PranayTest/piper-policy-evals

PiPER_policy_evals

Real-robot policy rollouts on the PiPER bimanual cell (plate pick, hand-over, place), run from the operator stack's Policy panel at execution speed multipliers of 1x to 6x. One folder per policy, one sub-folder per run (start time, IST): the three camera clips (top, left-arm, right-arm; re-encoded from the recorded chunks with every frame at its capture time, so they play in real time; clip t = 0 is 1 s before the run start and frame_ts.json lists each frame's capture time per camera), telemetry.jsonl / telemetry.parquet (every BigQuery signal in the window, including the policy's own policy_command_positions / policy_gripper_command) and manifest.json.

manifest.json carries the run parameters (params.speed is the time-scaling multiplier, 1.0 = the checkpoint's training speed), the gripper command events, the hand-over times (right close → left close → right release, seconds after the start), the peak commanded and measured joint speeds per arm and the stop reason. index.json is the same table as below. Telemetry shows commands and joint feedback, not whether the plate physically transferred.

Runs: 105; hand-over sequences completed: 48. Fastest complete hand-over: pi05_R08I6_20k_asia_warm at speed — on 2026-09-26T15:36:55.246000+05:30, right release at 13.1 s.

start (IST)	policy	speed	re-plan s	length s	R close	L close	R release	complete	R cmd/meas peak deg/s	stop
01:54:55	v8_pi05_R08I6_20k	—	—	28.7	26.5	—	—	no	42.5 / 40.8	—
01:55:56	v8_pi05_R08I6_20k	—	—	52.3	21.2	34.9	36.2	yes	40.2 / 39.3	—
01:57:22	v8_pi05_R08I6_20k	—	—	64.4	22.9	41.7	44.4	yes	47.2 / 40.9	—
01:59:01	v8_pi05_R08I6_20k	—	—	47.0	—	—	—	no	54.9 / 51.6	—
02:00:17	v8_pi05_R08I6_20k	—	—	47.8	26.1	—	—	no	48.1 / 42.9	—
02:01:23	v8_pi05_R08I6_20k	—	—	59.8	22.2	39.7	41.0	yes	47.2 / 40.2	—
02:02:55	v8_pi05_R08I6_20k	—	—	48.2	—	—	—	no	54.3 / 47.0	—
02:04:15	v8_pi05_R08I6_20k	—	—	37.4	—	—	—	no	56.2 / 50.7	—
02:05:28	v8_pi05_R08I6_20k	—	—	32.2	—	—	—	no	46.7 / 47.1	—
02:06:36	v8_pi05_R08I6_20k	—	—	33.2	—	—	—	no	62.4 / 51.5	—
02:07:32	v8_pi05_R08I6_20k	—	—	44.6	—	—	—	no	72.9 / 47.5	—
02:08:38	v8_pi05_R08I6_20k	—	—	32.0	—	—	—	no	54.1 / 50.5	—
