Datasets:

larsvandorp
/

psi0-simple-eval-rollouts

set stringclasses 2 values	episode int64 0 9	camera stringclasses 2 values	outcome stringclasses 2 values	label_reliable bool 2 classes	task stringclasses 2 values	checkpoint stringclasses 2 values	dr_level stringclasses 1 value	model stringclasses 1 value	robot stringclasses 1 value	simulator stringclasses 1 value	fps int64 50 50	note stringclasses 1 value
locomotion_pick	0	head_stereo_left	fail	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	1	head_stereo_left	fail	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	2	head_stereo_left	success	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	3	head_stereo_left	success	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	4	head_stereo_left	fail	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	5	head_stereo_left	fail	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	6	head_stereo_left	fail	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	7	head_stereo_left	success	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	8	head_stereo_left	fail	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
locomotion_pick	9	head_stereo_left	success	true	G1WholebodyLocomotionPickBetweenTablesTeleop-v0	g1wholebodylocomotionpickbetweentablesteleop-v0...gpus4 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	null
early_mixed	0	head_stereo_left	fail	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	0	head_stereo_right	fail	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	0	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	1	head_stereo_left	fail	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	1	head_stereo_right	fail	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	1	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	2	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	3	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	4	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	5	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	6	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	7	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	8	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy
early_mixed	9	head_stereo_left	success	false	G1WholebodyXMovePickTeleop-v0	g1wholebodyxmovepick-v0...gpus8 @ step40000	level-0	psi0 (Psi-0) VLA	Unitree G1	SIMPLE	50	early XMovePick smoke runs; task confirmed by scene (short single-table pick); outcome labels NOT trustworthy

Ψ₀ SIMPLE Evaluation Rollouts

Closed-loop evaluation rollout videos of the Ψ₀ (Psi-0) humanoid vision-language-action policy, run in the SIMPLE simulator on a Unitree G1 robot. These are the surviving rollout clips from evaluation runs on ETH Euler (the larger on-cluster sets were lost to a scratch-storage purge; these were preserved in backed-up home storage).

Model: Ψ₀ (Psi-0) VLA, checkpoint ckpt_40000 (USC-PSI-Lab; arXiv 2603.12263)
Simulator: SIMPLE (mujoco_isaac mode: MuJoCo physics + Isaac Sim RTX rendering)
Task: G1WholebodyLocomotionPickBetweenTablesTeleop-v0 (locomotion + pick between two tables)
DR level: level-0 · Camera: head_stereo_left (the view the policy consumes) · fps: 50

metadata.jsonl has one row per clip (file_name, set, episode, camera, outcome, label_reliable, plus task/checkpoint fields).

`videos/locomotion_pick/` — 10 clips · task `G1WholebodyLocomotionPickBetweenTablesTeleop-v0` · reliable labels

The main task (locomotion + pick between two tables, ~21 s/episode), evaluated with the task-matched locomotion checkpoint. One clip per episode (0–9), success/fail in the filename. Outcome: 4 success (episodes 2, 3, 7, 9) / 6 fail (0, 1, 4, 5, 6, 8).

`videos/early_mixed/` — 14 clips · task `G1WholebodyXMovePickTeleop-v0` · labels not reliable

A different, earlier task (short single-table pick, ~7–10 s/episode), from early smoke runs with the XMovePick checkpoint — confirmed by the scene (single table, no between-tables locomotion). The success/fail suffixes are inconsistent (e.g. episode 0 appears with both a "success" and a "failed" file), so do not trust the outcome labels in this set — kept only as raw artifacts. label_reliable is false for every row here.

Notes / caveats

Small sample. Success rates here are illustrative, not a benchmark claim: n=10, single checkpoint, single task, level-0 only. The 95% binomial CI at n=10 is wide (~±30%).
Rendering affects outcomes. In this setup the policy is sensitive to the renderer: a render-subsampling speedup flips ~50% of per-seed outcomes, and even recording video perturbs results — so these recorded clips are not bit-identical to a no-video run.
Outcome labels in locomotion_pick/ come directly from the evaluator's per-episode success flags at recording time.

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Ψ₀ SIMPLE Evaluation Rollouts

Contents

videos/locomotion_pick/ — 10 clips · task G1WholebodyLocomotionPickBetweenTablesTeleop-v0 · reliable labels

videos/early_mixed/ — 14 clips · task G1WholebodyXMovePickTeleop-v0 · labels not reliable

Notes / caveats

`videos/locomotion_pick/` — 10 clips · task `G1WholebodyLocomotionPickBetweenTablesTeleop-v0` · reliable labels

`videos/early_mixed/` — 14 clips · task `G1WholebodyXMovePickTeleop-v0` · labels not reliable