30 s reset. Stock lerobot 0.6.1 lerobot-rollout with the RTC inference engine (the policy uses relative actions), episodic strategy, cameras top idx 0 / wrist idx 2 renamed to the pi0.5 camera keys at load. observation.state in the recording is 318-dim (6 joints + 312 tactile at 30 Hz); the policy consumes joints and images only, tactile is recorded for analysis.
Episode map
| Episodes | Scene |
|---|---|
| 0-4 | 1-6 |
| 5-9 | 1-5 |
| 10-14 | 1-4 |
| 15-19 | 1-3 |
| 20-24 | 1-2 |
| 25-29 | 1-7 |
All 30 episodes valid. Scoring: stage rubric S0-S5 in the lerobotac dataset visualizer. Companions: rollout_eval_tac_{mlp,pred,esn,esnpred}, rollout_eval_A_71ep (ACT baseline), rollout_eval_pi05_lora (pending).
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