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new file mode 100644 index 0000000000000000000000000000000000000000..c6835156789af464d00b26224f962e74225c3d4f --- /dev/null +++ b/evaluation_sessions/001abedf-36c5-4601-beb5-f2ee4a164edd/B_pi0_droid/pi0_droid_2025-09-03T07:19:18.406676_npz_file.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:372fa1ab52428c48fed382a040d90544c3a07dcc414111c1667901d844d78fab +size 47630 diff --git a/evaluation_sessions/0a45efeb-d0a6-4c6d-ab72-3eea3ac5372d/metadata.yaml b/evaluation_sessions/0a45efeb-d0a6-4c6d-ab72-3eea3ac5372d/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a550f8aa6cb0506f9451fbf7e2f716b8da260d9e --- /dev/null +++ b/evaluation_sessions/0a45efeb-d0a6-4c6d-ab72-3eea3ac5372d/metadata.yaml @@ -0,0 +1,21 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-07-23T21:20:40.846004Z' +session_completion_timestamp: '2025-07-23T21:30:00.920403Z' +language_instruction: move the spoon to dish rack +preference: A +longform_feedback: A slightly performed better as in both cases, it managed to grasp + the spoon out of the dish. The spoon (and corn) were moved towards the dish rack + but it ended up dropping both objects near the rear edge of the rack in policy A. + In B, the spoon grasp was loosened up as soon as it still remained on the dish. +policies: + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.4 + duration: 399 diff --git a/evaluation_sessions/0abaac7d-791c-4ed7-966b-46d66fa1a95c/metadata.yaml b/evaluation_sessions/0abaac7d-791c-4ed7-966b-46d66fa1a95c/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..65f1d32b75ebafd805d3d97d1ac1e1dbf61d4725 --- /dev/null +++ b/evaluation_sessions/0abaac7d-791c-4ed7-966b-46d66fa1a95c/metadata.yaml @@ -0,0 +1,26 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2026-01-06T03:16:56.114182Z' +session_completion_timestamp: '2026-01-06T03:24:27.052710Z' +language_instruction: stand the bottle of orange juice upright on sofa +preference: B +longform_feedback: Policy A first moved the gripper toward the bottle of orange juice + but moved away soon, then, after hesitating for a while, approached the bottle again, + attempted to grasp it, but did not succeed.Policy B first moved the gripper toward + the bottle of orange juice, grasped it, picked it up, then adjusted posture, rotated + the bottle, as if attempted to stand the bottle upright, but did not succeed in + the end.My instruction is to stand the bottle of orange juice upright on sofa, neither + policy was able to complete the task.When comparing the performance of the two, + policy B at least picked up the bottle and rotated it, whereas policy A did not.Therefore, + policy B is obviously better than policy A. +policies: + A: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.7 + duration: 399 diff --git a/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/B_paligemma_fast_droid/paligemma_fast_droid_2025_04_29_15_06_15_npz_file.npz b/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/B_paligemma_fast_droid/paligemma_fast_droid_2025_04_29_15_06_15_npz_file.npz new file mode 100644 index 0000000000000000000000000000000000000000..273d24d971ba666358a0a2a1055c538f9bdba8a5 --- /dev/null +++ b/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/B_paligemma_fast_droid/paligemma_fast_droid_2025_04_29_15_06_15_npz_file.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12e6315cc02f3109e4283cd853affbe765f2c131e8072f286c0d419e177cdc6a +size 35981 diff --git a/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/B_paligemma_fast_droid/paligemma_fast_droid_2025_04_29_15_06_15_video_left.mp4 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0000000000000000000000000000000000000000..765bdb4efdcbec4a27cdde834a3b9e3a70631007 --- /dev/null +++ b/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/G_pi0_fast_droid/pi0_fast_droid_2025_04_29_15_11_42_video_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33acd492dd81110cdb630a9f44b308a42d58e51770efe489a085f4c7769f9e15 +size 519199 diff --git a/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/G_pi0_fast_droid/pi0_fast_droid_2025_04_29_15_11_42_video_wrist.mp4 b/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/G_pi0_fast_droid/pi0_fast_droid_2025_04_29_15_11_42_video_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d58b9a5068764a9277e0dcb41b2a6a740e2ab496 --- /dev/null +++ b/evaluation_sessions/0c4fc8c7-2147-4b70-825d-1366365b7957/G_pi0_fast_droid/pi0_fast_droid_2025_04_29_15_11_42_video_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2ad6d14d05d331e680ae2237934012c66a4c8cb307b9731acecd9329d50ec2b +size 789292 diff --git a/evaluation_sessions/0c9ad02b-46cd-4ce7-9b6b-54094c2c1680/metadata.yaml b/evaluation_sessions/0c9ad02b-46cd-4ce7-9b6b-54094c2c1680/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..669641b4b4814afd81697ad7426215b8d2ae7d17 --- /dev/null +++ b/evaluation_sessions/0c9ad02b-46cd-4ce7-9b6b-54094c2c1680/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: UT Austin +evaluator_name: will_reger@utexas.edu +session_creation_timestamp: '2025-09-12T00:23:07.937180Z' +session_completion_timestamp: '2025-09-12T00:29:59.836905Z' +language_instruction: Place the cup on the mini coat hanger. +preference: A +longform_feedback: Both policies were able to grab the cup, but they went about it + differently. policy A had grabbed at the cup quite a bit and even lifed/moved the + cup before the end of the episode. policy B was very slow, spending most of its + time hovering with its gripper around the cup but never grabbing the cup. Througout + the entire episode, policy B only grabbed the cup once or twice and never moved + the cup. It's for this reason that I chose policy A over policy B. +policies: + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.45 + duration: 399 diff --git a/evaluation_sessions/0f10ffa1-b71e-4b26-be2d-7e38ff607be3/metadata.yaml b/evaluation_sessions/0f10ffa1-b71e-4b26-be2d-7e38ff607be3/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..44bcad915cc916030050f8cc82541e6b34479b1d --- /dev/null +++ b/evaluation_sessions/0f10ffa1-b71e-4b26-be2d-7e38ff607be3/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2026-01-23T02:56:58.813182Z' +session_completion_timestamp: '2026-01-23T03:04:35.010548Z' +language_instruction: put the white paper onto the red paper +preference: A +longform_feedback: Policy A first moved the gripper toward the white paper, attempted + to grasped it but did not succeed, then policy A moved randomly during remaining + time of the episode.Policy B first moved the gripper toward the red paper, then + moved around the red paper during most time of the episode, approached the white + paper in the end.My instruction is to put the white paper onto the red paper, neither + policy was able to complete the task.When comparing the performance of the two, + policy A at least attempted to grasp the white paper, whereas policy B did not.Therefore, + policy A is better than policy B. +policies: + A: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/1068ca88-77e9-43c9-958f-367421b31135/metadata.yaml b/evaluation_sessions/1068ca88-77e9-43c9-958f-367421b31135/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7552c85cc598edf05b7beb83b7688014f69b5bba --- /dev/null +++ b/evaluation_sessions/1068ca88-77e9-43c9-958f-367421b31135/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-09T01:08:57.953203Z' +session_completion_timestamp: '2025-09-09T01:22:40.453468Z' +language_instruction: grasp the orange, then grasp the mobile phone +preference: B +longform_feedback: Policy A first moved the robotic arm close to the banana rather + than the orange, grasped the banana, moved it close to the orange, then dropped + it on table.Then policy A pushed the orange to make it fall off the table.Policy + B first moved the robotic arm close to the orange, made several attempts to grasp + it bu failed,then policy B moved the robotic arm to a controller, pushed it.Neither + policy was able to complete the task,when comparing the performance of the two, + policy B at least attempted to grasp the orange while policy A did not.Therefore, + i choose B. +policies: + A: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.35 + duration: 399 diff --git a/evaluation_sessions/108edd98-8268-486b-b50c-151dd811e913/A_paligemma_fast_specialist_droid/paligemma_fast_specialist_droid_2025-10-13T21:50:20.929649_video_left.mp4 b/evaluation_sessions/108edd98-8268-486b-b50c-151dd811e913/A_paligemma_fast_specialist_droid/paligemma_fast_specialist_droid_2025-10-13T21:50:20.929649_video_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..71533828cf89f91520edad13db42d82e0cdd9a67 --- /dev/null +++ b/evaluation_sessions/108edd98-8268-486b-b50c-151dd811e913/A_paligemma_fast_specialist_droid/paligemma_fast_specialist_droid_2025-10-13T21:50:20.929649_video_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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0000000000000000000000000000000000000000..4f8062a53638926f473a9c24b635aaa9a829731c --- /dev/null +++ b/evaluation_sessions/11fac2f4-2039-498e-9d75-683a7721fd21/B_paligemma_diffusion_droid/paligemma_diffusion_droid_2025-11-03T21:38:02.114944_npz_file.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:164c4f5f1407e6124e70ade74aa9fd06f88ba0bff8f2e5275e7deedbcefb9b6e +size 48939 diff --git a/evaluation_sessions/14f767d5-3c57-463e-a47d-2fbf1e363a44/metadata.yaml b/evaluation_sessions/14f767d5-3c57-463e-a47d-2fbf1e363a44/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7bc496de936f9cfb2e99564d820cfaed34d046f6 --- /dev/null +++ b/evaluation_sessions/14f767d5-3c57-463e-a47d-2fbf1e363a44/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-11T01:09:12.367736Z' +session_completion_timestamp: '2025-10-11T01:20:38.472441Z' +language_instruction: throw the banana into the trash can +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 banana, grasped + it, picked it up, then moved it, threw it onto the floor.Next, policy B moved the + gripper randomly during remaining time of the episode.My instruction is to throw + the banana into the trash can,neither policy was able to complete the task.When + comparing the performance of the two, policy B at least picked up and moved the + banana, whereas policy A did not do anything.Therefore, policy B is obviously better + than policy A. +policies: + A: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.6 + duration: 399 diff --git a/evaluation_sessions/16b03b15-1970-4fc3-961f-389dd185fc4b/metadata.yaml b/evaluation_sessions/16b03b15-1970-4fc3-961f-389dd185fc4b/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4bcfd3b00bff0c283ea9844586cb657dcd1df392 --- /dev/null +++ b/evaluation_sessions/16b03b15-1970-4fc3-961f-389dd185fc4b/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: UT Austin +evaluator_name: will_reger@utexas.edu +session_creation_timestamp: '2025-09-20T22:16:35.537212Z' +session_completion_timestamp: '2025-09-20T22:22:45.990325Z' +language_instruction: Type a space. +preference: B +longform_feedback: policy A started by sort of pressing down on the bottom right of + the tile and would sort of stay their for most of the episode, only moving around + slightly at the end. policy B pretty much did the same thing, but instead was near + the bottom center of the feild and moved up and down much more. Policy B also would + press its fingers together and push on the table towards the end of the episode. + Because policy B was able to get a little closer to the space bar and bring its + gripper into a closed formation(better for pressing a key), I will give it the victory- + even if it was only by an extra 5% completion. +policies: + B: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.15 + duration: 399 + A: + policy_name: pi05_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 diff --git a/evaluation_sessions/19222a27-4f3c-47df-abf5-8be70fd54988/A_paligemma_diffusion_droid/paligemma_diffusion_droid_2025-10-06T22:05:52.124906_video_left.mp4 b/evaluation_sessions/19222a27-4f3c-47df-abf5-8be70fd54988/A_paligemma_diffusion_droid/paligemma_diffusion_droid_2025-10-06T22:05:52.124906_video_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b66f28df0786688a37efce3b9771e81ad28ca545 --- /dev/null +++ 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b/evaluation_sessions/1b712881-42f3-4916-8d54-1126f4732c01/metadata.yaml @@ -0,0 +1,45 @@ +evaluation_location: Yonsei +evaluator_name: Meedeum Cho +session_creation_timestamp: '2025-04-29T19:39:35.488846Z' +session_completion_timestamp: '2025-04-29T19:49:41.472877Z' +language_instruction: turn the carrot horizontally +preference: B +longform_feedback: Policy B nailed the task on the first try. Its actions were very + smooth, precise, and even fast. 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0000000000000000000000000000000000000000..6d4aef9341f71c5e68562237ca238fac02ebbfa6 --- /dev/null +++ b/evaluation_sessions/2820d8b0-8034-472a-a522-c3ccc2a49f54/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2026-01-27T02:31:39.773773Z' +session_completion_timestamp: '2026-01-27T02:40:57.064563Z' +language_instruction: turn the controller upside down +preference: B +longform_feedback: Policy A first moved the gripper toward the controller, attempted + to grasp it but did not succeed, then policy A hovered above the controller for + a while, attempted to grasp the controller again, but did not succeed in the end.Policy + B first moved the gripper toward the controller, adjusted posture, attempted to + grasp it several times, but did not succeed in the end, only touched the controller.My + instruction is to turn the controller upside down, neither policy was able to complete + the task.When comparing the performance of the two, policy B at least reached the + controller, whereas policy A did not.Therefore, policy B is better than policy A. +policies: + A: + policy_name: floppy_bagel_420k + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: floppy_bagel_90k_temp1p0 + binary_success: 0 + partial_success: 0.35 + duration: 