ehalicki/lewam_eval_pnpt_selfwam_mot_mse

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: pick-and-place (b601_pnpt): the arm picks a roll of tape and places it on a target. Trained on ehalicki/b601_pusht_pick_and_place.
• 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: 16/30 = 53.3%
• Episodes: 30 · frames: 15728 · fps: 30 · robot time: 8.7 min
• Wall-clock: 14.1 min (median 14s, max 101s per episode) — longer than robot time because inference on this hardware runs slower than real time
• wandb run: kxjlcnj3 (eval-pnpt_selfwam_mot_mse)
• 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	✅	182	10.6
1	✅	222	12.4
2	✅	159	9.3
3	✅	203	11.7
4	✅	164	11.1
5	❌	452	24.3
6	❌	683	34.8
7	✅	200	11.4
8	❌	838	42.6
9	❌	2024	100.8
10	✅	164	10.5
11	❌	932	48.3
12	✅	148	9.5
13	❌	1303	66.2
14	✅	190	12.2
15	❌	866	44.7
16	❌	1608	80.7
17	✅	168	17.7
18	✅	202	12.1
19	✅	205	12.2
20	✅	168	10.1
21	❌	1114	56.3
22	❌	980	51.1
23	❌	986	50.7
24	❌	236	13.7
25	❌	525	27.7
26	✅	182	10.8
27	✅	195	12.1
28	❌	217	12.9
29	✅	242	14.8

• Homepage: https://github.com/erykhalicki/LeWAM
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "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": 15728,
    "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]