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"agibotworld_2026_lerobot_v3/s169a40_hires": [1.0, 0.02594413422048092, 0.13110873103141785, 0.05062010884284973, 0.13327281177043915, 20.805013179779053, 1.0], "agibotworld_2026_lerobot_v3/s193a44": [16.0, 1.1517894938588142, 1.7497238535434008, 2.2330085039138794, 3.5154716670513153, 17.839170694351196, 1.0], "agibotworld_2026_lerobot_v3/s216a44": [16.0, 0.7889974545687437, 1.73487583338283, 3.257142722606659, 3.832527570426464, 21.900441646575928, 1.0], "agibotworld_2026_lerobot_v3/s216a44_rl": [16.0, 0.5313747748732567, 1.7433066758094355, 4.408273676410317, 4.5680528953671455, 22.592456340789795, 1.0], "agibotworld_2026_lerobot_v3/sim_lite": [16.0, 0.675143288448453, 2.8091647636611015, 4.70629558712244, 4.216818280518055, 20.745201110839844, 1.0], "agibotworld_beta_lerobot_v3/agibot_beta_gripper": [16.0, 0.7685241047292948, 0.7805387023836374, 1.8455471880733967, 2.1230838000774384, 19.16553497314453, 1.0], "robocoin_lerobot_v3/robocoin_agibot_g1_fisheye": [16.0, 0.8803833015263081, 2.1589146396145225, 3.1469895131886005, 3.6294676288962364, 19.428871870040894, 1.0], "robocoin_lerobot_v3/robocoin_agilex_aloha_order": [16.0, 0.5388863384723663, 1.3862874191254377, 2.390849804505706, 3.436026394367218, 23.081340789794922, 1.0], "robocoin_lerobot_v3/robocoin_agilex_aloha_order_f64": [16.0, 0.35650994163006544, 0.8233852769044461, 1.8057626797817647, 2.3116333819925785, 22.021737098693848, 1.0], "robocoin_lerobot_v3/robocoin_agilex_cobot_magic": [16.0, 0.5190385840833187, 1.20672708703205, 2.804745424538851, 3.594866991043091, 23.863086700439453, 1.0], "robocoin_lerobot_v3/robocoin_agilex_cobot_magic_f64": [16.0, 0.5608995258808136, 0.6998342031147331, 2.349438538774848, 3.157036267220974, 24.58735466003418, 1.0], "robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest": [5.0, 0.12547472678124905, 0.7407047972083092, 0.4000968113541603, 0.753061518073082, 36.789846420288086, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled": [16.0, 0.8256782293319702, 1.7956865392625332, 3.2297946447506547, 3.73746370524168, 26.80793285369873, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled_hd": [16.0, 0.6280302843078971, 1.1543819189537317, 2.465823708451353, 3.3461031429469585, 38.86878490447998, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled_hd_no_subtask_indices": [16.0, 0.8080339040607214, 2.232946485746652, 3.430173081345856, 4.57247219234705, 24.333481788635254, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled_s14_30hz": [16.0, 0.8706653192639351, 2.0101229888387024, 4.116977452009451, 3.770063605159521, 36.876163482666016, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled_s14_50hz": [16.0, 0.6226613931357861, 2.671678263694048, 3.0792649313807487, 3.246486984193325, 23.517396450042725, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled_s14_50hz_rgbrgb": [16.0, 0.7993242824450135, 2.139821888995357, 5.002449331106618, 4.330786537379026, 30.923163890838623, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense": [16.0, 0.7374237393960357, 1.6247115265578032, 3.67487171292305, 3.5682233721017838, 20.060195922851562, 1.0], "robocoin_lerobot_v3/robocoin_agilex_decoupled_with_subtask_indices": [16.0, 0.6118662990629673, 3.1173394054640085, 3.5772767409216613, 4.053911857306957, 30.85310459136963, 1.0], "robocoin_lerobot_v3/robocoin_ai2_alphabot2_s28": [6.0, 0.1814360311254859, 0.38836909367819317, 0.9000689454842359, 1.0176676698029041, 31.20643138885498, 1.0], "robocoin_lerobot_v3/robocoin_ai2_alphabot2_s28_with_gripper_activity_action": [2.0, 0.03043663129210472, 0.016749967471696436, 0.006972487084567547, 0.08637974038720131, 31.985416412353516, 1.0], "robocoin_lerobot_v3/robocoin_galaxea_r1_lite": [16.0, 0.8951361104846001, 2.935268399392953, 4.283025643788278, 3.5927868522703648, 17.43074893951416, 1.0], "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_7dof": [13.0, 0.7279765158891678, 1.8387749008834362, 2.8856125250458717, 2.9235602617263794, 18.93130660057068, 1.0], "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo": [16.0, 1.070150725543499, 3.37565254047513, 7.2395917400717735, 5.188269063830376, 19.28785800933838, 1.0], "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo_640x360": [16.0, 1.0646836813539267, 2.472050741314888, 3.793650072067976, 4.2660695016384125, 17.355374097824097, 1.0], "robocoin_lerobot_v3/robocoin_realman_aidal": [16.0, 1.128462651744485, 1.8260821648873389, 3.1975489482283592, 4.152809157967567, 17.927966117858887, 1.0], "robocoin_lerobot_v3/robocoin_realman_aidal_headcam": [6.0, 0.3460529036819935, 1.0244447609875351, 1.0101835122331977, 1.3634529449045658, 18.423993587493896, 1.0], "robocoin_lerobot_v3/robocoin_realman_aidal_no_subtask_indices": [16.0, 1.0227555818855762, 1.9392742831259966, 3.823425205424428, 4.376830987632275, 18.096599578857422, 1.0], "robocoin_lerobot_v3/robocoin_realman_aidal_s3": [11.0, 0.39676898159086704, 1.991777547635138, 3.4716028636321425, 3.0469727478921413, 23.764173984527588, 1.0], "robocoin_lerobot_v3/robocoin_tianqin_a2": [16.0, 0.5531673980876803, 1.3700031004846096, 4.198509866837412, 4.071471072733402, 28.245155811309814, 1.0], "robocoin_lerobot_v3/robocoin_yinhe": [16.0, 0.6410908587276936, 1.2999335315544158, 2.19130274746567, 2.9119824543595314, 22.754089832305908, 1.0]}}]}, "samples": [{"sample": 0, "tree": "agibotworld_2026_lerobot_v3/s162a40_hires", "episode": 54, "shard": "c000-f001", "start": 28, "files": {"gt": "media/000-gt.mp4", "base_l3l2": "media/000-base-l3l2.mp4", "ft_l3l2": "media/000-ft-l3l2.mp4", "base_l3l2l1": "media/000-base-l3l2l1.mp4", "ft_l3l2l1": "media/000-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 1.0132770908832118, "mae": 0.7644004076719284, "psnr": 16.832445859909058, "windows": 4}, "ft": {"rmse": 0.6915587981629616, "mae": 0.35584108531475067, "psnr": 18.40588688850403, "windows": 4}}, "l3l2l1": {"base": {"rmse": 1.015247582954774, "mae": 0.7648694068193436, "psnr": 16.837069988250732, "windows": 4}, "ft": {"rmse": 0.7052159267187644, "mae": 0.36135081201791763, "psnr": 18.453998565673828, "windows": 4}}}, "prompts": {"l3l2": "Robot: s162a40_hires. Task: Push the shopping cart to the shelf.\nSubtask context (ordered by onset): Both arms work together to grab the shopping cart.", "l3l2l1": "Robot: s162a40_hires. Task: Push the shopping cart to the shelf.