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evaluation_sessions/015f1395-92a0-4882-963e-a367cf52218e/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-08-19T07:41:26.103839Z'
+session_completion_timestamp: '2025-08-19T07:56:08.847316Z'
+language_instruction: put the apple into the plate then put the banana into the plate
+preference: B
+longform_feedback: A has firstly attempted to picked up the orange that is wrong target
+  then done nothing. B has picked up the banana and put it into plate, but has not
+  put apple into the plate. So policy B is better than plicy A.
+policies:
+  B:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399
+  A:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.2
+    duration: 399

evaluation_sessions/05a417df-0ea1-4e50-8eec-c900b6494747/metadata.yaml

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+evaluation_location: University Montreal
+evaluator_name: Kirsty Ellis
+session_creation_timestamp: '2025-04-29T18:43:34.824970Z'
+session_completion_timestamp: '2025-04-29T18:51:13.715437Z'
+language_instruction: close the left door on the top compartment of the cabinet
+preference: A
+longform_feedback: Both policies closed the door but policy A had more style, it looked
+  like understanding the goal more
+policies:
+  B:
+    policy_name: pi0_fast_droid
+    binary_success: 0
+    partial_success: 0.75
+    duration: 160
+  C:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 280
+  D:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 80
+  E:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 280
+  G:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.7
+    duration: 221
+  A:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.8
+    duration: 193
+  F:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.7
+    duration: 183

evaluation_sessions/0a9aa81e-66eb-4287-a1d3-1765a32c4c59/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-10T02:16:15.934304Z'
+session_completion_timestamp: '2025-09-10T02:27:39.527493Z'
+language_instruction: grasp the carrot and move it next to the cube
+preference: A
+longform_feedback: Policy A first moved the robotic arm close to carrot, pushed it.Then
+  policy A approached the bell pepper.Next, policy A moved away from the bell pepper
+  and moved near the edge of table until time ran out.Policy B first moved the robotic
+  arm close to the book, pushed the book and the cube.Then policy B moved the robotic
+  aimlessly during most remaining time of the episode.Neither policy was able to complete
+  the task, when comparing the performance of the two, policy A at least approached
+  and pushed the carrot while policy B did not do anything relevant.Therefore, policy
+  A is slightly better than policy B.
+policies:
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 399

evaluation_sessions/130ab61e-5800-40b2-be13-b0e7394f2be3/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-12-15T03:25:30.505490Z'
+session_completion_timestamp: '2025-12-15T03:36:24.822686Z'
+language_instruction: cover the banana with the tissue
+preference: A
+longform_feedback: Policy A first moved the gripper toward the tissue, grasped it
+  and released it.Then policy A moved the gripper away and moved slightly during remaining
+  time of the episode.Policy B first moved the gripper toward the the camera, grasped
+  and released it.Then after hesitating for a while,policy B approached the tissue,
+  grasped it in the end.My instruction is to cover the banana with the tissue,neither
+  policy was able to complete the task.When comparing the performance of the two,
+  both policies grasped the tissue, but policy A found and grasped the tissue more
+  quickly than policy B did.Therefore, i prefper A.
+policies:
+  B:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399
+  A:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399

evaluation_sessions/1aa06028-bbd5-4c74-bd6f-9cba034e24c7/metadata.yaml

@@ -0,0 +1,24 @@
+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-04T01:59:33.108715Z'
+session_completion_timestamp: '2025-09-04T02:12:09.849702Z'
+language_instruction: put all the pencils together
+preference: A
+longform_feedback: Policy A first moved the robotic arm close to one pencil, grasped
+  it and dropped it several times.Then policy A approached another pencil, attempted
+  to grasp it.Policy B first moved the robotic arm to one pencil, pushed it away,
+  then moved slightly on the table during the remaining time of the episode.Neither
+  policy was able to complete the task,but policy A at least moved the two pencils
+  while policy B only pushed one pencil.Therefore, policy A is better than policy
+  B.
+policies:
+  B:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 399
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399

evaluation_sessions/2adb4a2b-51dd-419f-ada4-949f186eba0f/metadata.yaml

@@ -0,0 +1,25 @@
+evaluation_location: UT Austin
+evaluator_name: will_reger@utexas.edu
+session_creation_timestamp: '2025-09-07T17:41:58.258634Z'
+session_completion_timestamp: '2025-09-07T17:51:38.449947Z'
+language_instruction: pick up the clear cup.
+preference: A
+longform_feedback: policy A spent most of the episode grabbing anything but the clear
+  cup- starting with the blue cup, then moving to grab the red cup twice, and then
+  finally jamming it's hand into the clear cup. policy B had basically spent the entire
+  time interacting with the blue cup(grabbing, lifting, etc.) Something I think is
+  worth mentioning is that the blue cup is in the center of the field and might have
+  influenced the policies in picking it. In the end, I chose policy A because it was
+  eventually able to interact with the clear cup- even if it was the very last thing
+  it interacted with.
+policies:
+  A:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 399
+  B:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.15
+    duration: 399

evaluation_sessions/2dff40a0-18a4-4125-a3b3-b0e087ae48d1/metadata.yaml

@@ -0,0 +1,25 @@
+evaluation_location: UT Austin
+evaluator_name: will_reger@utexas.edu
+session_creation_timestamp: '2025-09-20T00:36:45.080650Z'
+session_completion_timestamp: '2025-09-20T00:45:27.651603Z'
+language_instruction: topple all of the boxes and pick up the coke can.
+preference: B
+longform_feedback: policy A began the episode by knocking over the poky's box, then
+  the cookies box before getting really close to grabbing the coke can. policy A was
+  not able to grab the coke can then, but after some time and some meandering, it
+  finally could right towards the end of the episode. policy B started  by pressing
+  on the orange juice and eventually pushed everything, including the coke can, in
+  one fell swoop. After knocking everything over, policy B grabbed at the can for
+  the rest of the episode. I chose policy B because it was able to do everything while
+  policy A was able to do everything but knock over the orange juice.
+policies:
+  A:
+    policy_name: pi0_fast_droid
+    binary_success: 0
+    partial_success: 0.85
+    duration: 399
+  B:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.95
+    duration: 399