399 diff --git a/evaluation_sessions/290074db-07e6-4dd4-9bbd-7ff73ad5b1da/metadata.yaml b/evaluation_sessions/290074db-07e6-4dd4-9bbd-7ff73ad5b1da/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b08fad32ddcdc121f2dc98c6e1e2625439c31287 --- /dev/null +++ b/evaluation_sessions/290074db-07e6-4dd4-9bbd-7ff73ad5b1da/metadata.yaml @@ -0,0 +1,19 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-08-08T07:17:15.647395Z' +session_completion_timestamp: '2025-08-08T07:22:04.264934Z' +language_instruction: Stack three small white dishes on top of each other. +preference: B +longform_feedback: Policy A has never been successfully captured. Policy B made a + failed stacking attempt. +policies: + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.4 + duration: 399 + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/2999123b-1342-4e36-8554-f381a3e2ea7d/metadata.yaml b/evaluation_sessions/2999123b-1342-4e36-8554-f381a3e2ea7d/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..62841a7c03f83af83ee91afc69de5877f9381506 --- /dev/null +++ b/evaluation_sessions/2999123b-1342-4e36-8554-f381a3e2ea7d/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-29T03:55:11.904597Z' +session_completion_timestamp: '2025-09-29T04:03:14.882831Z' +language_instruction: throw the banana into the trash can +preference: A +longform_feedback: Policy A first moved the gripper close to the banana, grasped it, + picked it up, then moved it randomly during remaining time of the episode.Policy + B first moved the gripper close to the banana, attempted to pick it up but failed, + then policy B moved the robotic arm aimlessly during remaining time of the trial.My + instruction is to throw the banana into the trash can,neither policy was able to + complete the task.When comparing the performance of the two, policy A at least picked + up and moved the banana whereas policy B did not.Therefore, policy A is better than + policy B. +policies: + A: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 diff --git a/evaluation_sessions/29f138ba-a77d-4b00-8b73-4e82f20e5178/metadata.yaml b/evaluation_sessions/29f138ba-a77d-4b00-8b73-4e82f20e5178/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a15e4aabd0b80b99c84fffb3919f8da6e35de21 --- /dev/null +++ b/evaluation_sessions/29f138ba-a77d-4b00-8b73-4e82f20e5178/metadata.yaml @@ -0,0 +1,45 @@ +evaluation_location: Berkeley +evaluator_name: Pranav Atreya +session_creation_timestamp: '2025-04-23T22:25:38.542308Z' +session_completion_timestamp: '2025-04-23T22:40:41.067104Z' +language_instruction: Close the top drawer +preference: A +longform_feedback: Although both polices were unable to close the drawer. Policy A + went towards the drawer immeditely and attempted closing it. However, Policy B went + standstill briefly and then attempted to close it. +policies: + A: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.5 + 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: 0.0 + duration: 399 + G: + policy_name: paligemma_vq_droid + binary_success: 1 + partial_success: 1.0 + duration: 264 + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + D: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + F: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 diff --git a/evaluation_sessions/2eb8d874-df32-4944-87e0-0b26cb7b43f9/metadata.yaml b/evaluation_sessions/2eb8d874-df32-4944-87e0-0b26cb7b43f9/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..218f56df05e61a99607297be4ff7699e4bfc212e --- /dev/null +++ b/evaluation_sessions/2eb8d874-df32-4944-87e0-0b26cb7b43f9/metadata.yaml @@ -0,0 +1,48 @@ +evaluation_location: UPenn +evaluator_name: Matthew Leonard +session_creation_timestamp: '2025-04-26T12:15:42.840196Z' +session_completion_timestamp: '2025-04-26T12:27:58.847508Z' +language_instruction: stack the three rolls of tape +preference: A +longform_feedback: Policy A was able to pick up the one roll off to the side, and + brought it near the other two rolls, but did not actually place it onto the other + rolls to form a stack. Policy B picked up one of the two rolls (which would not + have been the optimal way to stack) and then hesitated to actually do anything with + it. Policy A went off to the right side at first, where there were no rolls, but + then returned and picked up a roll. +policies: + A: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.2 + duration: 399 + D: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.05 + duration: 399 + F: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + C: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.2 + duration: 399 + E: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + G: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.2 + duration: 399 diff --git a/evaluation_sessions/31000ca0-fcec-458d-8a5a-c3c5603be96a/A_pi0_droid/pi0_droid_2025-07-02T19:01:40.863332_video_right.mp4 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sha256:c101b78263aa911bfda3c11ddada3d28b99e33193d09c0a0e475adb86e8c4330 +size 49543 diff --git a/evaluation_sessions/33f344b4-d2fd-4576-94b4-50731428c356/metadata.yaml b/evaluation_sessions/33f344b4-d2fd-4576-94b4-50731428c356/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b76a3276b6f9b0c677c9455ea5559c314eda309 --- /dev/null +++ b/evaluation_sessions/33f344b4-d2fd-4576-94b4-50731428c356/metadata.yaml @@ -0,0 +1,22 @@ +evaluation_location: UT Austin +evaluator_name: will_reger@utexas.edu +session_creation_timestamp: '2025-08-25T01:24:23.693390Z' +session_completion_timestamp: '2025-08-25T01:36:19.942255Z' +language_instruction: Grab the block +preference: A +longform_feedback: I chose policy A because it was able to rotate it's gripper to + attempt and grab at the block while policy B did not ever attempt to rotate it's + hand and as a result was not able to have a chance of grabbing the block. The only + thing wrong with policy A was that it grabbed pre-maturley, so it couldn't get it's + hand around the block before attempting to grab. +policies: + A: + policy_name: pi05_droid + binary_success: 0 + partial_success: 0.75 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/353581a5-3041-413e-b1e9-900eac004f40/metadata.yaml b/evaluation_sessions/353581a5-3041-413e-b1e9-900eac004f40/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..afbfbefa89c9d675d465ac083efdaa642a07b111 --- /dev/null +++ b/evaluation_sessions/353581a5-3041-413e-b1e9-900eac004f40/metadata.yaml @@ -0,0 +1,20 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-08-19T08:44:26.222918Z' +session_completion_timestamp: '2025-08-19T09:03:32.163422Z' +language_instruction: pick up the cup and put it on the big box +preference: B +longform_feedback: Policy A and B have finished the task correctly. Policy B is better, + because it's faster than policy A. After picked up the cup, policy A has been hesitating + to put it on the box, but policy B has put it quickly. So I prefer policy B. +policies: + B: + policy_name: paligemma_fast_droid + binary_success: 1 + partial_success: 1.0 + duration: 399 + A: + policy_name: pi05_droid + binary_success: 1 + partial_success: 1.0 + duration: 399 diff --git a/evaluation_sessions/3ad38369-aef3-4b69-ae4c-e7820b44d62d/metadata.yaml b/evaluation_sessions/3ad38369-aef3-4b69-ae4c-e7820b44d62d/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..23a837fb9a3018f9ff076bfac82606422d8f8a86 --- /dev/null +++ b/evaluation_sessions/3ad38369-aef3-4b69-ae4c-e7820b44d62d/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-01T05:38:31.741017Z' +session_completion_timestamp: '2025-09-01T05:52:42.314492Z' +language_instruction: move the smaller PCB from left to right +preference: B +longform_feedback: Policy A first moved the robotic arm back and forth as if finding + the target, then policy A moved the robotic arm to a cube and attempted to grasp + until time ran out.Policy B first moved the robotic arm to the smaller PCB, attempted + to grasp it but failed, only squeezed it and made it slip away backward.Comparing + the performance of the two, neither policy was able to complete the task, but policy + B at least found the required object and attempted to moved it while policy A did + nothing relevant.Therefore, policy B is obviously better than policy +policies: + A: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 diff --git a/evaluation_sessions/3b1f9dbc-6309-4699-ac3c-2cf75037e749/metadata.yaml b/evaluation_sessions/3b1f9dbc-6309-4699-ac3c-2cf75037e749/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3d522030aa5b575aa41b1d2862ad2b6a7878ab4 --- /dev/null +++ b/evaluation_sessions/3b1f9dbc-6309-4699-ac3c-2cf75037e749/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: UT Austin +evaluator_name: will_reger@utexas.edu +session_creation_timestamp: '2025-08-28T20:42:17.829670Z' +session_completion_timestamp: '2025-08-28T20:51:00.156256Z' +language_instruction: Put all of the cups inside of each other. +preference: A +longform_feedback: Policy A was able to place the red cup inside of the blue cup and + then grab both cups in preparation for putting it into the yellow cup. policy B + was able to put the blue cup into the yellow cup, but since it was not able to place + the yellow cup into the red cup(since it is the smallest) policy B never made the + effort to go towards the red cup. policy A had started with the smaller cups, so + it didn't have to move to a different cup in order to make progress- instead simply + bringing the smaller cups with it to make the progress. +policies: + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.75 + duration: 399 + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 diff --git a/evaluation_sessions/3e12901c-cff4-4e24-b014-a45bbc9559d1/metadata.yaml b/evaluation_sessions/3e12901c-cff4-4e24-b014-a45bbc9559d1/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bebc106b24cb321c6636c4efbc576535cf1f4cbb --- /dev/null +++ b/evaluation_sessions/3e12901c-cff4-4e24-b014-a45bbc9559d1/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-12-02T02:03:34.779237Z' +session_completion_timestamp: '2025-12-02T02:14:33.351899Z' +language_instruction: put the red block into the drawer +preference: TIE +longform_feedback: Policy A first moved the gripper close to the red block,made multiple + attempts to grasp it during most time of the episode, but did not succeed in the + end.Policy B first moved the gripper close to the red block, attempted to grasp + it several time but did not succeed.Then policy B moved the gripper away and moved + slightly until time ran out.My instruction is to put the red block into the drawer,neither + policy was able to complete the task.When comparing the performance of the two, + both policies only attempted to grasp the red block but failed.Therefore, i choose + tie. +policies: + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 diff --git a/evaluation_sessions/41fe378f-7f82-4473-8c02-478f681a4729/A_paligemma_vq_droid/paligemma_vq_droid_2025-07-14T22:16:59.868331_video_left.mp4 b/evaluation_sessions/41fe378f-7f82-4473-8c02-478f681a4729/A_paligemma_vq_droid/paligemma_vq_droid_2025-07-14T22:16:59.868331_video_left.mp4 new file mode 100644 index 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After unfreezing near the end of the episode, + policy A extended its hand as far as it could for pretty much the rest of the episode + in between the two bowls. policy B started by going for the top left marshmellow + and trying to place it in the red bowl but couldn't since it got stuck on its gripper + when it tried letting go. After sort of wandering around with the marshmellow in + its grasp, policy B ended the episode having finally freeing itself from that marshmellow + and had begun moving around again(albiet somewhat aimlessly). In the end I chose + policy B since it was actually able to grab a marshmellow while policy A could not. +policies: + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.2 + duration: 399 + A: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 diff --git a/evaluation_sessions/523aa14c-bd4d-49c7-a219-8e915acb0286/metadata.yaml b/evaluation_sessions/523aa14c-bd4d-49c7-a219-8e915acb0286/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..133f5ac5a4d96482f90cf2fb0c1f92ae2bdcdc76 --- /dev/null +++ b/evaluation_sessions/523aa14c-bd4d-49c7-a219-8e915acb0286/metadata.yaml @@ -0,0 +1,20 @@ +evaluation_location: berkeleyy +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-10-20T21:28:53.208617Z' +session_completion_timestamp: '2025-10-20T21:39:23.607613Z' +language_instruction: move the can into plate +preference: TIE +longform_feedback: Both policies completely finished the task in a few steps. 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Instead, it tried to place the ball on the high shelf, where + there was no cup. In contrast, policy B did not recognize the ball and failed to + pick it up. +policies: + A: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.3 + duration: 272 + C: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + D: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + E: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + F: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.75 + duration: 399 + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + G: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 diff --git a/evaluation_sessions/5ffc9bb7-c0e1-4c73-a76c-79b258b35491/metadata.yaml b/evaluation_sessions/5ffc9bb7-c0e1-4c73-a76c-79b258b35491/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..faf75fe393d18bf6c9a5b3b3fcd3eca09c21e899 --- /dev/null +++ b/evaluation_sessions/5ffc9bb7-c0e1-4c73-a76c-79b258b35491/metadata.yaml @@ -0,0 +1,21 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-07-23T21:56:41.345967Z' +session_completion_timestamp: '2025-07-23T22:09:14.741912Z' +language_instruction: put the corn next to the spoon +preference: B +longform_feedback: A hovers all the entire session and not really responds to the + command while B at least attempted to reach to the corn but further on pushes the + entire plate to the right and the cup is threw off the seen. The