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evaluation_sessions/00008df3-4cb6-45ce-a6de-1d98a755146a/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-10-17T08:45:57.934664Z'
+session_completion_timestamp: '2025-10-17T08:52:23.273819Z'
+language_instruction: open the fridge door
+preference: TIE
+longform_feedback: Policy A moved the gripper randomly during entire time of the episode,
+  as if could not find the target.Policy B also moved the gripper randomly during
+  the whole trial, as if could not find the target.My instruction is to open the fridge
+  door, neither policy was able to complete the task.When comparing the performance
+  of the two, both policies only moved the gripper but could not find the fridge.Therefore,
+  i choose tie.
+policies:
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 399
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 399

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evaluation_sessions/02eb3b54-13e4-432e-9cf6-d3a4c1fff651/metadata.yaml

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+evaluation_location: Yonsei
+evaluator_name: Meedeum Cho
+session_creation_timestamp: '2025-04-29T23:00:10.524195Z'
+session_completion_timestamp: '2025-04-29T23:06:09.999953Z'
+language_instruction: put the ball into the cup
+preference: A
+longform_feedback: Policy A almost nailed the task in one trial but failed at the
+  final step. Policy B did not make any movement from the beginning.
+policies:
+  A:
+    policy_name: pi0_fast_droid
+    binary_success: 0
+    partial_success: 0.7
+    duration: 128
+  C:
+    policy_name: paligemma_fast_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 134
+  F:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.65
+    duration: 136
+  B:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 64
+  D:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 56
+  G:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 269
+  E:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 229

evaluation_sessions/03d8876b-761b-4476-a226-1aa03a13ffdd/metadata.yaml

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+evaluation_location: Berkeley
+evaluator_name: Pranav Atreya
+session_creation_timestamp: '2025-04-18T19:03:01.420261Z'
+session_completion_timestamp: '2025-04-18T19:15:52.587352Z'
+language_instruction: put the black bottle on the blue bowl
+preference: A
+longform_feedback: Policy A did better. Policy B predicted the first movement surrounding
+  the blue bowl, which should not be the first object we are looking for. The black
+  bottle was located on the left side of the table. Policy A completed the whole task
+  very quickly
+policies:
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399
+  C:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399
+  E:
+    policy_name: pi0_fast_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399
+  G:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399
+  B:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399
+  D:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399
+  F:
+    policy_name: pi0_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399

evaluation_sessions/05fd8588-7fce-4e7f-9c5d-539ec6eec1fc/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-08-12T08:43:43.602659Z'
+session_completion_timestamp: '2025-08-12T08:49:05.785259Z'
+language_instruction: Take out the bananas from the drawer and put them in the bowl.
+preference: A
+longform_feedback: Policy A completed the task quickly and smoothly. Policy B completed
+  the task slowly and rather roughly.
+policies:
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399
+  B:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.95
+    duration: 399

evaluation_sessions/09c9691e-2d31-426b-96ac-acfefdd1bf74/metadata.yaml

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+evaluation_location: berkeleu
+evaluator_name: ellieh99@berkeley.edu
+session_creation_timestamp: '2025-07-14T22:03:51.427010Z'
+session_completion_timestamp: '2025-07-14T22:12:18.286151Z'
+language_instruction: put the orange into cube
+preference: A
+longform_feedback: A indeed was doing betterbut one drawback is that the scene was
+  disrupted after it completed the task and some ojbects was dopped off the floor.
+  B ignored the first orientation with the orange and jumped straight on top of the
+  drawer. It hovered there for a bit and then started pushed it away
+policies:
+  B:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399
+  A:
+    policy_name: pi05_droid
+    binary_success: 0
+    partial_success: 0.75
+    duration: 399

evaluation_sessions/0bc54f1e-8b3d-4c88-a4d6-6f97fbb7d074/metadata.yaml

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+evaluation_location: UT Austin
+evaluator_name: will_reger@utexas.edu
+session_creation_timestamp: '2025-08-07T19:54:45.035336Z'
+session_completion_timestamp: '2025-08-07T20:01:16.674527Z'
+language_instruction: Draw on the paper.
+preference: B
+longform_feedback: policy A did not do anythig. policy B was able to identify that
+  it would need to use the marker to draw on the paper, but was unable to effectivley
+  use the marker to do so. policy B would pick up the marker and then place it on
+  the paper, sometimes forcefully. I am not sure if it is merely a issue of dexterity,
+  if it did not know how to use the marker, or if it simply thought that this was
+  a pick and place task.
+policies:
+  A:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.05
+    duration: 135
+  B:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.6
+    duration: 399

