---
license: apache-2.0
pretty_name: DROID QC eval set
task_categories:
- video-classification
- image-classification
tags:
- robotics
- teleoperation
- data-quality
- vlm-as-a-judge
- calibration
- droid
- lerobot
size_categories:
- n<1K
source_datasets:
- lerobot/droid_1.0.1
configs:
- config_name: default
  data_files:
  - split: test
    path: data/test-*.parquet
---

# DROID QC eval set

200 teleoperation episodes from [DROID 1.0.1](https://huggingface.co/datasets/lerobot/droid_1.0.1)
(100 labelled successful, 100 failed by the people who collected them), the frame grid a
vision-language judge sees for each, and the verdicts of `claude-opus-5-5`. Built with
[teleop-qc](https://github.com/globeenmain/teleop-qc), which measures how far a VLM judge of robot task success can
be trusted before it replaces human review in a data pipeline.

## What is in a row

| column | meaning |
|---|---|
| `episode_index` | episode in `lerobot/droid_1.0.1` |
| `grid` | the image the judge sees (968x1100 JPEG): 3 cameras in columns, 6 moments in rows, first at the top |
| `human_success` | DROID's success label, set by the operator who collected the episode |
| `instruction` | DROID's language instruction, `""` when missing. **Never shown to the judge** (see below) |
| `frames`, `seconds` | episode length at 15 fps |
| `videos` | where each camera stream lives in the DROID video files (JSON) |
| `judge_*` | the verdict: success, confidence (0.5 to 1), `p_success`, failure mode, evidence, attempts, tokens |

Columns of the grid, left to right: exterior camera 1, exterior camera 2, wrist camera. `judge_p_success` is the
confidence for a success verdict and 1 - confidence for a failure. The judge abstains instead of guessing when
its answer fails a schema and consistency check twice: abstentions have null `judge_success` and
`judge_p_success`.

## How the episodes were drawn

100 successful and 100 failed episodes, drawn with seed 0 from the first metadata file of DROID 1.0.1
(14,153 episodes). The set is frozen as `evalset/droid_evalset_v1.jsonl`; a change makes a new version.

**Why the judge never sees the instruction.** In that metadata file, 94.6% of the episodes labelled successful
have a language instruction, against 0.3% of the failed ones: the instructions were crowdsourced after collection,
mostly for successful episodes. A judge shown the instruction could read the label off its presence.

## Results of `claude-opus-5-5`

Command: `teleop-qc judge --evalset evals/droid_evalset_v1.jsonl --out runs/claude-opus-5-5.jsonl` (effort `medium`,
structured outputs), then `teleop-qc report`.

| metric | value |
|---|---|
| episodes judged | 200 of 200 (0 abstentions) |
| balanced accuracy at p = 0.5 | 0.755 |
| human successes judged successful | 0.830 |
| human failures judged failed | 0.680 |
| Cohen's kappa | 0.510 |
| AUROC (95% bootstrap interval) | 0.811 (0.747 to 0.868) |
| Brier score | 0.179 |
| ECE (10 uniform bins) | 0.064 |
| ECE after cross-fitted isotonic recalibration | 0.051 |
| share accepted without review at 95% precision | 0.000 |
| share rejected without review at 90% precision | 0.130 |
| cost of the run | $2.92 |
| cost per episode | $0.0146 |
| cost per hour of episode | $2.89 |

## Files

- `data/test-*.parquet`: the table above, grids included.
- `evalset/droid_evalset_v1.jsonl`: the frozen eval set, as read by `teleop-qc judge`.
- `verdicts/claude-opus-5-5.jsonl`: the judge's raw output, one line per episode.
- `judge/system_prompt.txt`, `judge/answer_schema.json`: what the judge is told and the JSON schema its answer
  must follow.

## License and citation

Apache-2.0, like DROID. The frames come from DROID:

```bibtex
@article{khazatsky2024droid,
  title   = {DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset},
  author  = {Khazatsky, Alexander and Pertsch, Karl and others},
  journal = {arXiv preprint arXiv:2403.12945},
  year    = {2024}
}
```