02:09:50	v8_pi05_R08I6_20k	—	—	36.9	—	—	—	no	51.9 / 50.9	—
02:10:47	v8_pi05_R08I6_20k	—	—	41.4	37.7	—	—	no	53.7 / 50.0	—
02:12:00	v8_pi05_R08I6_20k	—	—	86.4	33.4	70.1	74.3	yes	92.1 / 47.5	—
02:13:59	v8_pi05_R08I6_20k	—	—	37.1	—	—	—	no	52.0 / 43.7	—
02:14:54	v8_pi05_R08I6_20k	—	—	26.4	17.5	—	—	no	49.5 / 41.5	—
02:15:42	v8_pi05_R08I6_20k	—	—	31.3	19.3	—	—	no	57.8 / 47.0	—
02:16:36	v8_pi05_R08I6_20k	—	—	69.8	17.6	41.5	46.1	yes	50.4 / 45.0	—
02:18:27	v8_pi05_R08I6_20k	—	—	28.2	—	—	—	no	49.5 / 51.1	—
02:21:31	v8_pi05_R08I6_20k	—	—	42.7	—	—	—	no	48.7 / 46.5	—
02:23:53	v8_pi05_R08I6_20k	—	—	25.5	—	—	—	no	45.3 / 42.2	—
02:24:57	v8_pi05_R08I6_20k	—	—	59.6	17.7	42.5	49.0	yes	53.9 / 41.5	—
18:24:18	v8_pi05_R08I6_20k	—	—	29.5	15.6	—	—	no	53.8 / 43.5	—
18:25:23	v8_pi05_R08I6_20k	—	—	77.3	21.8	43.3	46.5	yes	81.2 / 43.8	—
18:27:56	v8_pi05_R08I6_20k	—	—	69.7	19.5	43.0	44.4	yes	66.1 / 46.6	—
18:29:39	v8_pi05_R08I6_20k	—	—	41.2	37.6	—	—	no	61.6 / 48.3	—
18:30:45	v8_pi05_R08I6_20k	—	—	33.9	30.5	—	—	no	74.8 / 42.4	—
18:32:03	v8_pi05_R08I6_20k	—	—	34.2	26.7	—	—	no	69.4 / 44.9	—
18:33:09	v8_pi05_R08I6_20k	—	—	79.4	19.8	62.9	67.4	yes	60.2 / 43.1	—
18:35:11	v8_pi05_R08I6_20k	—	—	29.8	17.8	—	—	no	63.9 / 51.3	—
18:47:17	v8_pi05_R08I6_20k	—	—	71.2	25.9	43.9	46.3	yes	54.6 / 46.3	—
18:51:37	v8_pi05_R08I6_20k	—	—	62.2	22.3	39.9	41.1	yes	56.7 / 58.6	—
18:54:11	v8_pi05_R08I6_20k	—	—	41.1	—	—	—	no	64.7 / 46.1	—
18:55:20	v8_pi05_R08I6_20k	—	—	63.0	19.6	49.1	53.7	yes	62.8 / 43.6	—
18:56:47	v8_pi05_R08I6_20k	—	—	40.4	30.8	—	—	no	50.6 / 46.7	—
15:50:57	abc_india_original_30k	—	—	37.6	22.3	—	—	no	49.5 / 30.1	—
15:52:23	abc_india_original_30k	—	—	88.7	39.0	68.4	71.7	yes	33.0 / 37.0	—
15:54:24	abc_india_original_30k	—	—	69.0	36.6	63.7	65.1	yes	30.6 / 33.1	—
15:56:36	abc_india_original_30k	—	—	42.5	29.4	—	—	no	51.2 / 28.4	—
16:02:06	abc_india_original_30k	—	—	35.5	21.1	—	—	no	31.9 / 24.5	—
16:04:57	abc_india_original_30k	—	—	81.6	34.8	66.3	67.5	yes	40.9 / 36.4	—
16:07:01	abc_india_original_30k	—	—	44.8	26.9	—	—	no	32.3 / 30.7	—
16:09:10	abc_india_original_30k	—	—	31.9	27.8	—	—	no	54.7 / 32.0	—
16:12:05	abc_india_original_30k	—	—	69.3	31.8	53.1	54.4	yes	45.7 / 36.7	—
16:13:45	abc_india_original_30k	—	—	32.6	29.0	—	—	no	29.2 / 21.3	—
