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pi05 Base Policy — Failure Cases
Rollout videos where the base pi05 policy (pi05_aloha_full_base / roboreal_all_80tasks / step 20000)
fails the task, evaluated on the RoboTwin bench_demo_kitchenl_d15 benchmark (cluttered kitchen, obstacle density 15).
Plain evaluation — no inference-time guidance. Overhead countertop camera, 5 fps.
| Task | Seed | Collisions |
|---|---|---|
| pick_bottle_from_fridge | 100004 | 2 |
| pick_bottle_from_fridge | 100045 | 3 |
| pick_can_from_basket | 400065 | 1 |
| put_can_close_cabinet | 100013 | 0 |
| put_can_close_cabinet | 100026 | 0 |
| put_can_close_cabinet | 100056 | 1 |
| put_can_close_cabinet | 100058 | 3 |
Filenames: base_<task>_seed<N>_col<collisions>.mp4
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