Datasets:

arrow-hf
/

pi0-robotwin-5task-eval

+---
+license: apache-2.0
+task_categories: [robotics]
+tags: [vla, pi0, openpi, robotwin, vla-mpc, eval, success-rate]
+pretty_name: pi0 (Heisen0928/pi0_robotwin) RoboTwin 5-task eval — VLA vs VLA+MPC
+---
+# pi0 RoboTwin 5-task eval — `Heisen0928/pi0_robotwin`, VLA vs VLA+MPC
+Success-rate evaluation of the open-source **`Heisen0928/pi0_robotwin`** π0
+checkpoint on 5 RoboTwin tasks, 50 seeds each (seed 100000–100049), run through
+the `vla_framework` eval pipeline. Two modes: raw policy (passthrough) and with
+the reactive MPC corrector.
+## TL;DR
+| task | passthrough | +MPC | Δ |
+|---|---|---|---|
+| place_container_plate | **29/50 (58%)** | 23/50 (46%) | −6 |
+| place_empty_cup | **26/50 (52%)** | **35/50 (70%)** | **+9** |
+| move_can_pot | **21/50 (42%)** | 13/50 (26%) | −8 |
+| place_bread_skillet | 11/50 (22%) | 11/50 (22%) | 0 |
+| move_pillbottle_pad | 10/50 (20%) | 8/50 (16%) | −2 |
+| **TOTAL** | **97/250 (38.8%)** | **90/250 (36.0%)** | **−7 (−2.8pp)** |
+**The reactive MPC is net-negative here (−2.8pp).** Only `place_empty_cup`
+benefits (+9, a "close-but-incomplete" task where correction recovers grasps);
+on tasks the raw policy already handles (plate, can_pot) the MPC perturbations
+(`pos_std=0.015`, `rot_std=0.03`, gripper-flip) disrupt otherwise-successful
+trajectories. MPC helps where the policy is marginal, hurts where it is already
+competent. The MPC defaults are tuned for SmolVLA-style reactive correction; π0
+(continuous gripper, FK→ee path) needs a higher intervention threshold / smaller
+perturbation.
+`Heisen0928/pi0_robotwin` is a **multi-task** π0 (no per-task finetune), hence
+the modest 38.8% raw rate; plate/cup strongest (>50%), pillbottle/bread weakest
+(~20%).
+## Setup (reproducible)
+- **Checkpoint**: `Heisen0928/pi0_robotwin` (JAX/orbax, step 30000) →
+  converted to PyTorch with openpi's `convert_jax_model_to_pytorch.py`
+  (`--config_name pi0_aloha`, architecturally identical: action_dim 32,
+  action_horizon 50, gemma_2b + gemma_300m, bf16). norm_stats from
+  `30000/assets/robotwin_50_clean/` placed at
+  `physical-intelligence/robotwin/norm_stats.json`.
+- **Backend**: in-process Embodied-AI VLAPredictor (`model_type: pi0`,
+  `config_name=pi0_robotwin`), JOINT(qpos,14D) policy bridged to the ee eval
+  path via RoboTwin FK (`fk: joint_to_ee`).
+- **Poses**: `pose_source: robotwin_gt` (GT, no poselib — isolates the policy).
+- **Env**: conda `vla_unified`; `MUJOCO_GL=egl`, `CUDA_VISIBLE_DEVICES=1`,
+  `EMBODIED_SKIP_TRANSFORMERS_CHECK=1`. subprocess-per-episode (SAPIEN leak).
+- **Per-episode**: `--num_episodes 1 --max_steps 300`.
+Configs in `configs/` (`pi0_robotwin_pass.local.yaml`,
+`pi0_robotwin_mpc.local.yaml`).
+## Contents
+- `results_per_seed.csv` — per task × seed, passthrough & mpc outcome
+  (SUCCESS/FAIL), 250 rows.
+- `SUMMARY_pass.txt`, `SUMMARY_mpc.txt` — per-task aggregates.
+- `configs/` — the exact eval configs (task overridden per run via `--task`).