16:17:07	abc_india_original_30k	—	—	30.3	22.4	—	—	no	42.1 / 35.5	—
16:18:10	abc_india_original_30k	—	—	36.4	30.8	—	—	no	23.6 / 24.1	—
16:19:33	abc_india_original_30k	—	—	38.1	30.6	—	—	no	57.5 / 27.6	—
16:21:23	abc_india_original_30k	—	—	34.5	24.3	—	—	no	48.5 / 32.3	—
13:14:13	pi05_R08I6_20k_asia_warm	—	—	51.4	16.0	36.6	38.2	yes	42.0 / 37.5	—
13:16:00	pi05_R08I6_20k_asia_warm	—	—	48.0	15.8	32.1	33.7	yes	64.8 / 37.9	—
13:17:36	pi05_R08I6_20k_asia_warm	—	—	47.0	13.8	34.9	36.5	yes	43.4 / 33.0	—
13:19:23	pi05_R08I6_20k_asia_warm	—	—	73.3	18.5	38.9	40.7	yes	36.7 / 34.3	—
13:21:19	pi05_R08I6_20k_asia_warm	—	—	30.9	—	—	—	no	36.6 / 37.2	—
13:23:41	pi05_R08I6_20k_asia_warm	—	—	86.8	19.1	56.5	58.4	yes	33.0 / 31.3	—
13:25:59	pi05_R08I6_20k_asia_warm	—	—	66.2	14.1	28.4	29.5	yes	67.0 / 32.6	—
13:27:27	pi05_R08I6_20k_asia_warm	—	—	26.5	18.3	—	—	no	139.7 / 60.3	—
13:29:08	pi05_R08I6_20k_asia_warm	—	—	52.9	24.1	39.7	41.1	yes	51.4 / 42.4	—
13:30:31	pi05_R08I6_20k_asia_warm	—	—	57.8	14.9	38.7	40.4	yes	34.3 / 29.9	—
13:31:56	pi05_R08I6_20k_asia_warm	—	—	54.8	16.2	35.6	37.3	yes	43.8 / 32.0	—
13:36:22	pi05_R08I6_20k_asia_warm	—	—	51.8	12.8	30.5	32.3	yes	38.1 / 35.0	—
13:38:01	pi05_R08I6_20k_asia_warm	—	—	30.6	—	—	—	no	37.1 / 28.7	—
13:39:01	pi05_R08I6_20k_asia_warm	—	—	48.6	—	—	—	no	35.1 / 33.7	—
13:40:34	pi05_R08I6_20k_asia_warm	—	—	52.4	17.2	31.0	32.9	yes	70.9 / 28.8	—
15:11:24	pi05_R08I6_20k_asia_warm	—	—	48.7	15.2	28.6	30.8	yes	43.2 / 36.7	—
15:12:53	pi05_R08I6_20k_asia_warm	—	—	27.3	16.5	—	—	no	43.3 / 39.2	—
15:13:53	pi05_R08I6_20k_asia_warm	—	—	35.5	—	—	—	no	58.3 / 48.9	—
15:15:03	pi05_R08I6_20k_asia_warm	—	—	44.6	15.0	27.2	30.9	yes	58.2 / 43.7	—
15:16:24	pi05_R08I6_20k_asia_warm	—	—	47.0	17.7	32.7	36.6	yes	41.7 / 45.6	—
15:18:03	pi05_R08I6_20k_asia_warm	—	—	23.0	—	—	—	no	55.4 / 45.8	—
15:19:20	pi05_R08I6_20k_asia_warm	—	—	51.3	21.0	34.6	35.9	yes	67.9 / 45.5	—
15:21:43	pi05_R08I6_20k_asia_warm	—	—	28.7	9.2	17.9	19.1	yes	58.7 / 51.5	—
15:24:15	pi05_R08I6_20k_asia_warm	—	—	31.1	10.8	20.0	21.1	yes	53.2 / 45.2	—
15:27:14	pi05_R08I6_20k_asia_warm	—	—	30.4	7.8	20.9	22.0	yes	68.3 / 60.3	—
15:31:48	pi05_R08I6_20k_asia_warm	—	—	32.7	9.1	21.2	22.3	yes	40.7 / 39.4	—
