eval rollouts from wandb run h8fy0vpa

README.md

@@ -0,0 +1,296 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- b601
+- lewam
+- eval
+- real-robot
+- tape_stack
+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=ehalicki/lewam_eval_tape_stack_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:** **tape stack** (`b601_tape_stack`): the arm stacks the green roll of tape on the white roll of tape. Trained on [`ehalicki/b601_tape_stack`](https://huggingface.co/datasets/ehalicki/b601_tape_stack).
+- **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:** **0/30 = 0.0%**
+- **Episodes:** 30 · **frames:** 21299 ·
+  **fps:** 30 · **robot time:** 11.8 min
+- **Wall-clock:** 47.6 min
+  (median 99s, max 204s per episode) — longer
+  than robot time because inference on this hardware runs slower than real time
+- **wandb run:** [`h8fy0vpa`](https://wandb.ai/halicki/lewam-testing/runs/h8fy0vpa)
+  (`eval-diffusion_b601_tape_stack`)
+- **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 | ❌ | 1262 | 158.4 |
+| 1 | ❌ | 430 | 55.3 |
+| 2 | ❌ | 351 | 45.9 |
+| 3 | ❌ | 776 | 99.3 |
+| 4 | ❌ | 596 | 77.2 |
+| 5 | ❌ | 920 | 116.8 |
+| 6 | ❌ | 438 | 56.7 |
+| 7 | ❌ | 560 | 68.6 |
+| 8 | ❌ | 920 | 117.1 |
+| 9 | ❌ | 470 | 64.4 |
+| 10 | ❌ | 1082 | 139.7 |
+| 11 | ❌ | 992 | 203.9 |
+| 12 | ❌ | 974 | 123.2 |
+| 13 | ❌ | 884 | 114.3 |
+| 14 | ❌ | 308 | 40.7 |
+| 15 | ❌ | 668 | 86.8 |
+| 16 | ❌ | 470 | 61.4 |
+| 17 | ❌ | 956 | 121.4 |
+| 18 | ❌ | 506 | 65.1 |
+| 19 | ❌ | 776 | 98.5 |
+| 20 | ❌ | 650 | 83.0 |
+| 21 | ❌ | 613 | 80.8 |
+| 22 | ❌ | 866 | 110.1 |
+| 23 | ❌ | 650 | 86.3 |
+| 24 | ❌ | 812 | 104.7 |
+| 25 | ❌ | 488 | 102.8 |
+| 26 | ❌ | 807 | 101.4 |
+| 27 | ❌ | 812 | 104.0 |
+| 28 | ❌ | 776 | 99.1 |
+| 29 | ❌ | 516 | 66.5 |
+
+
+- **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
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+            "names": null
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+        "frame_index": {
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+        "episode_index": {
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+                1
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+            "names": null
+        },
+        "index": {
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+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "total_episodes": 30,
+    "total_frames": 21299,
+    "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]
+```

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eval_session.json

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+{
+  "wandb_run_id": "h8fy0vpa",
+  "episodes": [
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+      "success": false,
+      "steps": 1262,
+      "seconds": 158.4
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+    "fps": 30,
+    "features": {
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+            "shape": [
+                21
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+            "names": [
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+                "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"
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+            "names": [
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+                "width",
+                "channels"
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+                3
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+}

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