SUMMARY_mpc.txt ADDED Viewed

	@@ -0,0 +1,7 @@

+===== mpc =====
+  place_bread_skillet    11/50
+  place_empty_cup        35/50
+  move_can_pot           13/50
+  move_pillbottle_pad    8/50
+  place_container_plate  23/50
+  TOTAL                  90/250 (36.0%)

SUMMARY_pass.txt ADDED Viewed

	@@ -0,0 +1,7 @@

+===== pass =====
+  place_bread_skillet    11/50
+  place_empty_cup        26/50
+  move_can_pot           21/50
+  move_pillbottle_pad    10/50
+  place_container_plate  29/50
+  TOTAL                  97/250 (38.8%)

configs/pi0_robotwin_mpc.local.yaml ADDED Viewed

	@@ -0,0 +1,48 @@

+# pi0 (Heisen0928/pi0_robotwin, JAX→PyTorch) — RoboTwin multi-task eval, MPC corrector.
+# task_name is overridden per run via --task. Run in vla_unified. Single-process
+# (grasp_source null = no EconomicGrasp subprocess); MPC reactive, gated by verifier.
+task_name: place_empty_cup        # overridden by --task
+seed: 0
+pose_source: robotwin_gt
+checkpoint: /home/edge/perception/models/Heisen0928_pi0_robotwin_pytorch
+model_type: pi0
+control_mode: ee
+fk: joint_to_ee
+runtime_spec:
+  name: aloha-agilex_dual_ee_fk
+  control_freq: 10.0
+  state_dim: 16
+  action_dim: 16
+  action_type: eef_absolute
+  gripper_convention: 0_closed_1_open
+  action_horizon: 50
+robotwin_root: null
+robotwin_task_config: demo_clean
+corrector:
+  type: mpc
+  use_predicted: false
+  executed_drop_enabled: true
+  default_arm: left
+  grasp_source: null
+  mpc:
+    n_samples: 80
+    pos_std: 0.015
+    rot_std: 0.03
+    candidate_mode: spline
+    spline_nodes: 3
+    spline_interpolation: cubic
+    chunk_on_correct: 20
+    smooth_trajectory: true
+plan:
+  override: null
+  validate: false
+  regenerate_if_invalid: false
+policy:
+  chunk_exec: 50
+  clip: none

configs/pi0_robotwin_pass.local.yaml ADDED Viewed

	@@ -0,0 +1,34 @@

+# pi0 (Heisen0928/pi0_robotwin, JAX→PyTorch) — RoboTwin multi-task eval, PASSTHROUGH.
+# task_name is overridden per run via --task. Run in vla_unified.
+task_name: place_empty_cup        # overridden by --task
+seed: 0
+pose_source: robotwin_gt
+checkpoint: /home/edge/perception/models/Heisen0928_pi0_robotwin_pytorch
+model_type: pi0
+control_mode: ee
+fk: joint_to_ee
+runtime_spec:
+  name: aloha-agilex_dual_ee_fk
+  control_freq: 10.0
+  state_dim: 16
+  action_dim: 16
+  action_type: eef_absolute
+  gripper_convention: 0_closed_1_open
+  action_horizon: 50
+robotwin_root: null
+robotwin_task_config: demo_clean
+corrector:
+  type: passthrough
+plan:
+  override: null
+  validate: false
+  regenerate_if_invalid: false
+policy:
+  chunk_exec: 50
+  clip: none