\nSubtask context (ordered by onset): Both arms work together to grab the shopping cart.\nAtomic instruction: right arm: Move the right arm towards the handle of the shopping cart."}}, {"sample": 4, "tree": "agibotworld_2026_lerobot_v3/s169a40", "episode": 32, "shard": "c000-f000", "start": 244, "files": {"gt": "media/004-gt.mp4", "base_l3l2": "media/004-base-l3l2.mp4", "ft_l3l2": "media/004-ft-l3l2.mp4", "base_l3l2l1": "media/004-base-l3l2l1.mp4", "ft_l3l2l1": "media/004-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8777896516945758, "mae": 0.6583312209695578, "psnr": 17.938988208770752, "windows": 16}, "ft": {"rmse": 0.36549385627245917, "mae": 0.169281963724643, "psnr": 19.529236555099487, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8336796449508833, "mae": 0.6178737375885248, "psnr": 18.02103877067566, "windows": 16}, "ft": {"rmse": 0.3559098660727141, "mae": 0.1596000320278108, "psnr": 19.421234130859375, "windows": 16}}}, "prompts": {"l3l2": "Robot: s169a40. Task: Place the yellow boxed yogurt and green boxed yogurt from the shopping cart into the refrigerated display case.\nSubtask context (ordered by onset): The left arm picks up the boxed yellow yogurt from the shopping cart.", "l3l2l1": "Robot: s169a40. Task: Place the yellow boxed yogurt and green boxed yogurt from the shopping cart into the refrigerated display case.\nSubtask context (ordered by onset): The left arm picks up the boxed yellow yogurt from the shopping cart.\nAtomic instruction: left arm: Grasp the yellow boxed yogurt from inside the shopping cart."}}, {"sample": 20, "tree": "agibotworld_2026_lerobot_v3/s169a40_hires", "episode": 122, "shard": "c000-f002", "start": 340, "files": {"gt": "media/020-gt.mp4", "base_l3l2": "media/020-base-l3l2.mp4", "ft_l3l2": "media/020-ft-l3l2.mp4", "base_l3l2l1": "media/020-base-l3l2l1.mp4", "ft_l3l2l1": "media/020-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8317184934986557, "mae": 0.6387683153152466, "psnr": 18.3623468875885, "windows": 1}, "ft": {"rmse": 0.24836893275068525, "mae": 0.1363164484500885, "psnr": 21.036763191223145, "windows": 1}}, "l3l2l1": {"base": {"rmse": 0.8562305141932685, "mae": 0.6560298204421997, "psnr": 18.424662351608276, "windows": 1}, "ft": {"rmse": 0.22498913049934152, "mae": 0.13327281177043915, "psnr": 20.805013179779053, "windows": 1}}}, "prompts": {"l3l2": "Robot: s169a40_hires. Task: Place the yellow and red bagged snacks from the shopping cart onto the shelf.\nSubtask context (ordered by onset): The right arm picks up the yellow bagged snack from the shopping cart.", "l3l2l1": "Robot: s169a40_hires. Task: Place the yellow and red bagged snacks from the shopping cart onto the shelf.\nSubtask context (ordered by onset): The right arm picks up the yellow bagged snack from the shopping cart.\nAtomic instruction: right arm: Grasp the red bagged snack inside the shopping cart."}}, {"sample": 21, "tree": "agibotworld_2026_lerobot_v3/s193a44", "episode": 9, "shard": "c000-f000", "start": 285, "files": {"gt": "media/021-gt.mp4", "base_l3l2": "media/021-base-l3l2.mp4", "ft_l3l2": "media/021-ft-l3l2.mp4", "base_l3l2l1": "media/021-base-l3l2l1.mp4", "ft_l3l2l1": "media/021-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9052347732566773, "mae": 0.6796200759708881, "psnr": 13.595753908157349, "windows": 16}, "ft": {"rmse": 0.41405737706155166, "mae": 0.24347709119319916, "psnr": 17.451295852661133, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.9101057140907987, "mae": 0.6838836446404457, "psnr": 13.655049800872803, "windows": 16}, "ft": {"rmse": 0.3735813586016003, "mae": 0.2197169791907072, "psnr": 17.839170694351196, "windows": 16}}}, "prompts": {"l3l2": "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm picks up the sponge on the table", "l3l2l1": "Robot: s193a44. Task: Clean table\nSubtask context (ordered by onset): Right arm picks up the sponge on the table\nAtomic instruction: right arm: Move the right arm towards the orange plastic packaging on the table."}}, {"sample": 37, "tree": "agibotworld_2026_lerobot_v3/s216a44", "episode": 14, "shard": "c000-f000", "start": 0, "files": {"gt": "media/037-gt.mp4", "base_l3l2": "media/037-base-l3l2.mp4", "ft_l3l2": "media/037-ft-l3l2.mp4", "base_l3l2l1": "media/037-base-l3l2l1.mp4", "ft_l3l2l1": "media/037-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8958743373871859, "mae": 0.7304629981517792, "psnr": 18.46824049949646, "windows": 16}, "ft": {"rmse": 0.4538109841785555, "mae": 0.24513971665874124, "psnr": 21.711013317108154, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.9118749962709308, "mae": 0.7389474213123322, "psnr": 18.38221788406372, "windows": 16}, "ft": {"rmse": 0.45118889632050585, "mae": 0.239532973151654, "psnr": 21.900441646575928, "windows": 16}}}, "prompts": {"l3l2": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Left arm picks up the tea canister on the table", "l3l2l1": "Robot: s216a44. Task: Unscrew the tea canister, take out the tea bag, and then screw it back on\nSubtask context (ordered by onset): Left arm picks up the tea canister on the table\nAtomic instruction: left arm: Grasp the tea canister on the table."}}, {"sample": 53, "tree": "agibotworld_2026_lerobot_v3/s216a44_rl", "episode": 2, "shard": "c000-f000", "start": 66, "files": {"gt": "media/053-gt.mp4", "base_l3l2": "media/053-base-l3l2.mp4", "ft_l3l2": "media/053-ft-l3l2.mp4", "base_l3l2l1": "media/053-base-l3l2l1.mp4", "ft_l3l2l1": "media/053-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9492913971875456, "mae": 0.7873317524790764, "psnr": 17.239038944244385, "windows": 16}, "ft": {"rmse": 0.5765287379149701, "mae": 0.3137290645390749, "psnr": 22.611453533172607, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.9615363565522774, "mae": 0.7991218157112598, "psnr": 17.43276596069336, "windows": 16}, "ft": {"rmse": 0.5248972325852412, "mae": 0.2855033059604466, "psnr": 22.592456340789795, "windows": 16}}}, "prompts": {"l3l2": "Robot: s216a44_rl. Task: Insert the loose change into the coin slot of the piggy bank dagger\nSubtask context (ordered by onset): The right arm slides the coin on the table to the edge of the table", "l3l2l1": "Robot: s216a44_rl. Task: Insert the loose change into the coin slot of the piggy bank dagger\nSubtask context (ordered by onset): The right arm slides the coin on the table to the edge of the table\nAtomic instruction: right arm: Move the held coin towards the piggy bank."