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evaluation_sessions/0d78c5c1-f2e7-4e74-b4de-535ea2fc3817/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-11-13T08:49:51.255582Z'
+session_completion_timestamp: '2025-11-13T08:56:55.731798Z'
+language_instruction: turn the controller upside down
+preference: TIE
+longform_feedback: Policy A first moved the gripper close to the controller but moved
+  away soon, then policy A moved the gripper back and forth during most time of the
+  episode.Policy B first moved the gripper close to the controller but moved away
+  soon, then policy B moved the gripper randomly during remaining time of the episode.My
+  instruction is to turn the controller upside down, neither policy was able to complete
+  the task.When comparing the performance of the two, both policies only approached
+  the controller.Therefore, i choose tie.
+policies:
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.15
+    duration: 399
+  B:
+    policy_name: pi05_droid
+    binary_success: 0
+    partial_success: 0.15
+    duration: 399

evaluation_sessions/0ef0f98d-d3f8-422b-8bb6-f3df63299dc9/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-09T05:21:56.841208Z'
+session_completion_timestamp: '2025-09-09T05:35:58.960802Z'
+language_instruction: pull out the tissues from the pack
+preference: A
+longform_feedback: Policy A first moved the robotic arm close to the pack of tissues,
+  grasped one tissue, pulled it out from the pack, moved it,  then dropped it on table.Policy
+  B first moved the robotic arm close to the pack of tissues, grasped the tissue together
+  with the pack, then moved them to right and dropped them on table.Next, policy B
+  attempted to grasp a towel until time ran out.Comparing the performance of the two,
+  since my requirement is to pull out the tissues from the pack, policy A have completed
+  the task correctly while policy B have not pull out the tissue, only grasped the
+  tissue together with the pack.Therefore, policy A is obviously better than policy
+  B.
+policies:
+  A:
+    policy_name: pi0_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399

evaluation_sessions/0f16b5a8-2392-4c02-b0ed-0fc1c4239415/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-25T09:36:54.134015Z'
+session_completion_timestamp: '2025-09-25T09:46:34.418943Z'
+language_instruction: open the upper drawer
+preference: A
+longform_feedback: Policy A  first moved the gripper close to the drawer, then approached
+  the handle of the drawer, but did not attempt to open the drawer in the end.Policy
+  B first moved the gripper back and forth for a while, then approached the drawer
+  in the end.My instruction is to open the upper drawer, neither policy was able to
+  complete the task.When comparing the performance of the two, policy A approached
+  the handle of the drawer while policy B did not.Therefore, policy A is slightly
+  better than policy B.
+policies:
+  A:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 399
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399

evaluation_sessions/0f17863b-e323-49ba-8f39-4695c9a9f14a/metadata.yaml

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+evaluation_location: berkeley
+evaluator_name: ellieh99@berkeley.edu
+session_creation_timestamp: '2025-08-18T21:45:49.460620Z'
+session_completion_timestamp: '2025-08-18T21:57:14.227952Z'
+language_instruction: stack the other bowl to the blue bowl
+preference: B
+longform_feedback: B at least has found the bowl and started grasp it first but then
+  hover in the air and searched for something on the ground. A was completely off
+  since it moved the marker from the plate to somewhere on the bowl which is not required
+policies:
+  B:
+    policy_name: pi0_fast_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399
+  A:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399

evaluation_sessions/0f8ddf55-3e9f-4ea0-99ed-0575569374e8/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-12T02:29:18.338790Z'
+session_completion_timestamp: '2025-09-12T02:37:42.745181Z'
+language_instruction: touch the right side of the small wheel
+preference: A
+longform_feedback: Policy A first moved the robotic arm close to the small wheel,
+  pushed it forward, adjust posture,then touched the right side of the wheel.Next,
+  policy A almost stopped during the remaining time of the episode.Policy B first
+  moved the robotic arm close to the small wheel, touched the top left side of it,
+  then moved the robotic arm away.Next, policy B moved the robotic arm randomly until
+  grasped a banana in the end.Comparing the performance of the two,policy A completed
+  the task successfully while policy B failed.Therefore, policy A is better than policy
+  B.
+policies:
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399

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+evaluation_location: UT Austin
+evaluator_name: will_reger@utexas.edu
+session_creation_timestamp: '2025-09-10T00:07:26.383982Z'
+session_completion_timestamp: '2025-09-10T00:14:25.521379Z'
+language_instruction: Give me the marker.
+preference: B
+longform_feedback: policy A had a somewhat hard time to grab the marker but it was
+  able to pick up the marker and drop it. policy A might have spent half of the time
+  interacting with the marker and had definently spent less time than policy B. policy
+  B had a much easier time grabbing the marker and actually held it for much of the
+  episode, even bringing it within 3-4 inches of my hand. I chose policy B because
+  while both policies could grab the marker, only policy B had brought the marker
+  somewhat close to me.
+policies:
+  B:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.75
+    duration: 399
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-10-23T01:53:02.886648Z'
+session_completion_timestamp: '2025-10-23T02:04:00.419728Z'
+language_instruction: press the nozzle of the spray bottle to make it spray
+preference: A
+longform_feedback: Policy A first moved the gripper close to the spray bottle, closed
+  the gripper, approached the spray nozzle, touched the spray nozzle, causing the
+  spray bottle to be knocked over.Policy B first moved the gripper close to the spray
+  bottle, closed the gripper, attempted to press it but failed.Then policy B moved
+  back and forth around the bottle during most time of the episode.My instruction
+  is to press the nozzle of the spray bottle to make it spray, neither policy was
+  able to complete the task.When comparing the performance of the two, policy A at
+  least touched the nozzle of the spray bottle, whereas policy B did not.Therefore,
+  policy A is better than policy B.
+policies:
+  B:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399
+  A:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.8
+    duration: 399