disruption continues + and the corn was placed on the table at the end +policies: + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + A: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 diff --git a/evaluation_sessions/62c8e396-5d68-4d40-b38c-e6931deb823f/metadata.yaml b/evaluation_sessions/62c8e396-5d68-4d40-b38c-e6931deb823f/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d10da2089483ab0747854c5dc22ba41b023e56a --- /dev/null +++ b/evaluation_sessions/62c8e396-5d68-4d40-b38c-e6931deb823f/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-25T01:42:01.906449Z' +session_completion_timestamp: '2025-09-25T01:55:34.939768Z' +language_instruction: grasp the shoes, then drop it +preference: B +longform_feedback: Policy A first moved the gripper above the shoes, seemingly observing + it, then moved the gripper slightly during remaining time of the episode.Policy + B first moved the gripper close the shoes, then grasped one shoe and dropped it + twice until time ran out.My instruction is to grasp the shoes then drop it, when + comparing the performance of the two, policy B completed the task successfully whereas + policy A failed.Therefore, policy B is obviously better then policy A. +policies: + B: + policy_name: paligemma_diffusion_droid + binary_success: 1 + partial_success: 1.0 + duration: 399 + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.2 + duration: 399 diff --git a/evaluation_sessions/63013c67-0a7e-4616-81e7-6dcd766e823c/metadata.yaml b/evaluation_sessions/63013c67-0a7e-4616-81e7-6dcd766e823c/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa16f62289c0d99c63613fe251133defef42481e --- /dev/null +++ b/evaluation_sessions/63013c67-0a7e-4616-81e7-6dcd766e823c/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-11-13T02:51:36.304771Z' +session_completion_timestamp: '2025-11-13T03:01:10.421872Z' +language_instruction: put the cup into the plate +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 cup, attempted to + grasp it but failed, then approached the plate, grasped it, picked it up in the + end.My instruction is to put the cup into the plate, neither policy was able to + complete the task.When comparing the performance of the two, policy B at least attempted + to grasp the cup, 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: pi0_droid + binary_success: 0 + partial_success: 0.4 + duration: 399 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+session_creation_timestamp: '2025-11-12T03:46:50.386924Z' +session_completion_timestamp: '2025-11-12T03:57:19.926570Z' +language_instruction: open the book +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 book, adjusted posture,but + moved away soon, then policy B moved the gripper randomly during remaining time + of the episode.My instruction is to open the book, neither policy was able to complete + the task.When comparing the performance of the two, policy B at least approached + the book, whereas policy A did not do anything.Therefore, policy B is better than + policy A. +policies: + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.2 + duration: 399 + A: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 diff --git a/evaluation_sessions/68d0abfd-11a1-435e-a385-095c65f1f32a/metadata.yaml 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It was almost as if policy A had stuck the ball into + the blue cup and then got its hand stuck into the blue cup. policy A then let go + of the ball, removed its gripper from the cup and ended the episode with its hand + in empty space. I chose policy B because it did everything perfectly and efficiently- + quickly picking up the ball and placing it into the cup. +policies: + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: paligemma_fast_specialist_droid + binary_success: 1 + partial_success: 1.0 + duration: 150 diff --git a/evaluation_sessions/6a741d2b-ec2b-4b45-84c3-701b4499a9fe/metadata.yaml b/evaluation_sessions/6a741d2b-ec2b-4b45-84c3-701b4499a9fe/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6bdbfd82f243148e21c70f8307a820f812b9c899 --- /dev/null +++ b/evaluation_sessions/6a741d2b-ec2b-4b45-84c3-701b4499a9fe/metadata.yaml @@ -0,0 +1,19 @@ +evaluation_location: KAIST +evaluator_name: byeongguk@kaist.ac.kr +session_creation_timestamp: '2026-02-02T11:24:18.246136Z' +session_completion_timestamp: '2026-02-02T11:28:31.930679Z' +language_instruction: pick up the strawberry and place it on the yellow plate +preference: TIE 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a/evaluation_sessions/7ac4ded2-7c0b-42d8-a328-00b50c974f20/metadata.yaml b/evaluation_sessions/7ac4ded2-7c0b-42d8-a328-00b50c974f20/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..872c1873b443641fd438b7e63e77b75872a07111 --- /dev/null +++ b/evaluation_sessions/7ac4ded2-7c0b-42d8-a328-00b50c974f20/metadata.yaml @@ -0,0 +1,45 @@ +evaluation_location: UT Austin +evaluator_name: Luca Macesanu +session_creation_timestamp: '2025-04-29T09:07:44.547500Z' +session_completion_timestamp: '2025-04-29T09:17:47.370996Z' +language_instruction: Press a button on the phone. +preference: B +longform_feedback: A moved to grasp the phone and hit the button with one of its fingers + (maybe intentional, maybe not). B closed its fingers and very deliberately pushing + a button. +policies: + A: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.9 + duration: 115 + B: + policy_name: pi0_droid + binary_success: 1 + partial_success: 1.0 + duration: 152 + F: + policy_name: paligemma_fast_droid + binary_success: 1 + partial_success: 1.0 + duration: 57 + C: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.95 + duration: 72 + D: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.7 + duration: 168 + E: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 59 + G: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.8 + duration: 149 diff --git a/evaluation_sessions/7cf85d7d-2763-4a22-89ed-8400cddf63a4/metadata.yaml b/evaluation_sessions/7cf85d7d-2763-4a22-89ed-8400cddf63a4/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d847bb90ba4f45cd791588a224dfa11fc316502e --- /dev/null +++ b/evaluation_sessions/7cf85d7d-2763-4a22-89ed-8400cddf63a4/metadata.yaml @@ -0,0 +1,22 @@ +evaluation_location: UT Austin +evaluator_name: will_reger@utexas.edu +session_creation_timestamp: '2025-08-30T19:01:41.206019Z' +session_completion_timestamp: '2025-08-30T19:07:16.306302Z' +language_instruction: Drop the bread off of the table. +preference: B +longform_feedback: Policy A had approached the bread, placed its gripper right up + against the bread, but didn't grab the bread. policy B spent the entire episode + picking up and dropping the bread, but never moving anywhere with the bread. I chose + policy B because it was able to actually grab the bread and lift it while policy + A could not even do that. +policies: + B: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + A: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/7e32d2d0-aaf7-4524-99b5-55575635a4e6/metadata.yaml