}}, {"sample": 69, "tree": "agibotworld_2026_lerobot_v3/sim_lite", "episode": 23, "shard": "c000-f000", "start": 68, "files": {"gt": "media/069-gt.mp4", "base_l3l2": "media/069-base-l3l2.mp4", "ft_l3l2": "media/069-ft-l3l2.mp4", "base_l3l2l1": "media/069-base-l3l2l1.mp4", "ft_l3l2l1": "media/069-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.766250578598501, "mae": 0.5804895479232073, "psnr": 17.179514169692993, "windows": 16}, "ft": {"rmse": 0.5561111659345133, "mae": 0.26591234281659126, "psnr": 20.948655605316162, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.7675811486026917, "mae": 0.578888850286603, "psnr": 17.273014783859253, "windows": 16}, "ft": {"rmse": 0.5423499554670882, "mae": 0.26355114253237844, "psnr": 20.745201110839844, "windows": 16}}}, "prompts": {"l3l2": "Robot: sim_lite. Task: Open the freezer door, adjust the position of white packaged goods and yellow packaged goods, then close the freezer door.\nSubtask context (ordered by onset): Right arm pushes open the freezer door", "l3l2l1": "Robot: sim_lite. Task: Open the freezer door, adjust the position of white packaged goods and yellow packaged goods, then close the freezer door.\nSubtask context (ordered by onset): Right arm pushes open the freezer door\nAtomic instruction: right arm: Adjust the position of the grasped white packaged goods."}}, {"sample": 85, "tree": "agibotworld_beta_lerobot_v3/agibot_beta_gripper", "episode": 166, "shard": "c000-f000", "start": 19, "files": {"gt": "media/085-gt.mp4", "base_l3l2": "media/085-base-l3l2.mp4", "ft_l3l2": "media/085-ft-l3l2.mp4", "base_l3l2l1": "media/085-base-l3l2l1.mp4", "ft_l3l2l1": "media/085-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8635069047298933, "mae": 0.6619711723178625, "psnr": 17.268284559249878, "windows": 16}, "ft": {"rmse": 0.34539623851170476, "mae": 0.1300907281693071, "psnr": 20.130209922790527, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8531576645539938, "mae": 0.6498544793576002, "psnr": 17.17236638069153, "windows": 16}, "ft": {"rmse": 0.339627294625428, "mae": 0.1326927375048399, "psnr": 19.16553497314453, "windows": 16}}}, "prompts": {"l3l2": "Robot: agibot_beta_gripper. Task: Pickup items in the supermarket\nSubtask context (ordered by onset): Retrieve shiitake mushroom from the shelf.", "l3l2l1": "Robot: agibot_beta_gripper. Task: Pickup items in the supermarket\nSubtask context (ordered by onset): Retrieve shiitake mushroom from the shelf.\nAtomic instruction: right arm: Move the right arm towards the purple onion on the shelf."}}, {"sample": 101, "tree": "robocoin_lerobot_v3/robocoin_agibot_g1_fisheye", "episode": 29, "shard": "c000-f000", "start": 40, "files": {"gt": "media/101-gt.mp4", "base_l3l2": "media/101-base-l3l2.mp4", "ft_l3l2": "media/101-ft-l3l2.mp4", "base_l3l2l1": "media/101-base-l3l2l1.mp4", "ft_l3l2l1": "media/101-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9498472625051251, "mae": 0.7237219512462616, "psnr": 16.591743230819702, "windows": 16}, "ft": {"rmse": 0.4279534099426809, "mae": 0.21911568334326148, "psnr": 19.11333680152893, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.933186639821394, "mae": 0.7131563983857632, "psnr": 16.450010538101196, "windows": 16}, "ft": {"rmse": 0.44349390590433996, "mae": 0.22684172680601478, "psnr": 19.428871870040894, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agibot_g1_fisheye. Task: put the tools into the yellow box on the white table.\nSubtask context (ordered by onset): Grab and lift both the mouse and power cord from the accessory packaging area at the same time.", "l3l2l1": "Robot: robocoin_agibot_g1_fisheye. Task: put the tools into the yellow box on the white table.\nSubtask context (ordered by onset): Grab and lift both the mouse and power cord from the accessory packaging area at the same time.\nAtomic instruction: left arm: Move the left arm towards the power cord on the table. right arm: Move the right arm towards the power cord on the table."}}, {"sample": 117, "tree": "robocoin_lerobot_v3/robocoin_agilex_aloha_order", "episode": 53, "shard": "c000-f000", "start": 89, "files": {"gt": "media/117-gt.mp4", "base_l3l2": "media/117-base-l3l2.mp4", "ft_l3l2": "media/117-ft-l3l2.mp4", "base_l3l2l1": "media/117-base-l3l2l1.mp4", "ft_l3l2l1": "media/117-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8663869924013186, "mae": 0.6956004165112972, "psnr": 17.917174100875854, "windows": 16}, "ft": {"rmse": 0.4059529105106481, "mae": 0.23098987434059381, "psnr": 23.28730344772339, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.864443645864884, "mae": 0.6875116359442472, "psnr": 17.513341903686523, "windows": 16}, "ft": {"rmse": 0.3865593263415159, "mae": 0.21475164964795113, "psnr": 23.081340789794922, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_aloha_order. Task: Fold towels and Place the corner\nSubtask context (ordered by onset): Right hand: grab the folded purple towel", "l3l2l1": "Robot: robocoin_agilex_aloha_order. Task: Fold towels and Place the corner\nSubtask context (ordered by onset): Right hand: grab the folded purple towel\nAtomic instruction: right arm: Move the right arm towards the purple towel on the table."}}, {"sample": 133, "tree": "robocoin_lerobot_v3/robocoin_agilex_aloha_order_f64", "episode": 27, "shard": "c000-f000", "start": 87, "files": {"gt": "media/133-gt.mp4", "base_l3l2": "media/133-base-l3l2.mp4", "ft_l3l2": "media/133-ft-l3l2.mp4", "base_l3l2l1": "media/133-base-l3l2l1.mp4", "ft_l3l2l1": "media/133-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9481918653577261, "mae": 0.7300865799188614, "psnr": 20.81312894821167, "windows": 16}, "ft": {"rmse": 0.41308008686813724, "mae": 0.17616131505928934, "psnr": 22.0092511177063, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.9358308546272868, "mae": 0.7156458031386137, "psnr": 20.440223217010498, "windows": 16}, "ft": {"rmse": 0.3359466735753761, "mae": 0.14447708637453616, "psnr": 22.021737098693848, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_aloha_order_f64. Task: Remove the towel and place it\nSubtask context (ordered by onset): Left hand: grab the grey towel", "l3l2l1": "Robot: robocoin_agilex_aloha_order_f64. Task: Remove the towel and place it\nSubtask context (ordered by onset): Left hand: grab the grey towel\nAtomic instruction: left arm: Grasp the gray towel."