ehalicki/lewam_eval_pusht_pi05_frozen

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: non-prehensile PushT (b601_pusht): the arm pushes a T-shaped block into a target pose without grasping it. Shares only its name with the simulated PushT. Trained on ehalicki/b601_pusht.
• Policy: π0.5 (pi05_frozen), LeRobot's pi05 fine-tuned from lerobot/pi05_base with the VLM backbone frozen (train_expert_only=True), predicting a 36-action chunk
• Success rate: 3/30 = 10.0%
• Episodes: 30 · frames: 38016 · fps: 30 · robot time: 21.1 min
• Wall-clock: 60.1 min (median 102s, max 271s per episode) — longer than robot time because inference on this hardware runs slower than real time
• wandb run: n5uz4w79 (eval-pi05_frozen_b601_pusht)
• 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	❌	1010	95.2
1	✅	1545	145.9
2	❌	2360	220.2
3	❌	1438	135.3
4	❌	1154	108.8
5	✅	1928	181.4
6	❌	2909	271.1
7	❌	686	65.5
8	❌	2841	264.1
9	❌	1351	127.3
10	❌	1280	122.4
11	❌	758	71.8
12	❌	1370	128.8
13	❌	1064	112.9
14	✅	1550	146.7
15	❌	919	86.9
16	❌	970	91.8
17	❌	2090	195.7
18	❌	956	91.2
19	❌	650	62.6
20	❌	986	93.7
21	❌	1910	179.5
22	❌	632	60.5
23	❌	1380	129.4
24	❌	990	93.8
25	❌	557	53.6
26	❌	722	68.5
27	❌	596	58.5
28	❌	686	66.0
29	❌	758	74.0

• 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": 38016,
    "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]