b/evaluation_sessions/7e32d2d0-aaf7-4524-99b5-55575635a4e6/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84776a5df61eb4c9dbc1ccdbd6431757aded6e67 --- /dev/null +++ b/evaluation_sessions/7e32d2d0-aaf7-4524-99b5-55575635a4e6/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-25T05:47:13.101131Z' +session_completion_timestamp: '2025-09-25T05:55:51.511495Z' +language_instruction: grasp the banana, then put it into the plate +preference: B 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on the paper +preference: B +longform_feedback: I prefer B because policy a did not even move toward the bowl, + polcy B successfully pick up the bowl. However, instead of put it on the paper, + it put the bowl on the blue plate +policies: + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + D: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + F: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + A: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 392 + C: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + E: + policy_name: paligemma_diffusion_droid + binary_success: 1 + partial_success: 1.0 + duration: 399 + G: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 diff --git a/evaluation_sessions/88823fcb-c494-4544-86a1-c3b50604592f/metadata.yaml b/evaluation_sessions/88823fcb-c494-4544-86a1-c3b50604592f/metadata.yaml new file mode 100644 index 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b/evaluation_sessions/96c24f50-7d22-42c3-8ace-16749aa99e2c/G_paligemma_fast_specialist_droid/paligemma_fast_specialist_droid_2025_04_17_12_09_16_video_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cd9e706f099106e3f4f9b92046309887e0c410efeb90ae6d4a851112703f241 +size 921928 diff --git a/evaluation_sessions/98ac39d0-1a64-4198-a37d-abcd4d7b0063/metadata.yaml b/evaluation_sessions/98ac39d0-1a64-4198-a37d-abcd4d7b0063/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0c9eeea011125399c1986c2d31e500f54353066 --- /dev/null +++ b/evaluation_sessions/98ac39d0-1a64-4198-a37d-abcd4d7b0063/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-15T02:37:08.874695Z' +session_completion_timestamp: '2025-10-15T02:45:35.201755Z' +language_instruction: turn the book upside down +preference: TIE +longform_feedback: Policy A first moved the gripper back and forth for a while, then + stopped near the edge of the table during remaining time of the episode.Policy B + moved the gripper randomly during entire time of the trial, 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 could not find the target.Therefore, i choose tie. +policies: + A: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 + B: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 diff --git a/evaluation_sessions/9918bc42-9a17-4cb0-b927-a2f0b34fa4a1/metadata.yaml b/evaluation_sessions/9918bc42-9a17-4cb0-b927-a2f0b34fa4a1/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0384c863a867b4a927eea3b49488b03883d8a70 --- /dev/null +++ b/evaluation_sessions/9918bc42-9a17-4cb0-b927-a2f0b34fa4a1/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2026-01-27T08:15:05.122132Z' +session_completion_timestamp: '2026-01-27T08:22:21.149581Z' +language_instruction: open the book +preference: A +longform_feedback: Policy A first moved the gripper toward the book, adjusted posture, + approached the edge of the book, then moved the gripper, as if attempted to pushed + the edge of the book, but did not succeed.Policy B first moved the gripper toward + the book, attempted to grasp it but did not succeed, then moved slowly around the + book during remaining time of the episode.My instruction is to open the book, neither + policy was able to complete the task.When comparing the performance of the tow,policy + A seems more likely to open the book then policy B.Therefore, i choose policy A. +policies: + B: + policy_name: floppy_bagel_90k_temp1p0 + binary_success: 0 + partial_success: 0.3 + duration: 399 + A: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 diff --git a/evaluation_sessions/996f2c22-6e4b-4616-90db-fb6f80499041/metadata.yaml b/evaluation_sessions/996f2c22-6e4b-4616-90db-fb6f80499041/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0cec187155a4a8fa4e58ce202df5af67be9efca4 --- /dev/null +++ b/evaluation_sessions/996f2c22-6e4b-4616-90db-fb6f80499041/metadata.yaml @@ -0,0 +1,44 @@ +evaluation_location: Stanford +evaluator_name: Sarah Kunda Mugisha +session_creation_timestamp: '2025-04-28T22:44:41.068827Z' +session_completion_timestamp: '2025-04-28T22:58:02.502768Z' +language_instruction: 'pick up red box and put in brown box ' +preference: B +longform_feedback: Policy B moved towards the red box and tried to figure out how + to pick it up while Policy B went in random positions +policies: + D: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + G: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + A: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + C: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + E: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 328 + F: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/9a066765-e8ef-4a69-bc04-c2a944be16fd/A_paligemma_diffusion_droid/paligemma_diffusion_droid_2025-08-21T06:28:02.988581_video_left.mp4 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0000000000000000000000000000000000000000..5f0efce3bf30692d14dd8d9b4cb9c155d5582a50 --- /dev/null +++ b/evaluation_sessions/9a066765-e8ef-4a69-bc04-c2a944be16fd/B_pi0_fast_droid/pi0_fast_droid_2025-08-21T06:37:46.540842_npz_file.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74a922a625fd5f4056fe8fd827952c8f72687a0b489837d0d2bf0aee94e4d855 +size 46352 diff --git a/evaluation_sessions/9ba10308-fe52-4393-b0b4-53c0f904ae14/metadata.yaml b/evaluation_sessions/9ba10308-fe52-4393-b0b4-53c0f904ae14/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aad338e9f41a0217a5119fffb7a5f8ffd51aab8c --- /dev/null +++ b/evaluation_sessions/9ba10308-fe52-4393-b0b4-53c0f904ae14/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-29T02:27:30.562841Z' +session_completion_timestamp: '2025-10-29T02:38:24.805945Z' +language_instruction: close the curtain 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will_reger@utexas.edu +session_creation_timestamp: '2025-09-07T16:57:16.324377Z' +session_completion_timestamp: '2025-09-07T17:04:53.360289Z' +language_instruction: Knock over the red cup? +preference: TIE +longform_feedback: 'I gave both policies a tie since the most amount of progress either + accomplished was picking at the clear cup in the center of the field. There were + some differences worth mentioning: policy A was much more agressive than policy + B. policy A would immediatley go to the cup and begin picking it up and letting + it go throughout the whole episode while policy B really didn''t grab much if at + all. policy B actually spent a non-negligible amount of time standing completely + still until the end of the episode.' +policies: + A: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.15 + duration: 399 + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.15 + duration: 