}}, {"sample": 149, "tree": "robocoin_lerobot_v3/robocoin_agilex_cobot_magic", "episode": 9, "shard": "c000-f000", "start": 51, "files": {"gt": "media/149-gt.mp4", "base_l3l2": "media/149-base-l3l2.mp4", "ft_l3l2": "media/149-ft-l3l2.mp4", "base_l3l2l1": "media/149-base-l3l2l1.mp4", "ft_l3l2l1": "media/149-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9074206201148091, "mae": 0.7234084792435169, "psnr": 18.10240149497986, "windows": 16}, "ft": {"rmse": 0.43052422865673556, "mae": 0.2393694370985031, "psnr": 23.026652336120605, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8932993550106452, "mae": 0.7149121351540089, "psnr": 18.256869316101074, "windows": 16}, "ft": {"rmse": 0.418684354894804, "mae": 0.22467918694019318, "psnr": 23.863086700439453, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_cobot_magic. Task: fold the towels on the table.\nSubtask context (ordered by onset): Grasp the white towel with the right gripper", "l3l2l1": "Robot: robocoin_agilex_cobot_magic. Task: fold the towels on the table.\nSubtask context (ordered by onset): Grasp the white towel with the right gripper\nAtomic instruction: left arm: Move the left gripper towards the white towel on the table."}}, {"sample": 165, "tree": "robocoin_lerobot_v3/robocoin_agilex_cobot_magic_f64", "episode": 61, "shard": "c000-f000", "start": 28, "files": {"gt": "media/165-gt.mp4", "base_l3l2": "media/165-base-l3l2.mp4", "ft_l3l2": "media/165-ft-l3l2.mp4", "base_l3l2l1": "media/165-base-l3l2l1.mp4", "ft_l3l2l1": "media/165-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.825232688915087, "mae": 0.6305619962513447, "psnr": 18.86252760887146, "windows": 16}, "ft": {"rmse": 0.39671284527274736, "mae": 0.2106631388887763, "psnr": 24.634203910827637, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8090717450848055, "mae": 0.6108889356255531, "psnr": 19.188181161880493, "windows": 16}, "ft": {"rmse": 0.3831969580691214, "mae": 0.19731476670131087, "psnr": 24.58735466003418, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_cobot_magic_f64. Task: the gripper move the object.\nSubtask context (ordered by onset): Grasp the waffle with the right gripper", "l3l2l1": "Robot: robocoin_agilex_cobot_magic_f64. Task: the gripper move the object.\nSubtask context (ordered by onset): Grasp the waffle with the right gripper\nAtomic instruction: right arm: Grasp the waffle on the table."}}, {"sample": 181, "tree": "robocoin_lerobot_v3/robocoin_agilex_cobot_magic_with_front_chest", "episode": 14, "shard": "c000-f000", "start": 0, "files": {"gt": "media/181-gt.mp4", "base_l3l2": "media/181-base-l3l2.mp4", "ft_l3l2": "media/181-ft-l3l2.mp4", "base_l3l2l1": "media/181-base-l3l2l1.mp4", "ft_l3l2l1": "media/181-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8494335685449823, "mae": 0.6198021650314331, "psnr": 22.7117919921875, "windows": 5}, "ft": {"rmse": 0.38595769728966084, "mae": 0.2127061128616333, "psnr": 35.39523363113403, "windows": 5}}, "l3l2l1": {"base": {"rmse": 0.8446218507286571, "mae": 0.6191501498222352, "psnr": 22.504289150238037, "windows": 5}, "ft": {"rmse": 0.2828769383863451, "mae": 0.1506123036146164, "psnr": 36.789846420288086, "windows": 5}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the green  build block in the center of the table", "l3l2l1": "Robot: robocoin_agilex_cobot_magic_with_front_chest. Task: According to the building block template in front, assemble the scattered blocks together.\nSubtask context (ordered by onset): Put the green  build block in the center of the table\nAtomic instruction: left arm: Release the green build block onto the table."}}, {"sample": 186, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled", "episode": 2, "shard": "c000-f000", "start": 6, "files": {"gt": "media/186-gt.mp4", "base_l3l2": "media/186-base-l3l2.mp4", "ft_l3l2": "media/186-ft-l3l2.mp4", "base_l3l2l1": "media/186-base-l3l2l1.mp4", "ft_l3l2l1": "media/186-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 1.0648764372277573, "mae": 0.8730693235993385, "psnr": 20.963051319122314, "windows": 16}, "ft": {"rmse": 0.45579597884559986, "mae": 0.2468588030897081, "psnr": 26.507740020751953, "windows": 16}}, "l3l2l1": {"base": {"rmse": 1.055389553871207, "mae": 0.8575259298086166, "psnr": 21.021149158477783, "windows": 16}, "ft": {"rmse": 0.44929073582360446, "mae": 0.233591481577605, "psnr": 26.80793285369873, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled. Task: pick up the long bread and put it into the basket.\nSubtask context (ordered by onset): Static; Grasp the long bread with right gripper", "l3l2l1": "Robot: robocoin_agilex_decoupled. Task: pick up the long bread and put it into the basket.\nSubtask context (ordered by onset): Static; Grasp the long bread with right gripper\nAtomic instruction: right arm: Grasp the long bread on the table."}}, {"sample": 202, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_hd", "episode": 11, "shard": "c000-f000", "start": 0, "files": {"gt": "media/202-gt.mp4", "base_l3l2": "media/202-base-l3l2.mp4", "ft_l3l2": "media/202-ft-l3l2.mp4", "base_l3l2l1": "media/202-base-l3l2l1.mp4", "ft_l3l2l1": "media/202-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.7637820627764539, "mae": 0.6230149231851101, "psnr": 24.86726999282837, "windows": 16}, "ft": {"rmse": 0.43399535388916, "mae": 0.24344828398898244, "psnr": 35.281808376312256, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.6976435282370692, "mae": 0.5645996183156967, "psnr": 26.69609308242798, "windows": 16}, "ft": {"rmse": 0.39257353677777307, "mae": 0.2091314464341849, "psnr": 38.86878490447998, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the grey cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Move the cup to the center of view", "l3l2l1": "Robot: robocoin_agilex_decoupled_hd. Task: the right gripper place the grey cup in the center of the table, the left gripper take the pink spoon from the cup lid and scoop out the coffee beans from the coffee cup and put them into the grey cup, the left gripper put the spoon back into the cup lid.\nSubtask context (ordered by onset): Move the cup to the center of view\nAtomic instruction: left arm: Wait for the right arm to place the grey cup. right arm: Hold the grey cup."