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evaluation_sessions/03dd60d7-a3c7-4cdc-9ad3-dbf7e293b574/metadata.yaml

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+evaluation_location: Stanford
+evaluator_name: Tony Lee
+session_creation_timestamp: '2025-04-17T18:16:35.308926Z'
+session_completion_timestamp: '2025-04-17T18:25:19.278106Z'
+language_instruction: gather all items
+preference: A
+longform_feedback: policy A actually reached for the bear but the policy failed to
+  pick it up. It just knocked the bear off the table. Policy B did nothing. Policy
+  A is much better
+policies:
+  A:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 264
+  C:
+    policy_name: pi0_fast_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 96
+  E:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 160
+  G:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 399
+  B:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 160
+  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: 0.3
+    duration: 399

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evaluation_sessions/10ef8dd4-3b87-4479-9f79-ce1ddf773e94/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-28T08:10:02.005310Z'
+session_completion_timestamp: '2025-09-28T08:21:09.611879Z'
+language_instruction: put the marker pen onto the bag
+preference: B
+longform_feedback: Policy A first moved the robotic arm slightly, then stopped during
+  remaining time of the episode.Policy B first moved the gripper back and forth for
+  a while, then approached the marker pen, grasped it, picked it up, moved it near
+  the bag but dropped it on floor.My instruction is to put the marker pen onto the
+  bag,neither policy was able to complete the task.When comparing the performance
+  of the two,policy B at least moved the marker pen near the bag whereas policy A
+  did not do anything relevant.Therefore, policy B if obviously better than policy
+  A.
+policies:
+  A:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399
+  B:
+    policy_name: pi05_droid
+    binary_success: 0
+    partial_success: 0.6
+    duration: 399

evaluation_sessions/161ec0a2-38d7-446b-ada3-3fb9e495f38e/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-05T03:15:17.784206Z'
+session_completion_timestamp: '2025-09-05T03:24:51.745279Z'
+language_instruction: grasp the smaller box, then move it next to the blue bottle
+preference: B
+longform_feedback: Policy A first moved the robotic arm close to the smaller box,
+  grasped it and released,  then grasped it again, moved it close to the blue bottle
+  and dropped it on table.Policy B first moved the robotic arm to the smaller box,
+  grasped it moved it to the blue bottle, and dropped it beside the bottle.Both policies
+  have completed the task, when comparing the performance of the two, policy B moved
+  the box more closer to the bottle than policy A did.Therefore, policy B is slightly
+  better than policy A.
+policies:
+  A:
+    policy_name: pi0_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399

evaluation_sessions/174a6d22-6ce1-4677-932f-c220c3faea8d/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-09-03T02:55:03.446735Z'
+session_completion_timestamp: '2025-09-03T03:01:06.414853Z'
+language_instruction: move the marker pen from left to right
+preference: A
+longform_feedback: Policy A first moved the robotic arm close to marker pen, grasped
+  it, moved it to right then dropped it on the table.Policy B first moved the robotic
+  arm close to the grapes rather than the marker pen, grasped and released the grapes.Comparing
+  the performance of the two, policy A complete the task successfully while policy
+  B failed.Therefore, policy A is obviously better than policy B.
+policies:
+  B:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.2
+    duration: 399
+  A:
+    policy_name: pi05_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399

evaluation_sessions/17b8674b-f909-48f6-ac74-02b81ad128ca/metadata.yaml

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+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-11-28T01:51:55.760113Z'
+session_completion_timestamp: '2025-11-28T02:01:25.799814Z'
+language_instruction: close the curtain
+preference: TIE
+longform_feedback: Policy A first moved the gripper toward the curtain,then attempted
+  to grasp it but did not succeed, then moved around the curtain until time ran out.Policy
+  B first moved the gripper toward the curtain, then attempted to grasp it,  but did
+  not succeed in the end.My instruction is to close the curtain,neither policy was
+  able to complete to task, when comparing the performance of the two, both policies
+  only approached the curtain, but did not succeed in grasping it.Therefore, i choose
+  tie.
+policies:
+  A:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399