399 diff --git a/evaluation_sessions/a5036a2d-8859-4aa4-a8b2-414297dbcccc/metadata.yaml b/evaluation_sessions/a5036a2d-8859-4aa4-a8b2-414297dbcccc/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..78343acefe8454248c7545d8c987236fd8f25d04 --- /dev/null +++ b/evaluation_sessions/a5036a2d-8859-4aa4-a8b2-414297dbcccc/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-10-28T03:42:04.115233Z' +session_completion_timestamp: '2025-10-28T03:49:43.899426Z' +language_instruction: pick up the banana +preference: B +longform_feedback: Policy A first moved the gripper close to the banana, pushed it, + then moved slightly around the banana during remaining time of the episode.Policy + B first moved the gripper close to the banana, pushed it, then attempted to grasp + it during remaining time of the episode but did not succeed, only grasped the edge + of the table.My instruction is to pick up the banana, neither policy was able to + complete the task.When comparing the performance of the two, policy B at least attempted + to grasp the banana, whereas policy A did not.Therefore, policy B is slightly better + than policy A. +policies: + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 + A: + policy_name: 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As a result, policy A wasn't + able to grab the block. For the rest of the episode, policy A would stay sort of + to the right of the block sort of grabbing and interacting with the empty space + next to the block. policy B litterally just fully extended its arm for no reason + and started grabing at nothing. Since policy A was able to at least somewhat decently + attempt to grab the block, I gave it the victory. +policies: + A: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + B: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.1 + duration: 399 diff --git a/evaluation_sessions/b792bcd7-ea34-434f-9487-06e64d871458/A_pi0_droid/pi0_droid_2025-09-02T03:13:14.241875_video_right.mp4 b/evaluation_sessions/b792bcd7-ea34-434f-9487-06e64d871458/A_pi0_droid/pi0_droid_2025-09-02T03:13:14.241875_video_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f84769640b5141bc678151816969e15d57d3c798 --- /dev/null +++ b/evaluation_sessions/b792bcd7-ea34-434f-9487-06e64d871458/A_pi0_droid/pi0_droid_2025-09-02T03:13:14.241875_video_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34c84de11b9a21ca61e39b3366911aaadc67e60abcafb6566ba5e0be42056680 +size 363031 diff --git 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b/evaluation_sessions/b95cda5d-cd97-499c-8e67-c69a7aac8149/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94a204f851cb69b9626c65e25cd3cbbebb881aa6 --- /dev/null +++ b/evaluation_sessions/b95cda5d-cd97-499c-8e67-c69a7aac8149/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-26T06:58:13.949139Z' +session_completion_timestamp: '2025-09-26T07:05:12.737362Z' +language_instruction: pick up the mobile phone on the sofa +preference: A +longform_feedback: Policy A first moved the gripper close to the mobile phone,then made + multiple attempts to grasp the mobile phone,but did not succeed in the end.Policy + B showed no response to my command and did not perform any operations at all.My + instruction is to pick up the mobile phone on the sofa, neither policy was able + to complete the task.When comparing the performance of the two, policy A at least + attempted to grasp the mobile phone whereas policy B did not do anything.Therefore, + policy A is better than policy B. +policies: + B: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + A: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 diff --git a/evaluation_sessions/bc84dde3-b274-4256-b532-38d608875f41/metadata.yaml b/evaluation_sessions/bc84dde3-b274-4256-b532-38d608875f41/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee3dfd8ece55a3afcac54e1a4c6d0b20627ca031 --- /dev/null +++ b/evaluation_sessions/bc84dde3-b274-4256-b532-38d608875f41/metadata.yaml @@ -0,0 +1,45 @@ +evaluation_location: Yonsei +evaluator_name: Meedeum Cho +session_creation_timestamp: '2025-04-25T11:01:03.903281Z' +session_completion_timestamp: '2025-04-25T11:15:20.246552Z' +language_instruction: push the dustpan to the right +preference: A +longform_feedback: Although policy B showed smoother motions, it failed to complete + the task. 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+session_creation_timestamp: '2025-08-11T22:48:32.100507Z' +session_completion_timestamp: '2025-08-11T22:54:51.622513Z' +language_instruction: put one of the bread on bowl +preference: TIE +longform_feedback: Both policies has reached the point that they were able to point + towards where the bread and grasped it fromthe toaster; however, both failed to + remove it from the toaster +policies: + A: + policy_name: paligemma_fast_specialist_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 + B: + policy_name: paligemma_diffusion_droid + binary_success: 0 + partial_success: 0.25 + duration: 399 diff --git a/evaluation_sessions/db2e3274-4a50-4095-879d-41608dc97180/metadata.yaml b/evaluation_sessions/db2e3274-4a50-4095-879d-41608dc97180/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11c9b84c86933b148db8e00f28fed2bee59d88bc --- /dev/null +++ b/evaluation_sessions/db2e3274-4a50-4095-879d-41608dc97180/metadata.yaml @@ -0,0 +1,44 @@ +evaluation_location: University Montreal +evaluator_name: Artur Kuramshin +session_creation_timestamp: '2025-04-27T01:17:45.433241Z' +session_completion_timestamp: '2025-04-27T01:26:44.881986Z' +language_instruction: Put the block in the silver bowl +preference: B +longform_feedback: Policy B was more confident in its grasp and did not have to regrasp + like policy A had to. Policy A put the block in the wrong bowl. +policies: + A: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.75 + duration: 248 + C: + policy_name: paligemma_vq_droid + binary_success: 0 + partial_success: 0.75 + duration: 208 + E: + policy_name: pi0_droid + binary_success: 1 + partial_success: 1.0 + duration: 248 + B: + policy_name: paligemma_diffusion_droid + binary_success: 1 + partial_success: 1.0 + duration: 192 + D: + policy_name: pi0_fast_droid + binary_success: 1 + partial_success: 1.0 + duration: 178 + F: + policy_name: paligemma_binning_droid + binary_success: 0 + partial_success: 0.0 + duration: 399 + G: + policy_name: paligemma_fast_specialist_droid + binary_success: 1 + partial_success: 1.0 + duration: 123 diff --git a/evaluation_sessions/db430215-9abe-465c-9ec6-eb46a7119028/metadata.yaml b/evaluation_sessions/db430215-9abe-465c-9ec6-eb46a7119028/metadata.yaml new file mode 100644 index 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0000000000000000000000000000000000000000..5c819f44e18cc518e3f8e0a7d2235f7318363b86 --- /dev/null +++ b/evaluation_sessions/de124d8f-3e32-4346-8a63-3941189beefb/B_paligemma_diffusion_droid/paligemma_diffusion_droid_2025-08-13T20:01:20.463311_npz_file.