}}, {"sample": 218, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_hd_no_subtask_indices", "episode": 39, "shard": "c000-f000", "start": 39, "files": {"gt": "media/218-gt.mp4", "base_l3l2": "media/218-base-l3l2.mp4", "ft_l3l2": "media/218-ft-l3l2.mp4", "base_l3l2l1": "media/218-base-l3l2l1.mp4", "ft_l3l2l1": "media/218-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8323508016138289, "mae": 0.6459343172609806, "psnr": 22.58033275604248, "windows": 16}, "ft": {"rmse": 0.529860504649385, "mae": 0.3227454465813935, "psnr": 23.972909450531006, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8097669123442924, "mae": 0.6322300247848034, "psnr": 22.742412090301514, "windows": 16}, "ft": {"rmse": 0.46301816118173594, "mae": 0.2857795120216906, "psnr": 24.333481788635254, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled_hd_no_subtask_indices. Task: the left gripper grasp one corner of the bag, the right gripper pull the green zipper, the left gripper put down the bag.\nSubtask context (ordered by onset): Pick up the transparent plastic bag with the left gripper", "l3l2l1": "Robot: robocoin_agilex_decoupled_hd_no_subtask_indices. Task: the left gripper grasp one corner of the bag, the right gripper pull the green zipper, the left gripper put down the bag.\nSubtask context (ordered by onset): Pick up the transparent plastic bag with the left gripper\nAtomic instruction: left arm: Move to the corner of the transparent plastic bag and grasp it. right arm: Move the right gripper towards the green zipper of the plastic bag."}}, {"sample": 234, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_s14_30hz", "episode": 30, "shard": "c000-f000", "start": 0, "files": {"gt": "media/234-gt.mp4", "base_l3l2": "media/234-base-l3l2.mp4", "ft_l3l2": "media/234-ft-l3l2.mp4", "base_l3l2l1": "media/234-base-l3l2l1.mp4", "ft_l3l2l1": "media/234-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9074627832575644, "mae": 0.7177280094474554, "psnr": 24.522478580474854, "windows": 16}, "ft": {"rmse": 0.5336233266413252, "mae": 0.26928092539310455, "psnr": 32.82249212265015, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8912993761950423, "mae": 0.7025529202073812, "psnr": 24.627983570098877, "windows": 16}, "ft": {"rmse": 0.5072584062887383, "mae": 0.23562897532247007, "psnr": 36.876163482666016, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled_s14_30hz. Task: take vegetables from cloth bag on blue coffee tablecloth place on plate.\nSubtask context (ordered by onset): Grasp the potato with left gripper", "l3l2l1": "Robot: robocoin_agilex_decoupled_s14_30hz. Task: take vegetables from cloth bag on blue coffee tablecloth place on plate.\nSubtask context (ordered by onset): Grasp the potato with left gripper\nAtomic instruction: left arm: Wait near the bag."}}, {"sample": 250, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_s14_50hz", "episode": 5, "shard": "c000-f000", "start": 10, "files": {"gt": "media/250-gt.mp4", "base_l3l2": "media/250-base-l3l2.mp4", "ft_l3l2": "media/250-ft-l3l2.mp4", "base_l3l2l1": "media/250-base-l3l2l1.mp4", "ft_l3l2l1": "media/250-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.761363055248456, "mae": 0.5892907325178385, "psnr": 18.650959730148315, "windows": 16}, "ft": {"rmse": 0.4755353837099931, "mae": 0.23122659651562572, "psnr": 23.230345249176025, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.7361263193384092, "mae": 0.5677973553538322, "psnr": 18.6554217338562, "windows": 16}, "ft": {"rmse": 0.4386958607182165, "mae": 0.20290543651208282, "psnr": 23.517396450042725, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled_s14_50hz. Task: move the plate that can hold fruits to the right side of the table.\nSubtask context (ordered by onset): Pick the container that can hold fruits", "l3l2l1": "Robot: robocoin_agilex_decoupled_s14_50hz. Task: move the plate that can hold fruits to the right side of the table.\nSubtask context (ordered by onset): Pick the container that can hold fruits\nAtomic instruction: right arm: Move the right arm towards the plate on the left side of the table."}}, {"sample": 266, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_s14_50hz_rgbrgb", "episode": 18, "shard": "c000-f000", "start": 0, "files": {"gt": "media/266-gt.mp4", "base_l3l2": "media/266-base-l3l2.mp4", "ft_l3l2": "media/266-ft-l3l2.mp4", "base_l3l2l1": "media/266-base-l3l2l1.mp4", "ft_l3l2l1": "media/266-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8474832371408507, "mae": 0.66089734621346, "psnr": 23.71518611907959, "windows": 16}, "ft": {"rmse": 0.5281379009327353, "mae": 0.27688533952459693, "psnr": 30.653347969055176, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8394053734484038, "mae": 0.651146937161684, "psnr": 23.745994567871094, "windows": 16}, "ft": {"rmse": 0.5591538993820606, "mae": 0.27067415858618915, "psnr": 30.923163890838623, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled_s14_50hz_rgbrgb. Task: on the grey tablecloth, hold the pen cap in one hand and the pen in the other, then cover the pen cap.\nSubtask context (ordered by onset): Pick up the pen cap", "l3l2l1": "Robot: robocoin_agilex_decoupled_s14_50hz_rgbrgb. Task: on the grey tablecloth, hold the pen cap in one hand and the pen in the other, then cover the pen cap.\nSubtask context (ordered by onset): Pick up the pen cap\nAtomic instruction: left arm: Hold the pen cap steady. right arm: Wait in the starting position."}}, {"sample": 282, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_with_high_realsense", "episode": 46, "shard": "c000-f000", "start": 27, "files": {"gt": "media/282-gt.mp4", "base_l3l2": "media/282-base-l3l2.mp4", "ft_l3l2": "media/282-ft-l3l2.mp4", "base_l3l2l1": "media/282-base-l3l2l1.mp4", "ft_l3l2l1": "media/282-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9595871000492746, "mae": 0.7069841995835304, "psnr": 19.46642518043518, "windows": 16}, "ft": {"rmse": 0.5391898403251316, "mae": 0.2573015480302274, "psnr": 20.13700008392334, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.9678411277248212, "mae": 0.7136062644422054, "psnr": 19.45893883705139, "windows": 16}, "ft": {"rmse": 0.479248872776651, "mae": 0.22301396075636148, "psnr": 20.060195922851562, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: make a hamburger with cheese.\nSubtask context (ordered by onset): Pick up the cheese slice with the right gripper", "l3l2l1": "Robot: robocoin_agilex_decoupled_with_high_realsense. Task: make a hamburger with cheese.