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b/evaluation_sessions/19222a27-4f3c-47df-abf5-8be70fd54988/metadata.yaml @@ -0,0 +1,21 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-10-06T22:03:26.281738Z' +session_completion_timestamp: '2025-10-06T22:13:38.699104Z' +language_instruction: move the pot over dish rack +preference: A +longform_feedback: Policy A was able to detect the location of the pot and then tried + to pick it up but then failed at the very last orientation; the arm dropped it at + the edge of the rack. B on the other hand just slightly touched upon the pot but + then shifted over the spoon on the right and pushed it away from our seen. +policies: + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + B: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/1bd6a7c9-9ee5-4916-8483-01dd32eb93bc/metadata.yaml b/evaluation_sessions/1bd6a7c9-9ee5-4916-8483-01dd32eb93bc/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cdc96144127d639bdf3a6abe62af5e630e8e22e9 --- /dev/null +++ b/evaluation_sessions/1bd6a7c9-9ee5-4916-8483-01dd32eb93bc/metadata.yaml @@ -0,0 +1,46 @@ +evaluation_location: Berkeley +evaluator_name: Pranav Atreya +session_creation_timestamp: '2025-04-17T01:46:57.119213Z' +session_completion_timestamp: '2025-04-17T01:58:20.432154Z' +language_instruction: put marker in the jar +preference: TIE +longform_feedback: BOth policies are half way there. 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sha256:4de48a00e0dd915574eecb2d20b15f63d9611f1282084845c56bbfa27e6f3a8a +size 48155 diff --git a/evaluation_sessions/1de15535-caa0-4b88-b091-3f48f3ee18f1/metadata.yaml b/evaluation_sessions/1de15535-caa0-4b88-b091-3f48f3ee18f1/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..715595a3b387e6e56c58026822869f9f5d91c3f6 --- /dev/null +++ b/evaluation_sessions/1de15535-caa0-4b88-b091-3f48f3ee18f1/metadata.yaml @@ -0,0 +1,20 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley,edu +session_creation_timestamp: '2025-07-02T23:45:41.957903Z' +session_completion_timestamp: '2025-07-02T23:53:07.161478Z' +language_instruction: remove the scissor from the chair +preference: TIE +longform_feedback: Both policies failed to detect the location of the scissor which + was placed on the very left of the scene. Policy A instead reached for the marker + while policy B wandered around the fruit collection of the table +policies: + A: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 diff --git a/evaluation_sessions/2774ddf4-5f47-4558-b4e2-0b9d013bb702/metadata.yaml b/evaluation_sessions/2774ddf4-5f47-4558-b4e2-0b9d013bb702/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf2b4f02b8a635505b9c149911b36bf3f2ed6845 --- /dev/null +++ b/evaluation_sessions/2774ddf4-5f47-4558-b4e2-0b9d013bb702/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-11T06:12:20.351917Z' +session_completion_timestamp: '2025-10-11T06:20:14.947438Z' +language_instruction: throw the towel into the trash can +preference: B +longform_feedback: Policy A 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paligemma_diffusion_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_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 264 diff --git a/evaluation_sessions/41fe378f-7f82-4473-8c02-478f681a4729/metadata.yaml b/evaluation_sessions/41fe378f-7f82-4473-8c02-478f681a4729/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd246b3f8eef246fa7d0f9fb8a348ae0ee05f00f --- /dev/null +++ b/evaluation_sessions/41fe378f-7f82-4473-8c02-478f681a4729/metadata.yaml @@ -0,0 +1,20 @@ +evaluation_location: berkeleu +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-07-14T22:14:51.261277Z' +session_completion_timestamp: '2025-07-14T22:23:01.639120Z' +language_instruction: put the egg into pot +preference: A +longform_feedback: A is slightly better off this time as it was able to located the + egg at first but stuggled to grasp anything in hand. B on the other hand seemed + to shifted over the pot which should not be the first orientation of the task +policies: + A: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + B: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 diff --git a/evaluation_sessions/422cf492-bf56-4451-aeac-95825c754c93/metadata.yaml b/evaluation_sessions/422cf492-bf56-4451-aeac-95825c754c93/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4dd7ac90c1b2dc73a290ecdcb9129a10c1cb4e27 --- /dev/null +++ b/evaluation_sessions/422cf492-bf56-4451-aeac-95825c754c93/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-08-25T07:18:59.156911Z' +session_completion_timestamp: '2025-08-25T07:32:53.351403Z' +language_instruction: grasp the bottle, then grasp the red block +preference: A +longform_feedback: Policy A first 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paligemma_vq_droid + binary_success: 1 + partial_success: 1.0 + duration: 157 diff --git a/evaluation_sessions/5a89344f-76e3-4bf7-9641-27934b3489f2/metadata.yaml b/evaluation_sessions/5a89344f-76e3-4bf7-9641-27934b3489f2/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..161528692253764d1b93740275982b76175cf72a --- /dev/null +++ b/evaluation_sessions/5a89344f-76e3-4bf7-9641-27934b3489f2/metadata.yaml @@ -0,0 +1,44 @@ +evaluation_location: UT Austin +evaluator_name: Luca Macesanu +session_creation_timestamp: '2025-04-29T13:19:23.542723Z' +session_completion_timestamp: '2025-04-29T14:36:41.633422Z' +language_instruction: Put the bolt in the gray box. +preference: B +longform_feedback: A failed to grasp the bolt. 