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:254e7d055300d8f4f17bfc2bee5abc861916dcde23fb7f32095cb229d2e242f6 +size 49152 diff --git a/evaluation_sessions/e211154f-a306-4242-b59d-981f46ad4990/metadata.yaml b/evaluation_sessions/e211154f-a306-4242-b59d-981f46ad4990/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1c252a6b60d5b2d3b19a68f25f9610d841f1ea96 --- /dev/null +++ b/evaluation_sessions/e211154f-a306-4242-b59d-981f46ad4990/metadata.yaml @@ -0,0 +1,24 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-04T02:13:46.000590Z' +session_completion_timestamp: '2025-09-04T02:24:04.911910Z' +language_instruction: put the tape on top of the drawer +preference: B +longform_feedback: Policy A first moved the robotic arm close to the tape, pushed + it slightly.Then policy A approached the mouse, attempted to grasp it.Next,policy + A moved the robotic arm close to the tape again in the end.Policy B first moved + the robotic arm close to the tape, pushed it close to the drawer, attempted to grasped + but failed in the end.Neither policy was not able to complete the task, but policy + B at least pushed the tape to the drawer while policy A did not.Therefore, policy + B is slightly better than policy A. +policies: + A: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.4 + duration: 399 diff --git a/evaluation_sessions/e3e6aed4-d623-44f6-887d-cff04559abdf/metadata.yaml b/evaluation_sessions/e3e6aed4-d623-44f6-887d-cff04559abdf/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..04fa5235fc53961aae1bac0ed985cfcfa7412202 --- /dev/null +++ b/evaluation_sessions/e3e6aed4-d623-44f6-887d-cff04559abdf/metadata.yaml @@ -0,0 +1,46 @@ +evaluation_location: Berkeley +evaluator_name: Pranav Atreya +session_creation_timestamp: '2025-04-18T16:23:59.948225Z' +session_completion_timestamp: '2025-04-18T16:37:37.878994Z' +language_instruction: put the green marker in the blue bowl +preference: TIE +longform_feedback: Both policies did not do very well. The task is targeted for the + green markerr but in both trials, the robot is only reaching for the purple marker + in one of the drawer. 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able to complete the task.When comparing the performance of the two,policy A at + least grasped the controller while policy B only pushed it.Therefore, policy A is + better than policy B. +policies: + A: + policy_name: paligemma_fast_droid + binary_success: 0 + partial_success: 0.6 + duration: 399 + B: + policy_name: pi0_droid + binary_success: 0 + partial_success: 0.3 + duration: 399 diff --git a/evaluation_sessions/e6d7e1d0-df9e-4dd8-a7dc-b4776b4f4437/metadata.yaml b/evaluation_sessions/e6d7e1d0-df9e-4dd8-a7dc-b4776b4f4437/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8019ff33b85c8add175535d9135a89073b3847f --- /dev/null +++ b/evaluation_sessions/e6d7e1d0-df9e-4dd8-a7dc-b4776b4f4437/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-09-03T06:10:38.801427Z' +session_completion_timestamp: '2025-09-03T06:19:20.748064Z' +language_instruction: put the smaller 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+evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu +session_creation_timestamp: '2025-07-16T21:41:36.642237Z' +session_completion_timestamp: '2025-07-16T21:48:26.656468Z' +language_instruction: stack the pink bowk onto the other bowl +preference: TIE +longform_feedback: Both policies score perfect in this set up but each still has space + for improvement. A tended to keep the gripper position low and thus has threw off + the cup, which was at the mid-scence. Policy B did not push off anything off the + table but it evplaced the cup onto the stacked bowl. +policies: + B: + policy_name: paligemma_vq_droid + binary_success: 1 + partial_success: 1.0 + duration: 399 + A: + policy_name: pi0_droid + binary_success: 1 + partial_success: 1.0 + duration: 399 diff --git a/evaluation_sessions/f5c7635a-9a82-4be3-af38-0fb6cfeaf411/A_paligemma_binning_droid/paligemma_binning_droid_2025-09-22T09:26:30.409416_video_right.mp4 b/evaluation_sessions/f5c7635a-9a82-4be3-af38-0fb6cfeaf411/A_paligemma_binning_droid/paligemma_binning_droid_2025-09-22T09:26:30.409416_video_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df95eacf535c382863639dc6760b33095550a404 --- /dev/null +++ b/evaluation_sessions/f5c7635a-9a82-4be3-af38-0fb6cfeaf411/A_paligemma_binning_droid/paligemma_binning_droid_2025-09-22T09:26:30.409416_video_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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sha256:2ecb8921a77dbf11c7cf5d7fb608bdd0e7d64204d4bd07731054c639d80134bc +size 48675 diff --git a/evaluation_sessions/fc757707-077e-414b-a535-307420bde9e1/metadata.yaml b/evaluation_sessions/fc757707-077e-414b-a535-307420bde9e1/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..170ce1a6401575b500ddd2caa44c0634db8c34e9 --- /dev/null +++ b/evaluation_sessions/fc757707-077e-414b-a535-307420bde9e1/metadata.yaml @@ -0,0 +1,25 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-11-17T02:19:38.303374Z' +session_completion_timestamp: '2025-11-17T02:29:13.559752Z' +language_instruction: put the orange onto the towel +preference: B +longform_feedback: Policy A first moved the gripper close to the orange, then moved + back and forth around the orange during remaining time of the episode, as if attempted + to grasp the orange.Policy B first moved the gripper close to the orange, grasped + and released it, touched it, then moved the gripper slowly above the orange until + time ran out.My instruction is to put the orange onto the towel, neither policy + was able to complete the task.When comparing the performance of the two, policy + B at least grasped the orange, 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: 0.25 + duration: 399 + B: + policy_name: pi0_fast_droid + binary_success: 0 + partial_success: 0.5 + duration: 399 diff --git a/evaluation_sessions/fd3ae7db-07dc-4202-a59f-d86bc508ab98/metadata.yaml b/evaluation_sessions/fd3ae7db-07dc-4202-a59f-d86bc508ab98/metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c0a6c954dd4453d8af406dd2ca6a9055b9b3ba64 --- /dev/null +++ b/evaluation_sessions/fd3ae7db-07dc-4202-a59f-d86bc508ab98/metadata.yaml @@ -0,0 +1,19 @@ +evaluation_location: berkeley +evaluator_name: ellieh99@berkeley.edu 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b/evaluation_sessions/ff957c00-5565-4208-98ad-e9ceb3678265/metadata.yaml @@ -0,0 +1,23 @@ +evaluation_location: frodobots +evaluator_name: michael.cho@frodobots.com +session_creation_timestamp: '2025-12-02T02:38:56.258190Z' +session_completion_timestamp: '2025-12-02T02:47:50.412929Z' +language_instruction: poke the curtain with the knife +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 curtain, after hesitating + for a while, then attempted to grasp the curtain, touched the curtain.My instruction + is to poke the curtain with the knife, neither policy was able to complete the task.When + comparing the performance of the two, policy B at least approached the curtain, + 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: pi05_droid + binary_success: 0 + partial_success: 0.2 + duration: 399