results_per_seed.csv ADDED Viewed

	@@ -0,0 +1,251 @@

+task,seed,passthrough,mpc
+place_container_plate,100000,SUCCESS,SUCCESS
+place_container_plate,100001,FAIL,FAIL
+place_container_plate,100002,FAIL,FAIL
+place_container_plate,100003,SUCCESS,SUCCESS
+place_container_plate,100004,FAIL,FAIL
+place_container_plate,100005,SUCCESS,SUCCESS
+place_container_plate,100006,FAIL,FAIL
+place_container_plate,100007,SUCCESS,SUCCESS
+place_container_plate,100008,SUCCESS,FAIL
+place_container_plate,100009,FAIL,FAIL
+place_container_plate,100010,SUCCESS,FAIL
+place_container_plate,100011,SUCCESS,SUCCESS
+place_container_plate,100012,FAIL,SUCCESS
+place_container_plate,100013,FAIL,FAIL
+place_container_plate,100014,FAIL,FAIL
+place_container_plate,100015,FAIL,FAIL
+place_container_plate,100016,FAIL,FAIL
+place_container_plate,100017,SUCCESS,SUCCESS
+place_container_plate,100018,SUCCESS,SUCCESS
+place_container_plate,100019,SUCCESS,SUCCESS
+place_container_plate,100020,SUCCESS,FAIL
+place_container_plate,100021,SUCCESS,FAIL
+place_container_plate,100022,FAIL,FAIL
+place_container_plate,100023,SUCCESS,FAIL
+place_container_plate,100024,SUCCESS,FAIL
+place_container_plate,100025,SUCCESS,SUCCESS
+place_container_plate,100026,FAIL,SUCCESS
+place_container_plate,100027,FAIL,FAIL
+place_container_plate,100028,SUCCESS,SUCCESS
+place_container_plate,100029,FAIL,FAIL
+place_container_plate,100030,FAIL,FAIL
+place_container_plate,100031,SUCCESS,SUCCESS
+place_container_plate,100032,FAIL,FAIL
+place_container_plate,100033,FAIL,FAIL
+place_container_plate,100034,FAIL,FAIL
+place_container_plate,100035,FAIL,FAIL
+place_container_plate,100036,FAIL,FAIL
+place_container_plate,100037,SUCCESS,FAIL
+place_container_plate,100038,SUCCESS,SUCCESS
+place_container_plate,100039,SUCCESS,SUCCESS
+place_container_plate,100040,FAIL,FAIL
+place_container_plate,100041,SUCCESS,SUCCESS
+place_container_plate,100042,SUCCESS,SUCCESS
+place_container_plate,100043,SUCCESS,SUCCESS
+place_container_plate,100044,SUCCESS,SUCCESS
+place_container_plate,100045,SUCCESS,SUCCESS
+place_container_plate,100046,SUCCESS,SUCCESS
+place_container_plate,100047,SUCCESS,SUCCESS
+place_container_plate,100048,SUCCESS,SUCCESS
+place_container_plate,100049,SUCCESS,FAIL
+place_empty_cup,100000,FAIL,FAIL
+place_empty_cup,100001,SUCCESS,SUCCESS
+place_empty_cup,100002,FAIL,SUCCESS
+place_empty_cup,100003,FAIL,SUCCESS
+place_empty_cup,100004,FAIL,SUCCESS
+place_empty_cup,100005,SUCCESS,SUCCESS
+place_empty_cup,100006,FAIL,SUCCESS
+place_empty_cup,100007,SUCCESS,SUCCESS
+place_empty_cup,100008,SUCCESS,SUCCESS
+place_empty_cup,100009,SUCCESS,SUCCESS
+place_empty_cup,100010,SUCCESS,SUCCESS
+place_empty_cup,100011,SUCCESS,SUCCESS
+place_empty_cup,100012,FAIL,SUCCESS
+place_empty_cup,100013,SUCCESS,SUCCESS
+place_empty_cup,100014,FAIL,SUCCESS
+place_empty_cup,100015,SUCCESS,SUCCESS
+place_empty_cup,100016,SUCCESS,SUCCESS
+place_empty_cup,100017,SUCCESS,SUCCESS
+place_empty_cup,100018,FAIL,FAIL
+place_empty_cup,100019,FAIL,FAIL
+place_empty_cup,100020,FAIL,FAIL
+place_empty_cup,100021,FAIL,SUCCESS
+place_empty_cup,100022,FAIL,FAIL
+place_empty_cup,100023,SUCCESS,SUCCESS
+place_empty_cup,100024,SUCCESS,SUCCESS
+place_empty_cup,100025,SUCCESS,SUCCESS