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b/evaluation_sessions/65d59b4a-29ed-470c-bdb5-92f04440e680/metadata.yaml @@ -0,0 +1,19 @@ +evaluation_location: nvidia +evaluator_name: nlaswi@nvidia.com +session_creation_timestamp: '2026-02-02T23:39:25.437575Z' +session_completion_timestamp: '2026-02-02T23:44:14.508722Z' +language_instruction: push down the sleeve on the coffee cup +preference: B +longform_feedback: Policy B attempted to push down the sleeve on the coffee cup, although + did not complete. Policy A made no action. Policy B is preferred for its attempt. +policies: + A: + policy_name: dreaming_zebra + binary_success: 0 + partial_success: 0.0 + duration: 399 + B: + policy_name: pi05_droid + binary_success: 0 + partial_success: 0.15 + duration: 399 diff --git a/evaluation_sessions/66230cd9-ef96-4458-bfb5-87b5b682028a/metadata.yaml b/evaluation_sessions/66230cd9-ef96-4458-bfb5-87b5b682028a/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dbfd9b4b81e465b029df8faa0c8fc0fccbae4bae --- /dev/null +++ b/evaluation_sessions/66230cd9-ef96-4458-bfb5-87b5b682028a/metadata.yaml @@ -0,0 +1,26 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-12-22T06:19:58.016381Z' +session_completion_timestamp: '2025-12-22T06:35:15.521464Z' +language_instruction: put the banana into the cup +preference: B +longform_feedback: Policy A first moved the gripper toward the banana, grasped it, + picked it up, then moved it above the cup, rotated the banana, dropped it near the + cup, causing the banana to fall off to floor.Policy B first moved the gripper toward + the banana, attempted to grasp it several times, then picked it up, moved it above + the cup, dropped it on the edge of the cup,causing it to fall off to floor.My instruction + is to put the banana into the cup, neither policy was able to complete the task.When + comparing the performance of the two, policy B at least dropped the banana on the + edge of the cup, whereas policy A only dropped the banana near the cup.Therefore, + policy B is slightly better than policy A. +policies: + B: + policy_name: floppy_bagel_420k + binary_success: 0 + partial_success: 0.8 + duration: 399 + A: + policy_name: pi05_droid + binary_success: 0 + partial_success: 0.75 + duration: 399 diff --git a/evaluation_sessions/6740ac63-6041-4be7-b521-86c313694fa6/metadata.yaml b/evaluation_sessions/6740ac63-6041-4be7-b521-86c313694fa6/metadata.yaml new file mode 100644 index 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Policy B succeeded the task almost halfway while policy A got stuck + in the initial position. +policies: + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.4 + duration: 288 + D: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.05 + duration: 216 + F: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.75 + duration: 376 + A: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 96 + C: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.7 + duration: 392 + E: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.5 + duration: 248 + G: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.7 + duration: 328 diff --git a/evaluation_sessions/72f7ccb1-3e68-401e-a060-8bb6aed74928/metadata.yaml b/evaluation_sessions/72f7ccb1-3e68-401e-a060-8bb6aed74928/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1097a639947470902f05fd258071efad0ed3bd83 --- /dev/null +++ b/evaluation_sessions/72f7ccb1-3e68-401e-a060-8bb6aed74928/metadata.yaml @@ -0,0 +1,19 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-11-17T22:28:02.351830Z' +session_completion_timestamp: '2025-11-17T22:38:09.578849Z' +language_instruction: press the button on slicker brush for self cleaning +preference: TIE +longform_feedback: Both policies just tried to grasp the brush up in the air without + finding the button for self-cleaning which is right under the brush hair. +policies: + A: + policy_name: pi05_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/7300bbe5-cc65-411e-8656-fce3cfcc8b9b/metadata.yaml b/evaluation_sessions/7300bbe5-cc65-411e-8656-fce3cfcc8b9b/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..644131dec982e1c4b3df17423a3bd93e3925a38b --- /dev/null +++ b/evaluation_sessions/7300bbe5-cc65-411e-8656-fce3cfcc8b9b/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-25T03:59:58.771898Z' +session_completion_timestamp: '2025-09-25T05:06:03.945999Z' +language_instruction: pick up the banana, then put it onto the book +preference: B +longform_feedback: Policy A first moved the gripper randomly for a while, then almost + stopped during remaining time of the episode.Policy B first moved the gripper close + to the banana, grasped it, moved it, then dropped it, but did not put it onto the + book.My instruction is to pick up the banana then put it onto the book, neither + policy was able to complete the task.When comparing the performance of the two, + policy B at least picked up the banana whereas policy A did not do anything relevant.Therefore, + policy B is better than policy A. +policies: + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + A: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 diff --git a/evaluation_sessions/74a7c406-02e5-492e-9f3f-911905ccc922/metadata.yaml b/evaluation_sessions/74a7c406-02e5-492e-9f3f-911905ccc922/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8bb51663945177f2c615b21b1580bb1505c939b9 --- /dev/null +++ b/evaluation_sessions/74a7c406-02e5-492e-9f3f-911905ccc922/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-10-29T21:51:08.702632Z' +session_completion_timestamp: '2025-10-29T22:04:49.814026Z' +language_instruction: move the canned food over the green cup holder +preference: B +longform_feedback: policy a was trying the grasp the pot which was quite irrelevant; + the score is marked as 10 since the arm might shift a little bit over the canner + food but it is not clear since it is in the middle of the seen. B grasped the entire + plastic bowl which contained the pot; the pot was pushed off the ground and the + arm was moving over the canned food but again the intention was to fail off the + can horizontally and grasp on the wider surface area but the time was up as the + gripper touched the lying canned +policies: + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.4 + duration: 399 + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/7682c8cd-6c73-4386-9192-9079af67458f/A_paligemma_fast_droid/paligemma_fast_droid_2025-11-25T06:13:55.180812_video_right.mp4 b/evaluation_sessions/7682c8cd-6c73-4386-9192-9079af67458f/A_paligemma_fast_droid/paligemma_fast_droid_2025-11-25T06:13:55.180812_video_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..272e223b1833e1a9c949e6ca911601bc8fbee50a --- /dev/null +++ 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a/evaluation_sessions/7833a416-4114-4a56-9b02-e0a5912512ed/metadata.yaml b/evaluation_sessions/7833a416-4114-4a56-9b02-e0a5912512ed/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a7de680aef044d3ad232633201eaa4b9836ccbb7 --- /dev/null +++ b/evaluation_sessions/7833a416-4114-4a56-9b02-e0a5912512ed/metadata.yaml @@ -0,0 +1,20 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-08-02T02:23:24.913638Z' +session_completion_timestamp: '2025-08-02T02:35:48.567555Z' +language_instruction: Grab the yellow building blocks and place them in the white + box. +preference: A +longform_feedback: Policy A can quickly complete half of the task, while policy B + fails completely. +policies: + B: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.2 + duration: 399 + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 diff --git 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paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + B: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/852df924-927a-4e26-8f5d-9d834a1e19c4/metadata.yaml b/evaluation_sessions/852df924-927a-4e26-8f5d-9d834a1e19c4/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7db7fb7079b0e4df704240f1f51d7c8e9ac291df --- /dev/null +++ b/evaluation_sessions/852df924-927a-4e26-8f5d-9d834a1e19c4/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-13T01:20:35.477065Z' +session_completion_timestamp: '2025-10-13T01:29:10.466395Z' +language_instruction: open the door of the fridge +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 back and forth during + whole trial, as if could not find the target.My instruction is to open the door + of the fridge, neither policy was able to complete the task.When comparing the performance + of the two, both policies only moved the gripper but did not find the fridge.Therefore, + i choose tie. +policies: + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 + A: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 diff --git a/evaluation_sessions/8a11cfb9-63e8-4922-ba65-5253aa9303e0/metadata.yaml b/evaluation_sessions/8a11cfb9-63e8-4922-ba65-5253aa9303e0/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..179a1fc35c82d57050daee2eee84e8d4a5677ad3 --- /dev/null +++ b/evaluation_sessions/8a11cfb9-63e8-4922-ba65-5253aa9303e0/metadata.yaml @@ -0,0 +1,43 @@ +evaluation_location: Stanford +evaluator_name: Tony Lee +session_creation_timestamp: '2025-04-17T19:19:22.122073Z' 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+version https://git-lfs.github.com/spec/v1 +oid sha256:8a3d5e6038a1de0b726aacdff9cd7a73188b9106b64d89e79aed94d7b642b0b1 +size 47758 diff --git a/evaluation_sessions/8f9f14f4-ef85-4f00-9955-10688fc6aa99/metadata.yaml b/evaluation_sessions/8f9f14f4-ef85-4f00-9955-10688fc6aa99/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f391283d484c519e3df240235737643bfbe0294c --- /dev/null +++ b/evaluation_sessions/8f9f14f4-ef85-4f00-9955-10688fc6aa99/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: UT Austin +evaluator_name: will_reger@utexas.edu +session_creation_timestamp: '2025-08-06T18:38:16.981364Z' +session_completion_timestamp: '2025-08-06T18:46:47.803027Z' +language_instruction: Take the paper off of the pot and knock over the cup. +preference: A +longform_feedback: Both policies seemed confused about what to do, maybe having difficulty + deciding whether to knock down the cup first or to take off the paper first.policy + A decided to take of the paper which it succeeded to do. policy B decided to knock + over the cup first which it was very close to doing(had it picked up but didn't + actually knock it over.). I went with policy A since I thought that taking off the + paper was a harder task and it had done it completely while policy B chose the easier + task in my opinion and didn't complete it. +policies: + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + A: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.6 + duration: 399 diff --git a/evaluation_sessions/96c24f50-7d22-42c3-8ace-16749aa99e2c/metadata.yaml b/evaluation_sessions/96c24f50-7d22-42c3-8ace-16749aa99e2c/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9642500c9fd5566063947d942a761fc4a84bb5f7 --- /dev/null +++ b/evaluation_sessions/96c24f50-7d22-42c3-8ace-16749aa99e2c/metadata.yaml @@ -0,0 +1,45 @@ +evaluation_location: Stanford +evaluator_name: Tony Lee +session_creation_timestamp: '2025-04-17T18:58:47.063410Z' +session_completion_timestamp: '2025-04-17T19:09:26.016349Z' +language_instruction: knock the clear cup off the table comppleknock off the cup completely + off the table. +preference: TIE +longform_feedback: both knocked over the cup but both failed to do it off the table. + I would say both performed equally and failed. +policies: + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 255 + D: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 + F: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 320 + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + C: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + E: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 + G: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 diff --git a/evaluation_sessions/9faed81e-6f7b-45ff-9a33-c55282ce7735/metadata.yaml 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sha256:71de20d4993395dda9d2fab216c6ba5ad6c644b1ddc9cdf36424c00b11cde2dc +size 1254095 diff --git a/evaluation_sessions/a54d170e-f008-4f66-9fad-73c1faa92cb0/metadata.yaml b/evaluation_sessions/a54d170e-f008-4f66-9fad-73c1faa92cb0/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25be9a47b083197f8ec93f02297a6b7b54896574 --- /dev/null +++ b/evaluation_sessions/a54d170e-f008-4f66-9fad-73c1faa92cb0/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-12-12T01:33:12.975457Z' +session_completion_timestamp: '2025-12-12T01:42:08.138622Z' +language_instruction: open the fridge door +preference: TIE +longform_feedback: Policy A first moved the gripper toward the fridge but moved away + soon.Then policy A moved the gripper randomly during remaining time of the episode.Policy + B first moved the gripper slightly during most time of the episode, then approached + the fridge in the end.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 approached the fridge.Therefore, i choose tie. +policies: + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.15 + duration: 399 + A: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.15 + duration: 399 diff --git a/evaluation_sessions/a7a5dbe0-536e-4c65-9596-3537c3b48acb/metadata.yaml b/evaluation_sessions/a7a5dbe0-536e-4c65-9596-3537c3b48acb/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57e24452a276eda722011e5f16f900374fd302b0 --- /dev/null +++ b/evaluation_sessions/a7a5dbe0-536e-4c65-9596-3537c3b48acb/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-08-14T10:10:32.035328Z' +session_completion_timestamp: '2025-08-14T10:18:25.260439Z' +language_instruction: Place the blue block above the yellow block. +preference: B +longform_feedback: Policy A quickly grabbed the blue blocks but failed to locate the + yellow blocks. It didn't actively adjust its field of view to search for them and + just put the blocks down randomly. Policy B also grabbed the blocks quickly and + kept holding the blocks while looking for the yellow blocks. Although it didn't + find the yellow blocks in the end, the whole process was a bit more active. 