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evaluation_sessions/1f595450-e0bc-47b8-b70c-650849115eb3/metadata.yaml

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+evaluation_location: UT Austin
+evaluator_name: Luca Macesanu
+session_creation_timestamp: '2025-04-18T00:40:56.713813Z'
+session_completion_timestamp: '2025-04-18T00:56:06.960028Z'
+language_instruction: pick up the blue cup
+preference: A
+longform_feedback: policy A went to the correct spot to pick and even closed the gripper
+  but before lifting the cup, opened gripper again and did a reset. Policy B on the
+  other hand approached the cup with a bad orientation and knocked the cup down
+policies:
+  A:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.85
+    duration: 399
+  B:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.2
+    duration: 168
+  C:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399
+  D:
+    policy_name: paligemma_vq_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 104
+  E:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.9
+    duration: 384
+  F:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.1
+    duration: 144
+  G:
+    policy_name: pi0_fast_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 87

evaluation_sessions/1f8eeb99-9002-4aa5-98cb-b9f9fcecfea3/metadata.yaml

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+evaluation_location: berkeley
+evaluator_name: ellieh99@berkeley,edu
+session_creation_timestamp: '2025-11-17T23:19:49.681030Z'
+session_completion_timestamp: '2025-11-17T23:32:39.171003Z'
+language_instruction: dry out the bowl on the dish rack
+preference: A
+longform_feedback: POlicy A did better since it moved the bowl over the dish rack
+  but it should be slipped so that the interior of the bowl is facing towards the
+  line to dry out. B just pushed the bowl upwards and then it shifted over the dish
+  track to grasped something from it, which is not efficient
+policies:
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.9
+    duration: 399
+  B:
+    policy_name: paligemma_vq_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399

evaluation_sessions/211d5261-aba7-467f-8b24-a8e1c856cf54/metadata.yaml

@@ -0,0 +1,21 @@
+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-08-20T03:50:03.754885Z'
+session_completion_timestamp: '2025-08-20T04:02:22.745420Z'
+language_instruction: rotate the banana by 90 degrees
+preference: A
+longform_feedback: Policy A has almost completed the task, it has attempted grasped
+  the banana several times and adjusted the angle, then rotated it by about 70 degrees
+  at last. Policy B has no response at all according to my command. So policy A is
+  better than policy B.
+policies:
+  A:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.9
+    duration: 399
+  B:
+    policy_name: paligemma_binning_droid
+    binary_success: 0
+    partial_success: 0.0
+    duration: 399

evaluation_sessions/218e71ec-a694-4a32-ac86-144af5b8be35/metadata.yaml

@@ -0,0 +1,20 @@
+evaluation_location: berkeley
+evaluator_name: ellieh99@berkeley.edu
+session_creation_timestamp: '2025-07-30T20:22:45.289467Z'
+session_completion_timestamp: '2025-07-30T20:31:32.084621Z'
+language_instruction: mpve the tomato to the white plate
+preference: A
+longform_feedback: Policy A perfectly completed the task in one turn without any unecessary
+  moves while B had a hard time to rotate the gripper in front of the tomato and it
+  was stuck in the rear side of the dish rack.
+policies:
+  B:
+    policy_name: paligemma_diffusion_droid
+    binary_success: 0
+    partial_success: 0.25
+    duration: 399
+  A:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399