+place_empty_cup,100026,SUCCESS,SUCCESS
+place_empty_cup,100027,FAIL,SUCCESS
+place_empty_cup,100028,FAIL,FAIL
+place_empty_cup,100029,SUCCESS,SUCCESS
+place_empty_cup,100030,SUCCESS,FAIL
+place_empty_cup,100031,FAIL,SUCCESS
+place_empty_cup,100032,SUCCESS,SUCCESS
+place_empty_cup,100033,SUCCESS,FAIL
+place_empty_cup,100034,FAIL,FAIL
+place_empty_cup,100035,FAIL,FAIL
+place_empty_cup,100036,SUCCESS,SUCCESS
+place_empty_cup,100037,FAIL,SUCCESS
+place_empty_cup,100038,SUCCESS,SUCCESS
+place_empty_cup,100039,FAIL,SUCCESS
+place_empty_cup,100040,SUCCESS,FAIL
+place_empty_cup,100041,SUCCESS,SUCCESS
+place_empty_cup,100042,FAIL,FAIL
+place_empty_cup,100043,SUCCESS,SUCCESS
+place_empty_cup,100044,FAIL,SUCCESS
+place_empty_cup,100045,FAIL,FAIL
+place_empty_cup,100046,SUCCESS,FAIL
+place_empty_cup,100047,SUCCESS,SUCCESS
+place_empty_cup,100048,FAIL,FAIL
+place_empty_cup,100049,FAIL,SUCCESS
+move_can_pot,100000,FAIL,FAIL
+move_can_pot,100001,SUCCESS,SUCCESS
+move_can_pot,100002,SUCCESS,SUCCESS
+move_can_pot,100003,FAIL,FAIL
+move_can_pot,100004,FAIL,FAIL
+move_can_pot,100005,FAIL,FAIL
+move_can_pot,100006,FAIL,SUCCESS
+move_can_pot,100007,SUCCESS,SUCCESS
+move_can_pot,100008,FAIL,FAIL
+move_can_pot,100009,FAIL,FAIL
+move_can_pot,100010,FAIL,FAIL
+move_can_pot,100011,SUCCESS,SUCCESS
+move_can_pot,100012,FAIL,FAIL
+move_can_pot,100013,FAIL,FAIL
+move_can_pot,100014,FAIL,FAIL
+move_can_pot,100015,SUCCESS,SUCCESS
+move_can_pot,100016,SUCCESS,FAIL
+move_can_pot,100017,FAIL,FAIL
+move_can_pot,100018,SUCCESS,FAIL
+move_can_pot,100019,FAIL,FAIL
+move_can_pot,100020,FAIL,FAIL
+move_can_pot,100021,SUCCESS,FAIL
+move_can_pot,100022,FAIL,FAIL
+move_can_pot,100023,FAIL,FAIL
+move_can_pot,100024,SUCCESS,FAIL
+move_can_pot,100025,FAIL,FAIL
+move_can_pot,100026,SUCCESS,SUCCESS
+move_can_pot,100027,SUCCESS,SUCCESS
+move_can_pot,100028,FAIL,FAIL
+move_can_pot,100029,FAIL,FAIL
+move_can_pot,100030,SUCCESS,SUCCESS
+move_can_pot,100031,SUCCESS,SUCCESS
+move_can_pot,100032,SUCCESS,FAIL
+move_can_pot,100033,FAIL,FAIL
+move_can_pot,100034,FAIL,FAIL
+move_can_pot,100035,FAIL,FAIL
+move_can_pot,100036,SUCCESS,SUCCESS
+move_can_pot,100037,SUCCESS,FAIL
+move_can_pot,100038,FAIL,FAIL
+move_can_pot,100039,SUCCESS,SUCCESS
+move_can_pot,100040,FAIL,FAIL
+move_can_pot,100041,SUCCESS,FAIL
+move_can_pot,100042,FAIL,FAIL
+move_can_pot,100043,FAIL,FAIL
+move_can_pot,100044,FAIL,FAIL
+move_can_pot,100045,FAIL,FAIL
+move_can_pot,100046,SUCCESS,FAIL
+move_can_pot,100047,FAIL,FAIL
+move_can_pot,100048,SUCCESS,SUCCESS
+move_can_pot,100049,SUCCESS,FAIL
+place_bread_skillet,100000,FAIL,FAIL
+place_bread_skillet,100001,SUCCESS,FAIL
+place_bread_skillet,100002,FAIL,FAIL
+place_bread_skillet,100003,FAIL,FAIL
+place_bread_skillet,100004,SUCCESS,SUCCESS
+place_bread_skillet,100005,FAIL,FAIL
+place_bread_skillet,100006,FAIL,SUCCESS
+place_bread_skillet,100007,SUCCESS,SUCCESS
+place_bread_skillet,100008,FAIL,SUCCESS
+place_bread_skillet,100009,FAIL,FAIL
+place_bread_skillet,100010,FAIL,FAIL
+place_bread_skillet,100011,FAIL,FAIL
+place_bread_skillet,100012,FAIL,FAIL
+place_bread_skillet,100013,FAIL,FAIL
+place_bread_skillet,100014,FAIL,FAIL
+place_bread_skillet,100015,SUCCESS,SUCCESS
+place_bread_skillet,100016,FAIL,FAIL