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b/evaluation_sessions/b6b8db96-b561-4a26-aa85-01287c2b0bfe/metadata.yaml @@ -0,0 +1,20 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-09-22T22:17:13.290924Z' +session_completion_timestamp: '2025-09-22T22:26:51.356222Z' +language_instruction: squeeze the waterbottle 3 times +preference: B +longform_feedback: A just reached the bottle and then froze afterwards. B did better + as it was able to squeeze/ touched a waterbottle with a significant force then lifted + it upwards, thus dropping it as it reached the edge of the table +policies: + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 diff --git a/evaluation_sessions/b7a5c346-219a-4274-97be-58d50530004c/metadata.yaml b/evaluation_sessions/b7a5c346-219a-4274-97be-58d50530004c/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9f3a20f5ca69cf5ac5fe29873b3cc3edf144987f --- /dev/null +++ b/evaluation_sessions/b7a5c346-219a-4274-97be-58d50530004c/metadata.yaml @@ -0,0 +1,47 @@ +evaluation_location: UPenn +evaluator_name: Matthew Leonard +session_creation_timestamp: '2025-04-25T17:59:23.304013Z' +session_completion_timestamp: '2025-04-25T18:13:23.794312Z' +language_instruction: place the blue water bottle onto the red box +preference: B +longform_feedback: both policies identified the blue water bottle and moved towards + it, and both policies attempted to form a grasp. A attempted the grasp and closed + the gripper, but it was off base to actually pick the bottle up. B did not close + the gripper, but the grasp it formed was better, and if it had closed the gripper, + it would have llikely succeeded. Neither policy put the bottle on the red box +policies: + A: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + E: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + F: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + G: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.35 + duration: 399 + C: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + D: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/bd980c68-3649-4afd-9f3a-176b88287d84/metadata.yaml b/evaluation_sessions/bd980c68-3649-4afd-9f3a-176b88287d84/metadata.yaml new file mode 100644 index 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+ partial_success: 0.85 + duration: 399 diff --git a/evaluation_sessions/be11ad8f-ef77-43ac-9172-dc4d742dea01/metadata.yaml b/evaluation_sessions/be11ad8f-ef77-43ac-9172-dc4d742dea01/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3ea641c68a75a738269f56bab065da2d824f7ca --- /dev/null +++ b/evaluation_sessions/be11ad8f-ef77-43ac-9172-dc4d742dea01/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-21T05:28:28.212356Z' +session_completion_timestamp: '2025-10-21T05:35:06.949755Z' +language_instruction: pick up the towel +preference: TIE +longform_feedback: Policy A moved the gripper back and forth 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 pick + up the towel, neither policy was able to complete the task.When comparing 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the book upside down +preference: TIE +longform_feedback: Policy A first moved the gripper toward the floor, then approached + the edge of the sofa, closed and opened the gripper several times, moved slowly + around the sofa until time ran out.Policy B moved the gripper slightly during entire + time of the episode, as if could not find the target.My instruction is to turn the + book upside down,neither policy was able to complete the task.When comparing the + performance of the two, both policies only moved the gripper but did not find the + book.Therefore, i choose tie. +policies: + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 diff --git a/evaluation_sessions/de124d8f-3e32-4346-8a63-3941189beefb/metadata.yaml b/evaluation_sessions/de124d8f-3e32-4346-8a63-3941189beefb/metadata.yaml new file mode 100644 index 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After attempting to grasp the orange juice policy A also tried grabbing + the xylophone. 