evaluation_sessions/28d46c06-9027-45e7-91d6-6b9c3074135b/metadata.yaml

@@ -0,0 +1,27 @@
+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-10-14T03:44:19.683631Z'
+session_completion_timestamp: '2025-10-14T03:57:40.632021Z'
+language_instruction: close the book
+preference: TIE
+longform_feedback: Policy A first moved the gripper close to the book, adjusted posture,
+  insert the gripper under the cover of the book, pushed the cover to make the book
+  closed.Then policy A moved the gripper away and moved slightly during remaining
+  time of the episode.Policy B first moved the gripper close to the book, adjusted
+  posture, insert the gripper under the cover of the book, pushed the cover to make
+  the book closed.Then policy B moved the gripper away and moved randomly until stopped
+  in the end.My instruction is to close the book, both policies have completed the
+  task successfully, when comparing the performance of the two, both policies have
+  finished the task smoothly and their performance was similar.Therefore, i choose
+  tie.
+policies:
+  B:
+    policy_name: pi0_fast_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399
+  A:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 1
+    partial_success: 1.0
+    duration: 399

evaluation_sessions/28d9cf55-8cc7-47c7-adc0-82367749f7da/metadata.yaml

@@ -0,0 +1,21 @@
+evaluation_location: berkeley
+evaluator_name: ellieh99@berkeley.edu
+session_creation_timestamp: '2025-08-18T20:47:09.819403Z'
+session_completion_timestamp: '2025-08-18T20:54:27.570559Z'
+language_instruction: cover the bowl with the plate
+preference: B
+longform_feedback: Both A and B at least were able to locate and grasp the plate but
+  they behaved differently hereafter. A tried to pull the plate onward while B pushed
+  the plate over the bowl and kicked it out of the seen without having placed it on
+  top
+policies:
+  B:
+    policy_name: pi05_droid
+    binary_success: 0
+    partial_success: 0.75
+    duration: 399
+  A:
+    policy_name: pi0_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399

evaluation_sessions/2a552ba4-9d69-49f3-8026-66072617820e/metadata.yaml

@@ -0,0 +1,26 @@
+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2026-01-05T08:54:21.317217Z'
+session_completion_timestamp: '2026-01-05T09:01:32.975054Z'
+language_instruction: put the controller on the cup
+preference: B
+longform_feedback: Policy A first moved the gripper toward the controller, grasped
+  it, picked it up, then moved it and dropped it on floor.Next, policy A moved the
+  gripper randomly during remaining time of the episode.Policy B first moved the gripper
+  toward the controller, grasped it, picked it up, then moved it toward the cup, dropped
+  it on floor.Next, policy B moved the gripper randomly remaining time of the episode.My
+  instruction is to put the controller on the cup, neither policy was able to complete
+  the task.When comparing the performance of the two, both policies picked up the
+  controller, but policy B moved the controller toward the cup while policy A did
+  not.Therefore, policy B is better than policy A.
+policies:
+  A:
+    policy_name: paligemma_fast_droid
+    binary_success: 0
+    partial_success: 0.5
+    duration: 399
+  B:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.6
+    duration: 399

evaluation_sessions/2d43b8b6-8f02-4f58-8910-1f689257cdf7/metadata.yaml

@@ -0,0 +1,25 @@
+evaluation_location: frodobots
+evaluator_name: michael.cho@frodobots.com
+session_creation_timestamp: '2025-12-24T08:26:29.105176Z'
+session_completion_timestamp: '2025-12-24T08:35:58.120788Z'
+language_instruction: pick up the spray bottle
+preference: B
+longform_feedback: Policy A first moved the gripper toward the curtain, then moved
+  randomly for a while, approached the spray bottle but moved away soon.Policy B first
+  moved the gripper toward the spray bottle, put the gripper around the nozzle of
+  the spray bottle, as if attempting to grasp the spray bottle but did not.Then policy
+  B moved slightly during remaining time of the episode.My instruction is to pick
+  up the spray bottle, neither policy was able to complete the task.When comparing
+  the performance of the two, policy B at least seemingly attempted to grasp the spray
+  bottle, whereas policy A did not.Therefore, policy B is better than policy A.
+policies:
+  A:
+    policy_name: paligemma_fast_specialist_droid
+    binary_success: 0
+    partial_success: 0.15
+    duration: 399
+  B:
+    policy_name: floppy_bagel_420k
+    binary_success: 0
+    partial_success: 0.3
+    duration: 399

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