mahgoobi/ur5e_pi05_rollouts

UR5e pi0.5 rollouts

Policy rollouts of mahgoobi/ur5e_pi05_10k on a real UR5e with a Robotiq gripper, task "put the cup in the bowl", collected 2026-09-01 from the deployment page in RoboResearch (roboresearch.evaluation.ur5e.ui). 25 episodes at 20 Hz, action chunks of 50 steps with action_steps of them executed per chunk (25 for every episode but the first, which ran 10). 20 successes, 5 failures. Every failure is in a scene with three or more distractors; the clean and one-distractor scenes succeed throughout.

Layout

One directory per episode, named by its start time, in the layout the training recordings were made in:

file	content
state.csv	one row per control step: timestamp, joint_0..5, tcp_*, gripper_pos, the three camera filenames, and the commanded action_joint_0..5, action_gripper that went to servoJ from that state
camera1/, camera2/, camera3/	side, wrist, base views as timestamp-named 640x480 PNGs, one per row
camera{1,2,3}.mp4	the same frames as h264 at the recorded size, for watching
camera{1,2,3}.train.mp4	the same frames at the 240x320 the training set stores, encoded as the training conversion encodes
meta.json	the run's settings, the checkpoint, and the annotation

The training recordings hold observations only; these also hold the commanded target beside the realized state, so the arm's tracking error is measured directly. The first episode, 20260901-151158, was encoded before this layout settled and holds videos only.

Annotation

Episode level: outcome is success or failure, note is one sentence on what happened with step indices, labelled_by is who judged it. Episodes marked claude were judged from their frames after the collection, from contact sheets of the three cameras; the one without it was labelled from the page during the run.

episode	rows	outcome	by	note
20260901-151158	500	success	page
20260901-174943	344	success	claude	clean scene; grasp at 48 after a brief close-reopen, placed in the bowl and released at 170, then 8 s of drift
20260901-175030	335	success	claude	clean scene; grasp at 68, placed in the bowl at 205
20260901-175110	295	success	claude	pizza on the table; grasp at 59, placed at 162
20260901-175303	400	success	claude	pizza; grasp at 83, placed at 235
20260901-175348	393	success	claude	pizza and apple; grasp at 42, placed at 182, then 10 s of drift
20260901-175525	310	success	claude	pizza, apple, carrot; grasp at 70, placed at 181
20260901-182421	329	success	claude	clean scene; grasp at 73, placed in the bowl and released at 190
20260901-182501	270	success	claude	clean scene; grasp at 43, placed at 204
20260901-182537	410	success	claude	clean scene, long carry; grasp at 85, placed at 330
20260901-182714	221	success	claude	clean scene, cup beside the bowl; grasp at 74, placed at 177
20260901-182810	286	success	claude	clean scene; grasp at 80, placed at 213
20260901-182845	244	success	claude	pizza; grasp at 78, placed at 205
20260901-182924	284	success	claude	pizza and lemon; grasp at 84, placed at 234
20260901-183002	631	failure	claude	pizza, apple, lemon; cup knocked onto its side around 270 and never recovered, gripper closes on nothing near the lemon at 540
20260901-183055	506	failure	claude	pizza, apple, lemon; grasp at 85 then a stall: holds the cup on the table for 20 s without lifting
20260901-183143	387	failure	claude	pizza, apple, lemon; grasp at 110, lifted, cup dropped on the table beside the bowl around 330, re-grasp attempt near the lemon
20260901-183246	270	success	claude	pizza, apple, lemon; grasp at 78, placed at 206
20260901-183330	220	success	claude	pizza, apple, lemon; grasp at 56, placed at 169
20260901-183507	500	failure	claude	heavy clutter; first grasp released without lifting at 285, re-grasp at 356, released at 436 leaning on the bowl's rim rather than inside it
20260901-184147	228	success	claude	clean scene; grasp at 52, placed in the bowl and released at 177
20260901-184226	267	success	claude	pizza and apple; grasp at 60, placed at 191
20260901-184301	363	failure	claude	pizza, apple, carrot, lemon; grasp at 88, lifted, then holds the cup tilted against the bowl's rim from about 200 to the end without releasing
20260901-184342	458	success	claude	pizza, apple, carrot, lemon; grasp at 57, placed in the bowl by 261, then re-grasps the placed cup at 326 and releases it at 342 still in the bowl
20260901-185102	342	success	claude	pizza, apple, carrot, lemon; a hand moves the cup in view around rows 48 to 146, then grasp at 104, placed at 282; the hand is in the model's observations

Rows recorded after the release are the policy drifting past the end of its trained behaviour; the training recordings end at release. One step gap of about 230 ms every action_steps rows is inference at each chunk boundary.

Previews

Side, wrist and base views of every episode, left to right, at 5 fps; previews/<episode>.gif. The wrist and base views are what the model saw. The scene column is the clutter on the table.

Successes

episode	scene	side · wrist · base
20260901-151158	clean scene
20260901-174943	clean scene
20260901-175030	clean scene
20260901-175110	pizza on the table
20260901-175303	pizza
20260901-175348	pizza and apple
20260901-175525	pizza, apple, carrot
20260901-182421	clean scene
20260901-182501	clean scene
20260901-182537	clean scene, long carry
20260901-182714	clean scene, cup beside the bowl
20260901-182810	clean scene
20260901-182845	pizza
20260901-182924	pizza and lemon
20260901-183246	pizza, apple, lemon
20260901-183330	pizza, apple, lemon
20260901-184147	clean scene
20260901-184226	pizza and apple
20260901-184342	pizza, apple, carrot, lemon
20260901-185102	pizza, apple, carrot, lemon

Failures

episode	scene	side · wrist · base
20260901-183002	pizza, apple, lemon
20260901-183055	pizza, apple, lemon
20260901-183143	pizza, apple, lemon
20260901-183507	heavy clutter
20260901-184301	pizza, apple, carrot, lemon