+place_bread_skillet,100017,FAIL,FAIL
+place_bread_skillet,100018,SUCCESS,FAIL
+place_bread_skillet,100019,SUCCESS,SUCCESS
+place_bread_skillet,100020,FAIL,FAIL
+place_bread_skillet,100021,SUCCESS,FAIL
+place_bread_skillet,100022,FAIL,FAIL
+place_bread_skillet,100023,FAIL,SUCCESS
+place_bread_skillet,100024,FAIL,FAIL
+place_bread_skillet,100025,FAIL,FAIL
+place_bread_skillet,100026,FAIL,SUCCESS
+place_bread_skillet,100027,FAIL,FAIL
+place_bread_skillet,100028,FAIL,FAIL
+place_bread_skillet,100029,FAIL,FAIL
+place_bread_skillet,100030,SUCCESS,SUCCESS
+place_bread_skillet,100031,FAIL,FAIL
+place_bread_skillet,100032,FAIL,FAIL
+place_bread_skillet,100033,FAIL,FAIL
+place_bread_skillet,100034,FAIL,FAIL
+place_bread_skillet,100035,SUCCESS,FAIL
+place_bread_skillet,100036,FAIL,FAIL
+place_bread_skillet,100037,FAIL,FAIL
+place_bread_skillet,100038,FAIL,FAIL
+place_bread_skillet,100039,FAIL,FAIL
+place_bread_skillet,100040,FAIL,FAIL
+place_bread_skillet,100041,FAIL,FAIL
+place_bread_skillet,100042,FAIL,FAIL
+place_bread_skillet,100043,SUCCESS,FAIL
+place_bread_skillet,100044,SUCCESS,SUCCESS
+place_bread_skillet,100045,FAIL,FAIL
+place_bread_skillet,100046,FAIL,FAIL
+place_bread_skillet,100047,FAIL,FAIL
+place_bread_skillet,100048,FAIL,SUCCESS
+place_bread_skillet,100049,FAIL,FAIL
+move_pillbottle_pad,100000,FAIL,FAIL
+move_pillbottle_pad,100001,FAIL,FAIL
+move_pillbottle_pad,100002,SUCCESS,FAIL
+move_pillbottle_pad,100003,FAIL,SUCCESS
+move_pillbottle_pad,100004,FAIL,FAIL
+move_pillbottle_pad,100005,FAIL,FAIL
+move_pillbottle_pad,100006,SUCCESS,FAIL
+move_pillbottle_pad,100007,FAIL,FAIL
+move_pillbottle_pad,100008,FAIL,FAIL
+move_pillbottle_pad,100009,FAIL,FAIL
+move_pillbottle_pad,100010,FAIL,SUCCESS
+move_pillbottle_pad,100011,SUCCESS,FAIL
+move_pillbottle_pad,100012,FAIL,FAIL
+move_pillbottle_pad,100013,FAIL,FAIL
+move_pillbottle_pad,100014,FAIL,FAIL
+move_pillbottle_pad,100015,SUCCESS,FAIL
+move_pillbottle_pad,100016,SUCCESS,SUCCESS
+move_pillbottle_pad,100017,SUCCESS,SUCCESS
+move_pillbottle_pad,100018,FAIL,FAIL
+move_pillbottle_pad,100019,FAIL,SUCCESS
+move_pillbottle_pad,100020,FAIL,FAIL
+move_pillbottle_pad,100021,FAIL,SUCCESS
+move_pillbottle_pad,100022,FAIL,FAIL
+move_pillbottle_pad,100023,FAIL,FAIL
+move_pillbottle_pad,100024,FAIL,FAIL
+move_pillbottle_pad,100025,SUCCESS,SUCCESS
+move_pillbottle_pad,100026,FAIL,FAIL
+move_pillbottle_pad,100027,FAIL,FAIL
+move_pillbottle_pad,100028,FAIL,FAIL
+move_pillbottle_pad,100029,SUCCESS,FAIL
+move_pillbottle_pad,100030,SUCCESS,SUCCESS
+move_pillbottle_pad,100031,FAIL,FAIL
+move_pillbottle_pad,100032,FAIL,FAIL
+move_pillbottle_pad,100033,FAIL,FAIL
+move_pillbottle_pad,100034,FAIL,FAIL
+move_pillbottle_pad,100035,FAIL,FAIL
+move_pillbottle_pad,100036,FAIL,FAIL
+move_pillbottle_pad,100037,FAIL,FAIL
+move_pillbottle_pad,100038,SUCCESS,FAIL
+move_pillbottle_pad,100039,FAIL,FAIL
+move_pillbottle_pad,100040,FAIL,FAIL
+move_pillbottle_pad,100041,FAIL,FAIL
+move_pillbottle_pad,100042,FAIL,FAIL
+move_pillbottle_pad,100043,FAIL,FAIL
+move_pillbottle_pad,100044,FAIL,FAIL
+move_pillbottle_pad,100045,FAIL,FAIL
+move_pillbottle_pad,100046,FAIL,FAIL
+move_pillbottle_pad,100047,FAIL,FAIL
+move_pillbottle_pad,100048,FAIL,FAIL
+move_pillbottle_pad,100049,FAIL,FAIL