15:32:49	pi05_R08I6_20k_asia_warm	—	—	21.5	8.9	16.6	21.0	yes	80.1 / 47.0	—
15:33:52	pi05_R08I6_20k_asia_warm	—	—	21.8	10.2	—	—	no	54.8 / 41.8	—
15:35:02	pi05_R08I6_20k_asia_warm	—	—	27.4	8.9	16.8	21.1	yes	56.5 / 40.5	—
15:36:55	pi05_R08I6_20k_asia_warm	—	—	23.3	6.2	12.2	13.1	yes	137.9 / 68.5	—
15:38:00	pi05_R08I6_20k_asia_warm	—	—	119.5	7.0	—	—	no	86.2 / 73.1	—
15:40:36	pi05_R08I6_20k_asia_warm	—	—	26.7	8.8	14.9	15.6	yes	116.6 / 61.7	—
15:42:06	pi05_R08I6_20k_asia_warm	—	—	19.9	8.2	—	—	no	95.5 / 67.6	—
15:43:06	pi05_R08I6_20k_asia_warm	—	—	23.0	10.5	18.3	20.5	yes	78.2 / 66.6	—
15:43:56	pi05_R08I6_20k_asia_warm	—	—	30.3	14.0	21.2	21.9	yes	102.4 / 62.9	—
15:45:22	pi05_R08I6_20k_asia_warm	—	—	10.9	6.2	—	—	no	76.1 / 56.8	—
16:51:44	pi05_R08I6_20k_asia_warm	—	—	18.9	7.6	—	—	no	59.0 / 58.5	—
16:53:37	pi05_R08I6_20k_asia_warm	—	—	16.2	6.5	13.4	14.7	yes	59.7 / 63.4	—
16:54:33	pi05_R08I6_20k_asia_warm	—	—	31.0	6.9	—	—	no	82.8 / 56.5	—
16:55:59	pi05_R08I6_20k_asia_warm	—	—	29.3	8.8	16.8	17.5	yes	223.3 / 61.2	—
16:57:06	pi05_R08I6_20k_asia_warm	—	—	26.6	8.4	15.3	16.0	yes	129.7 / 58.1	—
16:58:27	pi05_R08I6_20k_asia_warm	—	—	12.6	7.1	—	—	no	54.5 / 55.0	—
16:59:01	pi05_R08I6_20k_asia_warm	—	—	13.1	8.2	—	—	no	104.8 / 70.2	—
17:00:34	pi05_R08I6_20k_asia_warm	—	—	11.3	—	—	—	no	102.4 / 51.8	—
17:01:39	pi05_R08I6_20k_asia_warm	—	—	21.9	9.7	17.4	21.9	yes	48.9 / 51.3	—
17:02:32	pi05_R08I6_20k_asia_warm	—	—	21.2	8.3	14.5	15.8	yes	77.2 / 58.1	—
17:03:29	pi05_R08I6_20k_asia_warm	—	—	10.7	6.9	—	—	no	53.9 / 63.9	—
17:04:19	pi05_R08I6_20k_asia_warm	—	—	15.5	13.1	—	—	no	74.2 / 78.3	—
17:05:03	pi05_R08I6_20k_asia_warm	—	—	19.3	7.4	—	—	no	73.7 / 53.8	—
17:05:46	pi05_R08I6_20k_asia_warm	—	—	14.1	11.6	—	—	no	58.2 / 53.3	—
17:06:31	pi05_R08I6_20k_asia_warm	—	—	20.3	7.8	16.6	17.4	yes	94.9 / 57.2	—
17:07:59	pi05_R08I6_20k_asia_warm	—	—	20.5	8.0	14.3	14.9	yes	59.3 / 58.2	—
17:08:47	pi05_R08I6_20k_asia_warm	—	—	10.3	—	—	—	no	108.6 / 58.3	—
17:09:20	pi05_R08I6_20k_asia_warm	—	—	13.0	8.4	—	—	no	64.6 / 56.1	—
17:10:43	pi05_R08I6_20k_asia_warm	—	—	16.3	7.2	—	—	no	66.5 / 57.8	—

Built by episode_pipeline/export_policy_runs.py from BigQuery + GCS; repo PranayTest/piper-policy-evals.