\nSubtask context (ordered by onset): Pick up the cheese slice with the right gripper\nAtomic instruction: right arm: Grasp the cheese slice from the container."}}, {"sample": 298, "tree": "robocoin_lerobot_v3/robocoin_agilex_decoupled_with_subtask_indices", "episode": 130, "shard": "c000-f000", "start": 0, "files": {"gt": "media/298-gt.mp4", "base_l3l2": "media/298-base-l3l2.mp4", "ft_l3l2": "media/298-ft-l3l2.mp4", "base_l3l2l1": "media/298-base-l3l2l1.mp4", "ft_l3l2l1": "media/298-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9871771264987828, "mae": 0.8003813996911049, "psnr": 19.765472412109375, "windows": 16}, "ft": {"rmse": 0.5027751136474287, "mae": 0.2847479796037078, "psnr": 31.714279651641846, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.9820466851392377, "mae": 0.7942885830998421, "psnr": 19.275647401809692, "windows": 16}, "ft": {"rmse": 0.47284225309039785, "mae": 0.25336949108168483, "psnr": 30.85310459136963, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_agilex_decoupled_with_subtask_indices. Task: place lunch box,cucumber and pear into small packaging bag.\nSubtask context (ordered by onset): Grasp the box with the right gripper", "l3l2l1": "Robot: robocoin_agilex_decoupled_with_subtask_indices. Task: place lunch box,cucumber and pear into small packaging bag.\nSubtask context (ordered by onset): Grasp the box with the right gripper\nAtomic instruction: right arm: Open the gripper."}}, {"sample": 314, "tree": "robocoin_lerobot_v3/robocoin_ai2_alphabot2_s28", "episode": 271, "shard": "c000-f000", "start": 0, "files": {"gt": "media/314-gt.mp4", "base_l3l2": "media/314-base-l3l2.mp4", "ft_l3l2": "media/314-ft-l3l2.mp4", "base_l3l2l1": "media/314-base-l3l2l1.mp4", "ft_l3l2l1": "media/314-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9450241205965283, "mae": 0.7253137826919556, "psnr": 25.970606803894043, "windows": 6}, "ft": {"rmse": 0.46113990850164543, "mae": 0.19122290052473545, "psnr": 34.046244621276855, "windows": 6}}, "l3l2l1": {"base": {"rmse": 0.9050756167685885, "mae": 0.6946876843770345, "psnr": 25.315265655517578, "windows": 6}, "ft": {"rmse": 0.387313169042881, "mae": 0.16961127830048403, "psnr": 31.20643138885498, "windows": 6}}}, "prompts": {"l3l2": "Robot: robocoin_ai2_alphabot2_s28. Task: after removing the water bottle from the table, press the button.\nSubtask context (ordered by onset): Stick the advertisement in the top-right corner area with both grippers", "l3l2l1": "Robot: robocoin_ai2_alphabot2_s28. Task: after removing the water bottle from the table, press the button.\nSubtask context (ordered by onset): Stick the advertisement in the top-right corner area with both grippers\nAtomic instruction: left arm: Move the left arm toward the advertisement board. right arm: Move the right arm toward the advertisement on the table."}}, {"sample": 320, "tree": "robocoin_lerobot_v3/robocoin_ai2_alphabot2_s28_with_gripper_activity_action", "episode": 19, "shard": "c000-f000", "start": 0, "files": {"gt": "media/320-gt.mp4", "base_l3l2": "media/320-base-l3l2.mp4", "ft_l3l2": "media/320-ft-l3l2.mp4", "base_l3l2l1": "media/320-base-l3l2l1.mp4", "ft_l3l2l1": "media/320-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.7289636170278546, "mae": 0.5651117563247681, "psnr": 18.53069305419922, "windows": 2}, "ft": {"rmse": 0.08020932727655615, "mae": 0.058443259447813034, "psnr": 32.28457689285278, "windows": 2}}, "l3l2l1": {"base": {"rmse": 0.7253180891262938, "mae": 0.5649349689483643, "psnr": 18.573859930038452, "windows": 2}, "ft": {"rmse": 0.059044420077461794, "mae": 0.043189870193600655, "psnr": 31.985416412353516, "windows": 2}}}, "prompts": {"l3l2": "Robot: robocoin_ai2_alphabot2_s28_with_gripper_activity_action. Task: after removing the water bottle from the table, press the button.\nSubtask context (ordered by onset): Touch the bottle with left gripper", "l3l2l1": "Robot: robocoin_ai2_alphabot2_s28_with_gripper_activity_action. Task: after removing the water bottle from the table, press the button.\nSubtask context (ordered by onset): Touch the bottle with left gripper\nAtomic instruction: left arm: Move the left arm slightly to the right."}}, {"sample": 322, "tree": "robocoin_lerobot_v3/robocoin_galaxea_r1_lite", "episode": 83, "shard": "c000-f000", "start": 0, "files": {"gt": "media/322-gt.mp4", "base_l3l2": "media/322-base-l3l2.mp4", "ft_l3l2": "media/322-ft-l3l2.mp4", "base_l3l2l1": "media/322-base-l3l2l1.mp4", "ft_l3l2l1": "media/322-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8043755509968185, "mae": 0.6248446498066187, "psnr": 17.153838872909546, "windows": 16}, "ft": {"rmse": 0.6070683545054325, "mae": 0.28059596801176667, "psnr": 17.0382022857666, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.7958745297544692, "mae": 0.6110759191215038, "psnr": 17.132396697998047, "windows": 16}, "ft": {"rmse": 0.5173868018579207, "mae": 0.2245491782668978, "psnr": 17.43074893951416, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_galaxea_r1_lite. Task: take shoes out of box then put back in and close.\nSubtask context (ordered by onset): Open the shoe box", "l3l2l1": "Robot: robocoin_galaxea_r1_lite. Task: take shoes out of box then put back in and close.\nSubtask context (ordered by onset): Open the shoe box\nAtomic instruction: left arm: Lift the lid of the shoe box to open it. right arm: Open the lid of the shoe box."}}, {"sample": 338, "tree": "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_7dof", "episode": 75, "shard": "c000-f000", "start": 25, "files": {"gt": "media/338-gt.mp4", "base_l3l2": "media/338-base-l3l2.mp4", "ft_l3l2": "media/338-ft-l3l2.mp4", "base_l3l2l1": "media/338-base-l3l2l1.mp4", "ft_l3l2l1": "media/338-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.7580209017441889, "mae": 0.5305086099184476, "psnr": 17.30642795562744, "windows": 13}, "ft": {"rmse": 0.5049441159466335, "mae": 0.24112199246883392, "psnr": 18.495664596557617, "windows": 13}}, "l3l2l1": {"base": {"rmse": 0.7491147880181316, "mae": 0.5256917201555692, "psnr": 17.258193492889404, "windows": 13}, "ft": {"rmse": 0.47113712890654014, "mae": 0.2248892509020292, "psnr": 18.93130660057068, "windows": 13}}}, "prompts": {"l3l2": "Robot: robocoin_galaxea_r1_lite_7dof. Task: stack a basket on top of another basket.\nSubtask context (ordered by onset): Grasp the light basket with the left gripper", "l3l2l1": "Robot: robocoin_galaxea_r1_lite_7dof. Task: stack a basket on top of another basket.