mahgoobi/ur5e_pi05_eval

UR5e pi0.5 evaluation

Evaluation of mahgoobi/ur5e_pi05_10k on a real UR5e with a Robotiq gripper, 2026-09-02, from the deployment page in RoboResearch. Five tasks, ten trials each, clean scene, 25 of each 50-step chunk executed at 20 Hz.

Results

task	trials	success	failure	rate
put the cup in the bowl	10	9	1	90%
put the bowl on the rack	10	9	1	90%
put the mug on the coaster	10	10	0	100%
stack the two cubes	10	9	1	90%
put the book in the box	10	3	7	30%
all	50	40	10	80%

Layout

path	content
<task>/<timestamp>/state.csv	one row per control step: joints, tool pose, gripper, the three camera filenames, and the commanded target that went to servoJ
<task>/<timestamp>/camera1..3/	side, wrist and base views as 640x480 PNGs, one per row
<task>/<timestamp>/meta.json	run settings, checkpoint, and the label: outcome, note, labelled_by
videos/<task>/<timestamp>_{side,wrist,base}.mp4	the same frames as h264 at the recorded size
videos/<task>/<timestamp>_{side,wrist,base}.train.mp4	at the 240x320 the training set stores, encoded as the training conversion encodes
previews/<task>/<timestamp>.gif	side, wrist and base side by side, 5 fps

Labels were judged from the frames by Claude, from contact sheets of the three cameras, with a one-sentence note per episode giving the grasp and release rows.

Previews

put the book in the box

episode	outcome	note	side · wrist · base
20260902-143911	✅ success	clean scene; grasp at 28, book set in the box at 177
20260902-143959	✅ success	clean scene; grasp at 62, in the box at 207
20260902-144030	✅ success	clean scene; grasp at 57, in the box at 204
20260902-144058	❌ failure	clean scene; grasp at 33, book lifted and carried over the box but held there, flexing in the jaws, never released
20260902-145900	❌ failure	clean scene; grasp at 62, book lifted half out of the rack and fans open in the jaws, held there to the end without reaching the box
20260902-145939	❌ failure	clean scene; grasp at 30 low on the book, pages fan open in the jaws, held above the rack to the end
20260902-150038	❌ failure	clean scene; grasp at 70 after one false close, book lifted and fans open, held above the rack, never placed
20260902-150124	❌ failure	clean scene; grasp at 34, book lifted clear of the rack and held; stopped at 7 s before it moved toward the box
20260902-150223	❌ failure	clean scene, book in the left slot; grasp at 73, book lifted and carried right toward the box but still in the jaws when recording stopped, box empty
20260902-150515	❌ failure	clean scene; grasp at 31, book lifted and held; stopped at 5 s

put the bowl on the rack

episode	outcome	note	side · wrist · base
20260902-134841	✅ success	clean scene; grasp at 66, bowl set on the rack at 179
20260902-134950	✅ success	clean scene; grasp at 65, on the rack at 181
20260902-135020	✅ success	clean scene, bowl beside the rack; grasp at 54, on the rack at 170
20260902-135103	✅ success	clean scene, bowl in front of the rack; grasp at 54, on the rack at 157
20260902-135315	✅ success	clean scene; grasp at 60, on the rack at 172
20260902-135355	✅ success	clean scene, bowl at the far left; grasp at 53, on the rack at 186
20260902-135440	✅ success	clean scene; grasp at 48, on the rack at 171
20260902-135507	✅ success	clean scene, bowl in front of the rack; grasp at 61, on the rack at 162
20260902-135539	✅ success	clean scene; grasp at 58, on the rack at 161
20260902-135620	✅ success	clean scene; grasp at 62, on the rack at 176

put the cup in the bowl

episode	outcome	note	side · wrist · base
20260902-133817	✅ success	clean scene; grasp at 48, placed in the bowl and released at 178
20260902-133848	✅ success	clean scene; grasp at 70, placed at 227
20260902-133926	✅ success	clean scene, cup behind the bowl; grasp at 72, placed at 194
20260902-133955	✅ success	clean scene; grasp at 61, placed at 183
20260902-134040	✅ success	clean scene; grasp at 54, placed at 163
20260902-134109	✅ success	clean scene; grasp at 52, placed at 158
20260902-134309	✅ success	clean scene; first grasp at 37 held on the table and released at 306, re-grasp at 382, placed in the bowl at 448
20260902-134412	✅ success	clean scene; grasp at 86 held on the table for 15 s, then placed in the bowl at 526
20260902-134530	✅ success	clean scene, gripper already at the cup when the episode opened; grasp at 69, placed at 202
20260902-134608	✅ success	clean scene, cup behind the bowl; grasp at 78, placed at 206

put the mug on the coaster

episode	outcome	note	side · wrist · base
20260902-140140	✅ success	clean scene; grasp at 69, mug set on the coaster at 196
20260902-140237	✅ success	clean scene; grasp at 68, on the coaster at 204
20260902-140627	✅ success	clean scene, mug at the right; grasp at 72, on the coaster at 202
20260902-140702	✅ success	clean scene, mug at the left; grasp at 62, on the coaster at 202
20260902-140733	✅ success	clean scene; grasp at 71, on the coaster at 212
20260902-140808	✅ success	clean scene, mug beside the coaster; grasp at 56, on the coaster at 168
20260902-140836	✅ success	clean scene; grasp at 62, on the coaster at 203
20260902-140947	✅ success	clean scene, mug at the far right; grasp at 79, on the coaster at 231
20260902-141017	✅ success	clean scene; grasp at 57, on the coaster at 215
20260902-141051	✅ success	clean scene, mug at the left; grasp at 43, on the coaster at 183

stack the two cubes

episode	outcome	note	side · wrist · base
20260902-142326	✅ success	clean scene; grasp at 70, cube stacked and released at 204
20260902-142407	✅ success	clean scene; grasp at 43, stacked at 187
20260902-142439	✅ success	clean scene, cubes far apart; grasp at 98, stacked at 230
20260902-142546	✅ success	clean scene; grasp at 69, stacked at 203
20260902-142624	✅ success	clean scene, cubes close together; grasp at 52, stacked at 168
20260902-142704	✅ success	clean scene; grasp at 92, stacked at 207
20260902-142738	❌ failure	clean scene; gripper closes on the near cube at 54 and holds it on the table for the rest of the episode without lifting
20260902-142908	✅ success	clean scene, cubes in line; grasp at 48, stacked at 187
20260902-142945	✅ success	clean scene, cubes touching; grasp at 91, stacked at 206
20260902-143020	✅ success	clean scene, cubes touching; grasp at 84, stacked at 201