README.md

---
license: apache-2.0
tags:
- robotics
- yam
- evaluation
- bspline-policy
---

# YAM rollout log

Generated 2026-08-18 15:20.

A **grasp** means the measured gripper closed below 0.16 m and then lifted more than 5 cm while still closed. Closing in mid-air does not count.

## `data/pick200-joint-long`

**10/25 grasps.**

<details><summary><b>10/25</b> — <code>unknown (no meta.json — recorded before run metadata was added)</code></summary>

| episode | dur (s) | grasp | z@close | lift | stall % | speed (rad/s) |
| --- | --- | --- | --- | --- | --- | --- |
| `20260818T140310605632` | 29.5 | no | — | — | 0 | 0.171 |
| `20260818T140352353950` | 59.7 | no | — | — | 0 | 0.230 |
| `20260818T140505044551` | 59.7 | no | — | — | 0 | 0.135 |
| `20260818T140617627063` | 59.7 | no | — | — | 1 | 0.100 |
| `20260818T140730136609` | 59.7 | **yes** | 0.124 | 0.108 | 0 | 0.171 |
| `20260818T140912097882` | 59.2 | no | 0.203 | 0.029 | 48 | 0.326 |
| `20260818T141025062245` | 59.2 | **yes** | 0.109 | 0.121 | 49 | 0.174 |
| `20260818T141137762442` | 59.2 | **yes** | 0.114 | 0.139 | 49 | 0.235 |
| `20260818T141250574610` | 59.2 | **yes** | 0.113 | 0.116 | 48 | 0.200 |
| `20260818T141403449928` | 59.2 | no | — | — | 49 | 0.132 |
| `20260818T141516154624` | 59.2 | no | — | — | 49 | 0.110 |
| `20260818T141628744477` | 59.2 | no | — | — | 50 | 0.124 |
| `20260818T141741622384` | 59.2 | **yes** | 0.117 | 0.097 | 48 | 0.229 |
| `20260818T141854306568` | 59.2 | **yes** | 0.111 | 0.114 | 48 | 0.198 |
| `20260818T142006945963` | 59.2 | no | — | — | 54 | 0.126 |
| `20260818T143108230017` | 59.2 | no | — | — | 73 | 0.110 |
| `20260818T143221087237` | 59.2 | no | — | — | 72 | 0.165 |
| `20260818T143333820106` | 39.3 | **yes** | 0.116 | 0.052 | 68 | 0.672 |
| `20260818T143428617832` | 34.7 | no | 0.121 | 0.012 | 70 | 0.617 |
| `20260818T143516069094` | 26.1 | no | 0.122 | 0.000 | 68 | 0.892 |
| `20260818T143632003869` | 59.2 | **yes** | 0.115 | 0.121 | 59 | 0.384 |
| `20260818T143744927976` | 51.0 | **yes** | 0.121 | 0.121 | 62 | 0.292 |
| `20260818T143854086559` | 49.2 | no | 0.206 | 0.001 | 60 | 0.333 |
| `20260818T143957962895` | 59.2 | **yes** | 0.106 | 0.141 | 63 | 0.230 |
| `20260818T144110586783` | 59.2 | no | — | — | 61 | 0.213 |

```
command not recorded
```
</details>

## `data/pick200-joint`

**0/60 grasps.**

<details><summary><b>0/60</b> — <code>unknown (no meta.json — recorded before run metadata was added)</code></summary>