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b/evaluation_sessions/e443080c-99fe-40e4-b843-df3e98007f7f/metadata.yaml @@ -0,0 +1,26 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-14T09:14:14.564186Z' +session_completion_timestamp: '2025-09-14T09:23:43.376866Z' +language_instruction: put all the red blocks together +preference: B +longform_feedback: Policy A first moved the robotic arm close to one red block, grasped + it and dropped it.Then policy A grasped the red block again, moved it slightly and + dropped it.Policy B first moved the robotic arm close to the one red block, turned + it over, then approached another red block, pushed it slightly toward the first + red block.My requirement is to put all the red blocks together, there are two red + blocks in total.When comparing the performance of the two, neither policy was able + to complete the task, but policy B at least identified two red blocks and tried + to move them together while policy A only identified one red block.Therefore, policy + B is better than policy A. +policies: + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.75 + duration: 399 diff --git a/evaluation_sessions/e6e753ba-b3fc-455d-9ea3-940dce82906f/A_pi0_droid/pi0_droid_2025-09-05T06:38:07.128570_video_right.mp4 b/evaluation_sessions/e6e753ba-b3fc-455d-9ea3-940dce82906f/A_pi0_droid/pi0_droid_2025-09-05T06:38:07.128570_video_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03985bc47290c74eb3a7296af1f22931cd0fb367 --- /dev/null +++ b/evaluation_sessions/e6e753ba-b3fc-455d-9ea3-940dce82906f/A_pi0_droid/pi0_droid_2025-09-05T06:38:07.128570_video_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efeb10aff726d6432594c2eca5333745a0908e15b7d78e5dd5afefabcecaaf74 +size 354218 diff --git 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a/evaluation_sessions/e9bbf356-7df2-4a93-ad92-e7feda3887d1/metadata.yaml b/evaluation_sessions/e9bbf356-7df2-4a93-ad92-e7feda3887d1/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9281b72cee65ded7d41fa7274b7e04ac33bd6941 --- /dev/null +++ b/evaluation_sessions/e9bbf356-7df2-4a93-ad92-e7feda3887d1/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-11T08:35:26.927731Z' +session_completion_timestamp: '2025-10-11T08:46:38.256835Z' +language_instruction: press the center of the pillow +preference: B +longform_feedback: Policy A first moved the gripper close to pillow, then moved the + gripper back and forth around the pillow during remaining time of the episode.Policy + B first moved the gripper close to the pillow, grasp the middle edge of the pillow, + picked the pillow up, then moved it and dropped it on floor in the end.My instruction + is to press the center of the pillow, neither policy was able to complete the task.When + comparing the performance of the two, policy B at least grasped the middle edge + of the pillow whereas policy A did not even reach the pillow.Therefore, policy B + is better than policy A. +policies: + A: + policy_name: pi05_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.6 + duration: 399 diff --git a/evaluation_sessions/ea7bdfd0-85f4-4e8c-8628-f99752da0fb2/metadata.yaml b/evaluation_sessions/ea7bdfd0-85f4-4e8c-8628-f99752da0fb2/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..122767de759a50ff5577f9424d1539c11145d7c3 --- /dev/null +++ b/evaluation_sessions/ea7bdfd0-85f4-4e8c-8628-f99752da0fb2/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-22T08:12:34.647968Z' +session_completion_timestamp: '2025-10-22T08:20:24.558487Z' +language_instruction: knock over the bottle of water +preference: A +longform_feedback: Policy A first moved the gripper close to the bottle of water but + moved away soon,then, paused briefly, moved the gripper toward the sofa in the end.Policy + B first moved the gripper toward the bottle but moved away soon,then moved the gripper + randomly during remaining time of the episode.My instruction is to knock over the + bottle of water, neither policy was able to complete the task.When comparing the + performance of the two, policy A at least moved the gripper close to the bottle + of water, whereas 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: 0.4 + duration: 399 + B: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git 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b/evaluation_sessions/efe74cb0-10c1-4834-a026-a2970e12f24f/metadata.yaml @@ -0,0 +1,27 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-11-17T05:41:09.333732Z' +session_completion_timestamp: '2025-11-17T05:52:14.448115Z' +language_instruction: stack up the two cups +preference: TIE +longform_feedback: Policy A first moved the gripper close to one cup, grasped it, + picked it up, then moved it toward another cup,dropped it on the edge of another + cup, causing the two cups to fall over.Next, policy A attempted to grasp the cup + again during remaining time of the episode.Policy B first moved the gripper close + to one cup, grasped it, picked it up, then moved it toward another cup, dropped + it on the edge another cup, causing the two cups to fall over.Next, policy B attempted + the grasp the cup again during remaining time of the episode.My instruction is to + stack up the two cups, neither policy was able to complete the 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