| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - b601 |
| - lewam |
| - eval |
| - real-robot |
| - pusht |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=LeWAM/lewam_eval_pusht_diffusion_wide"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
|
|
| Real-robot evaluation rollouts recorded on a **Rebot B601** 7-DoF arm, from the LeWAM |
| project. Every episode here is a policy rollout on the physical robot — not a |
| teleoperated demonstration — scored by a human operator immediately after it ran. |
|
|
| - **Task:** **non-prehensile PushT** (`b601_pusht`): the arm pushes a T-shaped block into a target pose without grasping it. Shares only its name with the simulated PushT. Trained on [`LeWAM/b601_pusht`](https://huggingface.co/datasets/LeWAM/b601_pusht). |
| - **Policy:** a LeRobot **Diffusion Policy** (`horizon=40`, `n_action_steps=36`, `n_obs_steps=2`, widened to `down_dims=[336, 672, 1344]`), predicting an action chunk only |
| - **Success rate:** **16/30 = 53.3%** |
| - **Episodes:** 30 · **frames:** 38649 · |
| **fps:** 30 · **robot time:** 21.5 min |
| - **Wall-clock:** 71.1 min |
| (median 143s, max 255s per episode) — longer |
| than robot time because inference on this hardware runs slower than real time |
| - **wandb run:** [`9uhvyemw`](https://wandb.ai/halicki/lewam-testing/runs/9uhvyemw) |
| (`eval-pusht_diffusion_wide`) |
| - **Episode cap:** 5400 steps — an episode that hits it is scored a failure. |
|
|
| ### Observations |
|
|
| Three synchronised camera streams (`observation.images.zed_left`, |
| `observation.images.zed_right` from a ZED Mini, `observation.images.wrist_cam` from a |
| wrist-mounted USB camera) plus `observation.state`. `action` is the 7-DoF joint command |
| the policy emitted. |
|
|
| Note the policies were served **torque-only** state (`observation.state` sliced to |
| `*.torq`); the `observation.state` recorded here is the robot's full state vector, so |
| reproducing what the policy actually saw means applying the same slice. |
|
|
| ### Per-episode scoring |
|
|
| `eval_session.json` holds the operator's label for each episode: |
|
|
| | episode | success | steps | seconds | |
| |---|---|---|---| |
| | 0 | ✅ | 541 | 54.0 | |
| | 1 | ❌ | 831 | 81.4 | |
| | 2 | ❌ | 632 | 68.8 | |
| | 3 | ❌ | 758 | 81.6 | |
| | 4 | ✅ | 632 | 70.1 | |
| | 5 | ✅ | 848 | 94.9 | |
| | 6 | ❌ | 1912 | 209.4 | |
| | 7 | ❌ | 1118 | 126.0 | |
| | 8 | ✅ | 1274 | 142.7 | |
| | 9 | ❌ | 938 | 105.8 | |
| | 10 | ❌ | 830 | 94.0 | |
| | 11 | ✅ | 1640 | 187.1 | |
| | 12 | ✅ | 1586 | 179.0 | |
| | 13 | ✅ | 1334 | 152.7 | |
| | 14 | ❌ | 1688 | 185.0 | |
| | 15 | ❌ | 1136 | 130.6 | |
| | 16 | ✅ | 1354 | 153.2 | |
| | 17 | ✅ | 884 | 102.2 | |
| | 18 | ❌ | 2144 | 240.0 | |
| | 19 | ❌ | 1568 | 155.1 | |
| | 20 | ✅ | 1154 | 122.9 | |
| | 21 | ❌ | 1064 | 115.4 | |
| | 22 | ✅ | 2222 | 237.6 | |
| | 23 | ✅ | 1820 | 201.2 | |
| | 24 | ❌ | 1118 | 125.7 | |
| | 25 | ✅ | 1463 | 164.9 | |
| | 26 | ✅ | 1568 | 170.9 | |
| | 27 | ❌ | 560 | 60.9 | |
| | 28 | ✅ | 1792 | 199.0 | |
| | 29 | ✅ | 2270 | 255.0 | |
|
|
|
|
| - **Homepage:** https://github.com/erykhalicki/LeWAM |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 30, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 21 |
| ], |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_yaw.pos", |
| "wrist_roll.pos", |
| "gripper.pos", |
| "shoulder_pan.torq", |
| "shoulder_lift.torq", |
| "elbow_flex.torq", |
| "wrist_flex.torq", |
| "wrist_yaw.torq", |
| "wrist_roll.torq", |
| "gripper.torq", |
| "shoulder_pan.vel", |
| "shoulder_lift.vel", |
| "elbow_flex.vel", |
| "wrist_flex.vel", |
| "wrist_yaw.vel", |
| "wrist_roll.vel", |
| "gripper.vel" |
| ] |
| }, |
| "observation.images.zed_left": { |
| "dtype": "video", |
| "shape": [ |
| 376, |
| 672, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "is_depth_map": false, |
| "video.height": 376, |
| "video.width": 672, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": null, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {} |
| } |
| }, |
| "observation.images.zed_right": { |
| "dtype": "video", |
| "shape": [ |
| 376, |
| 672, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "is_depth_map": false, |
| "video.height": 376, |
| "video.width": 672, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": null, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {} |
| } |
| }, |
| "observation.images.wrist_cam": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "is_depth_map": false, |
| "video.height": 360, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": null, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {} |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_yaw.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| }, |
| "total_episodes": 30, |
| "total_frames": 38649, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "robot_type": null, |
| "splits": { |
| "train": "0:30" |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