evaluation_sessions/3d251402-9295-4ca9-99a7-8cac7ad6a03a/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-10-22T08:34:26.074185Z'
+session_completion_timestamp: '2025-10-22T08:43:09.358604Z'
+language_instruction: pick up the bottle of water, don't release it
+preference: A
+longform_feedback: Policy A first moved the gripper close to the bottle of water,
+  grasped it, picked it up, then moved it and dropped it on floor.Policy B first moved
+  the gripper randomly during most time of the episode, then moved the gripper toward
+  the bottle of water but moved away soon.My instruction is to pick up the bottle
+  of water and don't release it, neither policy was able to complete the task.When
+  comparing the performance of the two, policy A picked up the bottle but released
+  it in the end, whereas policy B did not pick up the bottle.Therefore, policy A is
+  obviously better than policy B.
+policies:
+  B:
+    policy_name: pi05_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399
+  A:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.8
+    duration: 399

evaluation_sessions/40576d9f-524f-4d4c-8cd2-df59ef709c61/metadata.yaml

@@ -0,0 +1,24 @@
+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-11-18T01:02:39.490116Z'
+session_completion_timestamp: '2025-11-18T01:13:36.661036Z'
+language_instruction: rotate the cap of the bottle
+preference: B
+longform_feedback: Policy A showed no response to my command and did not perform any
+  operations at all.Policy B first moved the gripper close to the bottle, touched
+  it, attempted to grasp it, then moved slowly around the bottle during remaining
+  time of the episode.My instruction is to rotate the cap of the bottle,neither policy
+  was able to complete the task.When comparing the performance of the two, policy
+  B at least touched the bottle, whereas policy A did not do anything.Therefore, policy
+  B is better than policy A.
+policies:
+  A:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399
+  B:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 399

evaluation_sessions/418b6b00-cf72-4ef4-97e2-5c2bbad06fb7/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-08-13T06:06:44.088750Z'
+session_completion_timestamp: '2025-08-13T06:13:49.949236Z'
+language_instruction: Put the bagged screws in the box on the plate.
+preference: B
+longform_feedback: Policy A failed to find the target and instead attempted to open
+  the drawer. Policy B failed to place the target after grasping it and only put it
+  on the edge of the plate.
+policies:
+  A:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399
+  B:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.75
+    duration: 399

evaluation_sessions/45502707-02fe-4c84-8363-2adead3e2174/metadata.yaml

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+evaluation_location: Yonsei
+evaluator_name: Meedeum Cho
+session_creation_timestamp: '2025-04-29T23:16:35.316261Z'
+session_completion_timestamp: '2025-04-29T23:23:45.424635Z'
+language_instruction: knock the cup over
+preference: A
+longform_feedback: Only policy A succeeded at the task. Policy A moved smoothly without
+  any sign of hesitation. Meanwhile, policy B remained still during the rollout.
+policies:
+  C:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 224
+  A:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 136
+  B:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 53
+  D:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.6
+    duration: 288
+  G:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 152
+  E:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.6
+    duration: 271
+  F:
+    policy_name: pi0_fast_droid
+    binary_success: 0
+    partial_success: 0.3
+    duration: 215

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evaluation_sessions/4da413be-8188-4c70-8951-3b82a807175a/metadata.yaml

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+evaluation_location: Stanford
+evaluator_name: skunda@stanford.edu
+session_creation_timestamp: '2025-07-02T18:10:55.624354Z'
+session_completion_timestamp: '2025-07-02T18:16:39.750795Z'
+language_instruction: 'put yellow corn in red bottle '
+preference: A
+longform_feedback: Policy A moved the corn towards the bottle while policy B threw
+  the bottle off the table
+policies:
+  A:
+    policy_name: pi05_droid
+    binary_success: 0
+    partial_success: 0.75
+    duration: 399
+  B:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399

evaluation_sessions/4e073e71-b764-4d68-af71-f3b563f32ac2/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-12-12T01:55:08.608302Z'
+session_completion_timestamp: '2025-12-12T02:06:22.903449Z'
+language_instruction: pick up the shoe
+preference: B
+longform_feedback: Policy A showed no response to my command and did not perform any
+  operations at all.Policy B first moved the gripper toward the table, then moved
+  randomly during remaining time of the episode.My instruction is to pick up the shoe,
+  neither policy was able to complete the task.When comparing the performance of the
+  two, policy B at least moved the gripper, whereas policy A did not do anything.Therefore,
+  policy B is better than policy A.
+policies:
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 399
+  A:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399

evaluation_sessions/4eb61678-639d-46a8-a5e3-14b0870e7d0d/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-10-30T08:45:26.923859Z'
+session_completion_timestamp: '2025-10-30T08:54:56.650843Z'
+language_instruction: arrange the two wrenches in the shape of a cross
+preference: B
+longform_feedback: Policy A first moved the gripper close to the eraser on the book,
+  grasped and released it, then moved around the book during remaining time of the
+  episode.Policy B first moved the gripper toward one wrench but moved away soon,
+  then policy B moved the gripper close to a bottle, pushed it to the wrench in the
+  end.My instruction is to arrange the two wrenches in the shape of a cross,neither
+  policy was able to complete the task.When comparing the performance of the two,
+  policy B at least approached one wrench, whereas policy A did not.Therefore, policy
+  B is better than policy A.
+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: 0.3
+    duration: 399

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