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arrow-hf
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pi0-robotwin-5task-eval

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Robotics
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vla
pi0
openpi
robotwin
vla-mpc
eval
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Add pi0_matrix_final comparison videos

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  1. pi0_matrix_final/INDEX.md +43 -0
  2. pi0_matrix_final/move_can_pot/FF_seed100000.mp4 +3 -0
  3. pi0_matrix_final/move_can_pot/FF_seed100003.mp4 +3 -0
  4. pi0_matrix_final/move_can_pot/FF_seed100018.mp4 +3 -0
  5. pi0_matrix_final/move_can_pot/FS_seed100006.mp4 +3 -0
  6. pi0_matrix_final/move_can_pot/SF_seed100016.mp4 +3 -0
  7. pi0_matrix_final/move_can_pot/SF_seed100021.mp4 +3 -0
  8. pi0_matrix_final/move_can_pot/SF_seed100024.mp4 +3 -0
  9. pi0_matrix_final/move_pillbottle_pad/FF_seed100000.mp4 +3 -0
  10. pi0_matrix_final/move_pillbottle_pad/FF_seed100001.mp4 +3 -0
  11. pi0_matrix_final/move_pillbottle_pad/FF_seed100010.mp4 +3 -0
  12. pi0_matrix_final/move_pillbottle_pad/FS_seed100003.mp4 +3 -0
  13. pi0_matrix_final/move_pillbottle_pad/FS_seed100019.mp4 +3 -0
  14. pi0_matrix_final/move_pillbottle_pad/FS_seed100021.mp4 +3 -0
  15. pi0_matrix_final/move_pillbottle_pad/SF_seed100002.mp4 +3 -0
  16. pi0_matrix_final/move_pillbottle_pad/SF_seed100006.mp4 +3 -0
  17. pi0_matrix_final/move_pillbottle_pad/SF_seed100015.mp4 +3 -0
  18. pi0_matrix_final/place_bread_skillet/FF_seed100008.mp4 +3 -0
  19. pi0_matrix_final/place_bread_skillet/FF_seed100023.mp4 +3 -0
  20. pi0_matrix_final/place_bread_skillet/FF_seed100026.mp4 +3 -0
  21. pi0_matrix_final/place_bread_skillet/FS_seed100006.mp4 +3 -0
  22. pi0_matrix_final/place_bread_skillet/FS_seed100048.mp4 +3 -0
  23. pi0_matrix_final/place_bread_skillet/SF_seed100001.mp4 +3 -0
  24. pi0_matrix_final/place_bread_skillet/SF_seed100035.mp4 +3 -0
  25. pi0_matrix_final/place_bread_skillet/SF_seed100043.mp4 +3 -0
  26. pi0_matrix_final/place_container_plate/FF_seed100001.mp4 +3 -0
  27. pi0_matrix_final/place_container_plate/FF_seed100002.mp4 +3 -0
  28. pi0_matrix_final/place_container_plate/FF_seed100026.mp4 +3 -0
  29. pi0_matrix_final/place_container_plate/FS_seed100012.mp4 +3 -0
  30. pi0_matrix_final/place_container_plate/SF_seed100008.mp4 +3 -0
  31. pi0_matrix_final/place_container_plate/SF_seed100010.mp4 +3 -0
  32. pi0_matrix_final/place_container_plate/SF_seed100020.mp4 +3 -0
  33. pi0_matrix_final/place_empty_cup/FF_seed100000.mp4 +3 -0
  34. pi0_matrix_final/place_empty_cup/FF_seed100018.mp4 +3 -0
  35. pi0_matrix_final/place_empty_cup/FF_seed100019.mp4 +3 -0
  36. pi0_matrix_final/place_empty_cup/FS_seed100002.mp4 +3 -0
  37. pi0_matrix_final/place_empty_cup/FS_seed100003.mp4 +3 -0
  38. pi0_matrix_final/place_empty_cup/FS_seed100004.mp4 +3 -0
  39. pi0_matrix_final/place_empty_cup/SF_seed100030.mp4 +3 -0
  40. pi0_matrix_final/place_empty_cup/SF_seed100040.mp4 +3 -0
pi0_matrix_final/INDEX.md ADDED
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+ # pi0 VLA→MPC 转移视频矩阵 (`Heisen0928/pi0_robotwin`)
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+
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+ 每段是 **并排对比片**:**左 = VLA 原始(passthrough)**,**右 = VLA + MPC**,同一 seed 同一场景。
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+ 左上角标签为该次运行的真实结果(绿=SUCCESS,红=FAIL)。2240×480,30s @10fps,h264。
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+
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+ ## 类别命名(`<cat>_seed<seed>.mp4`)
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+
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+ | cat | VLA 原始 | VLA+MPC | 含义 |
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+ |---|---|---|---|
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+ | **SF** | SUCCESS | FAIL | MPC 把成功改坏(过度修正) |
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+ | **FS** | FAIL | SUCCESS | MPC 救回失败(正面案例) |
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+ | **FF** | FAIL | FAIL | 两者都失败(难例) |
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+
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+ (SS = 两者都成功,不录。)
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+
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+ ## 矩阵清单(目标每类 3 条)
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+
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+ | task | SF | FS | FF |
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+ |---|---|---|---|
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+ | place_bread_skillet | 3 | **2** | 3 |
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+ | place_empty_cup | **2** | 3 | 3 |
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+ | move_can_pot | 3 | **1** | 3 |
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+ | move_pillbottle_pad | 3 | 3 | 3 |
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+ | place_container_plate | 3 | **1** | 3 |
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+
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+ 加粗 = 未达 3 条的缺口,原因见下。
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+
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+ ## 关于可复现性与缺口
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+
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+ - eval(`eval_robotwin.py:635`)每集已做确定性 seeding(`torch.manual_seed(episode_seed)`
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+ + numpy + cudnn deterministic)。**绝大多数 seed 可复现**,但临界 case 仍有约 10%
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+ 残余 GPU/MPC 非确定性会翻面(尤其 MPC 的 80 噪声候选)。
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+ - 因此本矩阵用 **record-and-verify**:按**录像那一次运行的真实结果**分桶,而非 campaign
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+ 的历史结果——保证视频与其标签 100% 一致。
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+ - **FS 缺口**(bread=2, can_pot=1, plate=1):FS 是最稀缺类别(MPC 救回失败本就少见),
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+ 且部分 campaign 标为 FS 的 seed 在重跑里被 MPC 翻成 FF。候选池耗尽即止,不硬凑。
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+ - **cup SF=2**:两个 SF 候选在重跑里 MPC 翻成 SUCCESS(变 SS),候选耗尽。
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+
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+ ## 原始单模式素材
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+
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+ 每个 kept seed 的两路原始运行(含 run.log)在
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+ `outputs/pi0_matrix/<task>/seed<seed>/{pass,mpc}/`;分桶决策记录在
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+ `outputs/pi0_matrix/<task>/MANIFEST.txt`。
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