| episode | dur (s) | grasp | z@close | lift | stall % | speed (rad/s) |
| --- | --- | --- | --- | --- | --- | --- |
| `20260818T130623882629` | 29.7 | no | — | — | 1 | 0.266 |
| `20260818T130707519771` | 29.7 | no | — | — | 0 | 0.151 |
| `20260818T130747012257` | 29.7 | no | — | — | 0 | 0.249 |
| `20260818T130826581436` | 29.7 | no | — | — | 2 | 0.148 |
| `20260818T130906134170` | 29.7 | no | 0.234 | 0.037 | 1 | 0.299 |
| `20260818T130945794331` | 29.7 | no | — | — | 0 | 0.119 |
| `20260818T131025339364` | 29.7 | no | — | — | 3 | 0.157 |
| `20260818T131104873589` | 29.7 | no | — | — | 2 | 0.168 |
| `20260818T131144444858` | 29.7 | no | — | — | 1 | 0.150 |
| `20260818T131223978642` | 29.7 | no | — | — | 0 | 0.151 |
| `20260818T132350808744` | 29.7 | no | — | — | 4 | 0.335 |
| `20260818T132430405417` | 29.7 | no | — | — | 1 | 0.154 |
| `20260818T132510058270` | 29.6 | no | — | — | 2 | 0.251 |
| `20260818T132549790930` | 29.7 | no | — | — | 3 | 0.242 |
| `20260818T132629459294` | 29.7 | no | — | — | 4 | 0.281 |
| `20260818T132709166445` | 29.7 | no | — | — | 2 | 0.248 |
| `20260818T132748798092` | 29.7 | no | — | — | 1 | 0.027 |
| `20260818T132828323293` | 29.7 | no | — | — | 2 | 0.196 |
| `20260818T132907957759` | 29.7 | no | — | — | 3 | 0.214 |
| `20260818T132947595350` | 29.7 | no | — | — | 3 | 0.203 |
| `20260818T133138716010` | 29.5 | no | — | — | 6 | 0.239 |
| `20260818T133218495514` | 29.5 | no | — | — | 6 | 0.291 |
| `20260818T133258118270` | 29.5 | no | — | — | 4 | 0.243 |
| `20260818T133337793699` | 29.5 | no | — | — | 6 | 0.199 |
| `20260818T133417414801` | 29.6 | no | — | — | 5 | 0.181 |
| `20260818T133456982117` | 29.5 | no | — | — | 7 | 0.210 |
| `20260818T133536636078` | 29.5 | no | — | — | 6 | 0.271 |
| `20260818T133616250899` | 29.6 | no | — | — | 5 | 0.248 |
| `20260818T133655845034` | 29.5 | no | 0.117 | 0.000 | 4 | 0.434 |
| `20260818T133735662119` | 29.6 | no | — | — | 5 | 0.502 |
| `20260818T133907655414` | 29.2 | no | — | — | 48 | 0.261 |
| `20260818T133947311863` | 29.2 | no | — | — | 48 | 0.229 |
| `20260818T134026872719` | 29.2 | no | — | — | 48 | 0.217 |
| `20260818T134106667671` | 29.2 | no | — | — | 49 | 0.202 |
| `20260818T134146451385` | 29.2 | no | 0.106 | 0.012 | 45 | 0.249 |
| `20260818T134226420538` | 29.2 | no | — | — | 50 | 0.222 |
| `20260818T134306150620` | 29.2 | no | — | — | 48 | 0.317 |
| `20260818T134345790587` | 29.2 | no | — | — | 48 | 0.254 |
| `20260818T134425508983` | 29.2 | no | — | — | 48 | 0.243 |
| `20260818T134505373595` | 29.2 | no | — | — | 50 | 0.223 |
| `20260818T134635230677` | 29.2 | no | — | — | 61 | 0.191 |
| `20260818T134714904936` | 29.2 | no | — | — | 60 | 0.186 |
| `20260818T134754453170` | 29.2 | no | — | — | 60 | 0.186 |
| `20260818T134834178157` | 29.2 | no | — | — | 55 | 0.324 |
| `20260818T134914019314` | 29.2 | no | — | — | 59 | 0.245 |
| `20260818T134953895080` | 29.2 | no | — | — | 60 | 0.189 |
| `20260818T135033443097` | 29.2 | no | — | — | 59 | 0.195 |
| `20260818T135113145225` | 29.2 | no | — | — | 59 | 0.183 |
| `20260818T135152847828` | 29.2 | no | — | — | 59 | 0.193 |
| `20260818T135232333795` | 29.2 | no | — | — | 61 | 0.174 |
| `20260818T135411022253` | 29.2 | no | — | — | 55 | 0.218 |
| `20260818T135450636135` | 29.2 | no | — | — | 54 | 0.224 |
| `20260818T135530187342` | 29.2 | no | — | — | 55 | 0.343 |
| `20260818T135609830470` | 29.2 | no | — | — | 55 | 0.351 |
| `20260818T135649553915` | 29.2 | no | — | — | 54 | 0.301 |
| `20260818T135729238034` | 29.2 | no | — | — | 55 | 0.301 |
| `20260818T135809004794` | 29.2 | no | — | — | 52 | 0.276 |
| `20260818T135848814168` | 29.2 | no | — | — | 55 | 0.257 |
| `20260818T135928478717` | 29.2 | no | — | — | 53 | 0.327 |
| `20260818T140008412108` | 29.2 | no | — | — | 52 | 0.258 |

```
command not recorded
```
</details>

## `data/pick200-ee`

**0/5 grasps.**

<details><summary><b>0/5</b> — <code>unknown (no meta.json — recorded before run metadata was added)</code></summary>

| episode | dur (s) | grasp | z@close | lift | stall % | speed (rad/s) |
| --- | --- | --- | --- | --- | --- | --- |
| `20260818T131412127030` | 8.2 | no | — | — | nan | 0.850 |
| `20260818T131435694429` | 5.8 | no | 0.178 | 0.000 | nan | 0.948 |
| `20260818T131456224244` | 3.7 | no | — | — | nan | 1.062 |
| `20260818T131519724883` | 2.8 | no | — | — | nan | 1.813 |
| `20260818T131815393782` | 4.6 | no | — | — | nan | 1.044 |

```
command not recorded
```
</details>