\nSubtask context (ordered by onset): Grasp the light basket with the left gripper\nAtomic instruction: left arm: Grasp the light basket on the left side of the table."}}, {"sample": 351, "tree": "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo", "episode": 120, "shard": "c000-f000", "start": 12, "files": {"gt": "media/351-gt.mp4", "base_l3l2": "media/351-base-l3l2.mp4", "ft_l3l2": "media/351-ft-l3l2.mp4", "base_l3l2l1": "media/351-base-l3l2l1.mp4", "ft_l3l2l1": "media/351-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9089029220722111, "mae": 0.6757265646010637, "psnr": 17.93783664703369, "windows": 16}, "ft": {"rmse": 0.7238007341306238, "mae": 0.3515834822319448, "psnr": 19.39271569252014, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.9003577650449791, "mae": 0.6653831005096436, "psnr": 17.864530086517334, "windows": 16}, "ft": {"rmse": 0.6726622360103812, "mae": 0.3242668164893985, "psnr": 19.28785800933838, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_galaxea_r1_lite_stereo. Task: rearrange the word baai as brain.\nSubtask context (ordered by onset): Disassemble the second character A", "l3l2l1": "Robot: robocoin_galaxea_r1_lite_stereo. Task: rearrange the word baai as brain.\nSubtask context (ordered by onset): Disassemble the second character A\nAtomic instruction: right arm: Move the right arm towards the pink character on the right side of the table."}}, {"sample": 367, "tree": "robocoin_lerobot_v3/robocoin_galaxea_r1_lite_stereo_640x360", "episode": 71, "shard": "c000-f000", "start": 0, "files": {"gt": "media/367-gt.mp4", "base_l3l2": "media/367-base-l3l2.mp4", "ft_l3l2": "media/367-ft-l3l2.mp4", "base_l3l2l1": "media/367-base-l3l2l1.mp4", "ft_l3l2l1": "media/367-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.7586636249347822, "mae": 0.5439178757369518, "psnr": 16.61351442337036, "windows": 16}, "ft": {"rmse": 0.5268523562624882, "mae": 0.2897621039301157, "psnr": 17.20169425010681, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.7487137128020536, "mae": 0.530680475756526, "psnr": 16.433777809143066, "windows": 16}, "ft": {"rmse": 0.48693236645785676, "mae": 0.2666293438524008, "psnr": 17.355374097824097, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_galaxea_r1_lite_stereo_640x360. Task: use the gripper to open the drawer and close the yellow drawer.\nSubtask context (ordered by onset): Open the yellow drawer with the left gripper", "l3l2l1": "Robot: robocoin_galaxea_r1_lite_stereo_640x360. Task: use the gripper to open the drawer and close the yellow drawer.\nSubtask context (ordered by onset): Open the yellow drawer with the left gripper\nAtomic instruction: left arm: Open the yellow drawer by pulling its handle."}}, {"sample": 383, "tree": "robocoin_lerobot_v3/robocoin_realman_aidal", "episode": 17, "shard": "c000-f000", "start": 11, "files": {"gt": "media/383-gt.mp4", "base_l3l2": "media/383-base-l3l2.mp4", "ft_l3l2": "media/383-ft-l3l2.mp4", "base_l3l2l1": "media/383-base-l3l2l1.mp4", "ft_l3l2l1": "media/383-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8642624407714367, "mae": 0.6620509047061205, "psnr": 16.20838165283203, "windows": 16}, "ft": {"rmse": 0.4866496903546868, "mae": 0.28324284963309765, "psnr": 17.324386835098267, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8555485163476014, "mae": 0.6617761738598347, "psnr": 15.847936868667603, "windows": 16}, "ft": {"rmse": 0.4470422902413959, "mae": 0.25955057237297297, "psnr": 17.927966117858887, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_realman_aidal. Task: the black shirt is place with the back facing up, fold the black shirt into a square shape.\nSubtask context (ordered by onset): Fold the bottom left sleeve with your left hand", "l3l2l1": "Robot: robocoin_realman_aidal. Task: the black shirt is place with the back facing up, fold the black shirt into a square shape.\nSubtask context (ordered by onset): Fold the bottom left sleeve with your left hand\nAtomic instruction: right arm: Move the right arm towards the right side of the black shirt."}}, {"sample": 399, "tree": "robocoin_lerobot_v3/robocoin_realman_aidal_headcam", "episode": 34, "shard": "c000-f000", "start": 98, "files": {"gt": "media/399-gt.mp4", "base_l3l2": "media/399-base-l3l2.mp4", "ft_l3l2": "media/399-ft-l3l2.mp4", "base_l3l2l1": "media/399-base-l3l2l1.mp4", "ft_l3l2l1": "media/399-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9537599981041416, "mae": 0.7522453963756561, "psnr": 17.10923433303833, "windows": 6}, "ft": {"rmse": 0.37869717439500394, "mae": 0.21305299922823906, "psnr": 17.906744480133057, "windows": 6}}, "l3l2l1": {"base": {"rmse": 0.9468940137038955, "mae": 0.7476065158843994, "psnr": 17.10905432701111, "windows": 6}, "ft": {"rmse": 0.4103217258512312, "mae": 0.2272421574840943, "psnr": 18.423993587493896, "windows": 6}}}, "prompts": {"l3l2": "Robot: robocoin_realman_aidal_headcam. Task: the left gripper grasp the clothes and hang them on the clothes rack.\nSubtask context (ordered by onset): Grasp the hanger with the left gripper", "l3l2l1": "Robot: robocoin_realman_aidal_headcam. Task: the left gripper grasp the clothes and hang them on the clothes rack.\nSubtask context (ordered by onset): Grasp the hanger with the left gripper\nAtomic instruction: left arm: Move the left gripper down and backward to approach the hanger holding the blue clothes."}}, {"sample": 405, "tree": "robocoin_lerobot_v3/robocoin_realman_aidal_no_subtask_indices", "episode": 113, "shard": "c000-f000", "start": 15, "files": {"gt": "media/405-gt.mp4", "base_l3l2": "media/405-base-l3l2.mp4", "ft_l3l2": "media/405-ft-l3l2.mp4", "base_l3l2l1": "media/405-base-l3l2l1.mp4", "ft_l3l2l1": "media/405-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8681122235503903, "mae": 0.683939091861248, "psnr": 14.072169065475464, "windows": 16}, "ft": {"rmse": 0.5277816901078084, "mae": 0.2950293510220945, "psnr": 15.788896083831787, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8475580971667263, "mae": 0.6740740034729242, "psnr": 13.946617841720581, "windows": 16}, "ft": {"rmse": 0.48883951900294104, "mae": 0.27355193672701716, "psnr": 18.096599578857422, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_realman_aidal_no_subtask_indices. Task: unzip the black food bag.\nSubtask context (ordered by onset): Pull up the zipper with your right hand.", "l3l2l1": "Robot: robocoin_realman_aidal_no_subtask_indices. Task: unzip the black food bag.