One BimanualYAM reference demo per TeleArms task

README.md

@@ -0,0 +1,18 @@
+---
+license: apache-2.0
+tags:
+- robotics
+- telearms
+---
+
+# TeleArms evaluation reference demos
+
+One successful BimanualYAM teleoperation demo per TeleArms task (50 tasks), in the
+raw telemetry layout (`telemetry/thorsimNNN/tasks/<uuid>/<uuid>.{json,safetensors}`).
+`training/evaluate_pi.py` in [RoboEval-telearms](https://github.com/helen9975/RoboEval-telearms/tree/PI05_training)
+builds each task's evaluation scene from its demo. These are the demos the
+workstation's own evaluations use.
+
+    bash tools/eval_quickstart.sh helen9975/pi05_telearms_v4dr
+
+downloads them into `$TELEARMS_ROOT` and scores the model.

telemetry/thorsim007/tasks/00138d42-4955-47e4-8973-8f074cf8c3df/00138d42-4955-47e4-8973-8f074cf8c3df.json

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+{
+  "task_id": "00138d42-4955-47e4-8973-8f074cf8c3df",
+  "task_name": "Align Blocks",
+  "task_description": "Align Blocks task",
+  "robot_name": "BimanualYAM",
+  "app_version": "1.0.0",
+  "demo_format": "v2",
+  "has_state": true,
+  "has_camera_track": true,
+  "camera_moves": 0,
+  "camera_track": {
+    "version": 1,
+    "camera_name": "bimanual_yam_linear/top_cam",
+    "camera_frame": "bimanual_yam_linear/bimanual_base",
+    "control_frequency": 500,
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+    "total_moves": 0,
+    "event_decimation": 1,
+    "dropped_events": 0
+  },
+  "input_methods": [
+    "keyboard"
+  ],
+  "timestamp": "2026-09-12 07:30:38",
+  "timestamp_unix": 1789198238.7259896,
+  "safetensors_file": "00138d42-4955-47e4-8973-8f074cf8c3df.safetensors",
+  "simulation_metrics": {
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+      "2": true
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+    "pose_error": 0.0
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+    "safety_score": 0.1,
+    "smoothness_score": 0.1477,
+    "composite_score": 48
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+  "task_success": true,
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+  "frames_recorded": 1150,
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+      "block_2-gripper_Left": 0.3042945517796567,
+      "block_2-gripper_Right": 0.1856574010747084
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+    "success": 1.0,
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+    "overall_avg_joint_jerk": 2655.2611782910194,
+    "overall_rms_joint_jerk": 15275.544509101595
+  }
+}

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+  "timestamp": "2026-09-20 15:23:27",
+  "timestamp_unix": 1789917807.7131553,
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telemetry/thorsim007/tasks/001bd098-41b8-49ef-b3de-754ef7d63546/001bd098-41b8-49ef-b3de-754ef7d63546.json

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