## `data/pick200-joint-cf50`

**8/18 grasps.**

<details><summary><b>5/9</b> — <code>ckpt_path=deploy_ema.ckpt policy=bspline control_freq=50.0 data_freq=25.0 origin_time_scale=25.0 num_inference_steps=16 predict_before_end=0.3 speed_up_times=1.0 max_steps=3000 device=cpu</code></summary>

| episode | dur (s) | grasp | z@close | lift | stall % | speed (rad/s) |
| --- | --- | --- | --- | --- | --- | --- |
| `20260818T145444709148` | 59.2 | **yes** | 0.109 | 0.131 | 50 | 0.203 |
| `20260818T145557302179` | 59.2 | no | — | — | 50 | 0.144 |
| `20260818T145709841881` | 59.2 | **yes** | 0.111 | 0.140 | 50 | 0.188 |
| `20260818T145822659029` | 59.2 | **yes** | 0.114 | 0.082 | 50 | 0.166 |
| `20260818T145935366847` | 59.2 | **yes** | 0.106 | 0.117 | 51 | 0.161 |
| `20260818T150048306881` | 59.2 | no | — | — | 50 | 0.124 |
| `20260818T150201039216` | 59.2 | no | — | — | 49 | 0.128 |
| `20260818T150313521181` | 59.2 | no | — | — | 50 | 0.146 |
| `20260818T150426259920` | 59.2 | **yes** | 0.112 | 0.124 | 49 | 0.237 |

```
/home/yambox/bspline-policy/.venv/bin/python real_env/yam_teleop/rollout_local_policy.py --env yam --policy bspline --ckpt-path /home/yambox/bspline-policy/ckpt_pick200_joint/deploy_ema.ckpt --diffusion-policy-dir /home/yambox/bspline-policy/diffusion_policy --device cpu --control-freq 50 --data-freq 25 --origin-time-scale 25 --num-inference-steps 16 --predict-before-end 0.3 --speed-up-times 1.0 --max-steps 3000 --num-episodes 10 --save --output-dir data/pick200-joint-cf50
```
</details>

<details><summary><b>1/5</b> — <code>ckpt_path=deploy_ema.ckpt policy=bspline control_freq=50.0 data_freq=25.0 origin_time_scale=25.0 num_inference_steps=16 predict_before_end=0.3 speed_up_times=2.0 max_steps=3000 device=cpu</code></summary>

| episode | dur (s) | grasp | z@close | lift | stall % | speed (rad/s) |
| --- | --- | --- | --- | --- | --- | --- |
| `20260818T150614920385` | 34.0 | no | 0.124 | 0.037 | 71 | 0.577 |
| `20260818T150710359228` | 59.2 | no | — | — | 72 | 0.166 |
| `20260818T150823199490` | 56.7 | **yes** | 0.119 | 0.124 | 70 | 0.262 |
| `20260818T150934579650` | 59.2 | no | — | — | 73 | 0.150 |
| `20260818T151047317015` | 59.2 | no | — | — | 73 | 0.147 |

```
/home/yambox/bspline-policy/.venv/bin/python real_env/yam_teleop/rollout_local_policy.py --env yam --policy bspline --ckpt-path /home/yambox/bspline-policy/ckpt_pick200_joint/deploy_ema.ckpt --diffusion-policy-dir /home/yambox/bspline-policy/diffusion_policy --device cpu --control-freq 50 --data-freq 25 --origin-time-scale 25 --num-inference-steps 16 --predict-before-end 0.3 --speed-up-times 2 --max-steps 3000 --num-episodes 5 --save --output-dir data/pick200-joint-cf50
```
</details>

<details><summary><b>2/4</b> — <code>ckpt_path=deploy_ema.ckpt policy=bspline control_freq=50.0 data_freq=25.0 origin_time_scale=25.0 num_inference_steps=16 predict_before_end=0.3 speed_up_times=1.5 max_steps=3000 device=cpu</code></summary>

| episode | dur (s) | grasp | z@close | lift | stall % | speed (rad/s) |
| --- | --- | --- | --- | --- | --- | --- |
| `20260818T151242320102` | 30.3 | no | 0.125 | 0.030 | 62 | 0.626 |
| `20260818T151325485517` | 59.2 | no | — | — | 65 | 0.172 |
| `20260818T151438311850` | 45.6 | **yes** | 0.111 | 0.132 | 64 | 0.298 |
| `20260818T151540021500` | 59.2 | **yes** | 0.096 | 0.138 | 65 | 0.237 |

```
/home/yambox/bspline-policy/.venv/bin/python real_env/yam_teleop/rollout_local_policy.py --env yam --policy bspline --ckpt-path /home/yambox/bspline-policy/ckpt_pick200_joint/deploy_ema.ckpt --diffusion-policy-dir /home/yambox/bspline-policy/diffusion_policy --device cpu --control-freq 50 --data-freq 25 --origin-time-scale 25 --num-inference-steps 16 --predict-before-end 0.3 --speed-up-times 1.5 --max-steps 3000 --num-episodes 5 --save --output-dir data/pick200-joint-cf50
```
</details>


> Videos are re-encoded to 320x240 and `data.pkl` is gzipped (`gzip.open(...)` then `pickle.load`). The policy consumed 84x84 crops, so nothing it acted on is lost. Re-run with `--raw` for originals.