\nSubtask context (ordered by onset): Pull up the zipper with your right hand.\nAtomic instruction: left arm: Grasp the left side of the black bag."}}, {"sample": 421, "tree": "robocoin_lerobot_v3/robocoin_realman_aidal_s3", "episode": 5, "shard": "c000-f000", "start": 24, "files": {"gt": "media/421-gt.mp4", "base_l3l2": "media/421-base-l3l2.mp4", "ft_l3l2": "media/421-ft-l3l2.mp4", "base_l3l2l1": "media/421-base-l3l2l1.mp4", "ft_l3l2l1": "media/421-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.9633796261962821, "mae": 0.7215648239309137, "psnr": 20.780270099639893, "windows": 11}, "ft": {"rmse": 0.5555320016919696, "mae": 0.26776604320515285, "psnr": 23.46081018447876, "windows": 11}}, "l3l2l1": {"base": {"rmse": 0.9544831461768897, "mae": 0.7110360996289686, "psnr": 20.513343811035156, "windows": 11}, "ft": {"rmse": 0.5617831079074866, "mae": 0.2769975225356492, "psnr": 23.764173984527588, "windows": 11}}}, "prompts": {"l3l2": "Robot: robocoin_realman_aidal_s3. Task: grasp the handle of the teapot with right hand and pour tea into the teacup.\nSubtask context (ordered by onset): Pick up the teacup with the left gripper", "l3l2l1": "Robot: robocoin_realman_aidal_s3. Task: grasp the handle of the teapot with right hand and pour tea into the teacup.\nSubtask context (ordered by onset): Pick up the teacup with the left gripper\nAtomic instruction: left arm: Move the left arm towards the black teacup on the table."}}, {"sample": 432, "tree": "robocoin_lerobot_v3/robocoin_tianqin_a2", "episode": 63, "shard": "c000-f000", "start": 0, "files": {"gt": "media/432-gt.mp4", "base_l3l2": "media/432-base-l3l2.mp4", "ft_l3l2": "media/432-ft-l3l2.mp4", "base_l3l2l1": "media/432-base-l3l2l1.mp4", "ft_l3l2l1": "media/432-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8031490326970459, "mae": 0.570159051567316, "psnr": 24.22661304473877, "windows": 16}, "ft": {"rmse": 0.4823323353559752, "mae": 0.23130391561426222, "psnr": 29.52977418899536, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.8144769996693193, "mae": 0.5780649296939373, "psnr": 23.997080326080322, "windows": 16}, "ft": {"rmse": 0.5122566414184772, "mae": 0.25446694204583764, "psnr": 28.245155811309814, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_tianqin_a2. Task: pick up the paper box and put it at the back.\nSubtask context (ordered by onset): Grasp the paper box", "l3l2l1": "Robot: robocoin_tianqin_a2. Task: pick up the paper box and put it at the back.\nSubtask context (ordered by onset): Grasp the paper box\nAtomic instruction: right arm: Grasp the paper box on the table."}}, {"sample": 448, "tree": "robocoin_lerobot_v3/robocoin_yinhe", "episode": 36, "shard": "c000-f000", "start": 0, "files": {"gt": "media/448-gt.mp4", "base_l3l2": "media/448-base-l3l2.mp4", "ft_l3l2": "media/448-ft-l3l2.mp4", "base_l3l2l1": "media/448-base-l3l2l1.mp4", "ft_l3l2l1": "media/448-ft-l3l2l1.mp4"}, "values": {"l3l2": {"base": {"rmse": 0.8128308243961065, "mae": 0.6235810481011868, "psnr": 19.593135118484497, "windows": 16}, "ft": {"rmse": 0.349612647079894, "mae": 0.1764414021745324, "psnr": 22.94541597366333, "windows": 16}}, "l3l2l1": {"base": {"rmse": 0.7933304694547939, "mae": 0.6075739581137896, "psnr": 19.3923282623291, "windows": 16}, "ft": {"rmse": 0.3700762377086705, "mae": 0.1819989033974707, "psnr": 22.754089832305908, "windows": 16}}}, "prompts": {"l3l2": "Robot: robocoin_yinhe. Task: take steamed baozi put them in steamer then cover it.\nSubtask context (ordered by onset): Grasp the baozi in the plate with right gripper", "l3l2l1": "Robot: robocoin_yinhe. Task: take steamed baozi put them in steamer then cover it.\nSubtask context (ordered by onset): Grasp the baozi in the plate with right gripper\nAtomic instruction: right arm: Grasp a baozi from the white plate on the right."}}], "source_runs": {"l3l2": "atom1kh-joint100k-vlora32-afull-l3l2-mb2-ga2-s6k-save1k-sbatch-s42-20261017-143026", "l3l2l1": "atom1kh-joint100k-vlora32-afull-l3l2l1-mb2-ga2-s6k-save1k-sbatch-s42-20261017-143026"}, "wandb": {"l3l2": "https://wandb.ai/yutongwang1012-usyd/vpp2-atomic-skills/runs/8097f7a95003", "l3l2l1": "https://wandb.ai/yutongwang1012-usyd/vpp2-atomic-skills/runs/330f06e77be1"}, "verification": {"matched_source_windows": true, "matched_prompts_within_variant": true, "decoded_videos": 204, "gt_codec_differences": [{"sample": 0, "gt_codec_mean_abs": 1.8867454594017095}, {"sample": 4, "gt_codec_mean_abs": 1.9494411892361112}, {"sample": 20, "gt_codec_mean_abs": 2.0146517761752136}, {"sample": 21, "gt_codec_mean_abs": 1.650927734375}, {"sample": 37, "gt_codec_mean_abs": 1.5485414162660256}, {"sample": 53, "gt_codec_mean_abs": 1.2287343082264957}, {"sample": 69, "gt_codec_mean_abs": 1.877118389423077}, {"sample": 85, "gt_codec_mean_abs": 2.2427792801816238}, {"sample": 101, "gt_codec_mean_abs": 1.5799554286858974}, {"sample": 117, "gt_codec_mean_abs": 0.747031500400641}, {"sample": 133, "gt_codec_mean_abs": 0.762122312366453}, {"sample": 149, "gt_codec_mean_abs": 1.0118785890758546}, {"sample": 165, "gt_codec_mean_abs": 1.221376702724359}, {"sample": 181, "gt_codec_mean_abs": 0.40555805956196583}, {"sample": 186, "gt_codec_mean_abs": 0.7509294037126069}, {"sample": 202, "gt_codec_mean_abs": 0.45734550280448716}, {"sample": 218, "gt_codec_mean_abs": 0.861667000534188}, {"sample": 234, "gt_codec_mean_abs": 0.9155194143963675}, {"sample": 250, "gt_codec_mean_abs": 0.9996707231570513}, {"sample": 266, "gt_codec_mean_abs": 0.8092523036858974}, {"sample": 282, "gt_codec_mean_abs": 1.1392503004807693}, {"sample": 298, "gt_codec_mean_abs": 0.7442453759348291}, {"sample": 314, "gt_codec_mean_abs": 0.7978114983974359}, {"sample": 320, "gt_codec_mean_abs": 0.7810551048344017}, {"sample": 322, "gt_codec_mean_abs": 1.3464764456463676}, {"sample": 338, "gt_codec_mean_abs": 1.2506134815705128}, {"sample": 351, "gt_codec_mean_abs": 0.9392870259081196}, {"sample": 367, "gt_codec_mean_abs": 0.9856215778579059}, {"sample": 383, "gt_codec_mean_abs": 0.6374415731837607}, {"sample": 399, "gt_codec_mean_abs": 1.4796783186431623}, {"sample": 405, "gt_codec_mean_abs": 1.0541236812232906}, {"sample": 421, "gt_codec_mean_abs": 0.8717723357371795}, {"sample": 432, "gt_codec_mean_abs": 0.9260470920138889}, {"sample": 448, "gt_codec_mean_abs": 1.0622466780181623}]}, "snapshot": "2026-10-19 12:26 CST"}