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 13.1k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
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rollout_probe_pi05
Full 6-scene evaluation of pi05-sotac-ft (pi0.5 full fine-tune, sotac ep 0-70, red foam ball) recorded 2026-09-22 on a rig with KNOWN camera-geometry drift relative to the Sep 5 training-era setup. Started as a drift probe, extended to the full protocol; the name kept the probe prefix.
Context: on this same drifted rig, the ACT baseline (act-sotac-runA-ep0-70) scored 1/5 at scene 1-6 versus its 4/5 on Sep 5. This dataset shows pi0.5 on the identical geometry. Scores here are NOT comparable to datasets recorded on the Sep 5 rig; they are comparable to rollout_probe_A (same day, same rig).
Protocol: bowl at point 1, ball at points 6,5,4,3,2,7, five episodes per scene, 60 s episode / 30 s reset, episodic strategy, RTC inference, cameras top+wrist, tactile recorded in the 318-dim state (policy is tactile-blind; a processor step trims state to 6 joints at inference).
Episode map and operator tally
| episodes | scene | success |
|---|---|---|
| 0-4 | 1-6 | 5/5 |
| 5-9 | 1-5 | 5/5 |
| 10-14 | 1-4 | 4/5 |
| 15-19 | 1-3 | 5/5, ep 15 intervened |
| 20-24 | 1-2 | 5/5 |
| 25-29 | 1-7 | 5/5, ep 26 intervened |
Operator count 29/30 (97%). Strict count excluding the two intervened episodes as successes: 27/30 (90%).
Notes
- Intervened episodes: ep 15 (ball dropped mid-transport, replaced by hand, policy then completed), ep 26 (operator intervention).
- Crash-resume seams after ep 15 and ep 16 (one empty-episode writer crash from an intermittent stall; no episode data lost). Two unused USB cameras were unplugged after ep 15; the stall did not recur.
- Consistent behavioral residual of the drift: the ball is released at the right edge of the bowl in most successes, inside but off-center.
- A partial mid-session snapshot exists as rollout_probe_pi05_20260922_142711; it is a crash artifact and should be ignored.
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