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mahgoobi/ur5e_pi05_eval

UR5e pi0.5 evaluation Evaluation of mahgoobi/ur5e_pi05_10k on a real UR5e with a Robotiq gripper, 2026-09-02, from the deployment page in RoboResearch. Five tasks, ten trials each, clean scene, 25 of each 50-step chunk executed at 20 Hz. Results task trials success failure rate put the cup in the bowl 10 9 1 90% put the bowl on the rack 10 9 1 90% put the mug on the coaster 10 10 0 100% stack the two cubes 10 9 1 90% put the book in the box 10 3… See the full description on the dataset page: https://huggingface.co/datasets/mahgoobi/ur5e_pi05_eval.

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UR5e pi0.5 evaluation

Evaluation of `mahgoobi/ur5e_pi05_10k` on a real UR5e with a Robotiq gripper, 2026-09-02, from the deployment page in RoboResearch. Five tasks, ten trials each, clean scene, 25 of each 50-step chunk executed at 20 Hz.

Results

tasktrialssuccessfailurerate
put the cup in the bowl109190%
put the bowl on the rack109190%
put the mug on the coaster10100100%
stack the two cubes109190%
put the book in the box103730%
all50401080%

Layout

pathcontent
<task>/<timestamp>/state.csvone row per control step: joints, tool pose, gripper, the three camera filenames, and the commanded target that went to servoJ
<task>/<timestamp>/camera1..3/side, wrist and base views as 640x480 PNGs, one per row
<task>/<timestamp>/meta.jsonrun settings, checkpoint, and the label: outcome, note, labelled_by
videos/<task>/<timestamp>_{side,wrist,base}.mp4the same frames as h264 at the recorded size
videos/<task>/<timestamp>_{side,wrist,base}.train.mp4at the 240x320 the training set stores, encoded as the training conversion encodes
previews/<task>/<timestamp>.gifside, wrist and base side by side, 5 fps

Labels were judged from the frames by Claude, from contact sheets of the three cameras, with a one-sentence note per episode giving the grasp and release rows.

Previews

put the book in the box

episodeoutcomenoteside · wrist · base
20260902-143911✅ successclean scene; grasp at 28, book set in the box at 17720260902-143911
20260902-143959✅ successclean scene; grasp at 62, in the box at 20720260902-143959
20260902-144030✅ successclean scene; grasp at 57, in the box at 20420260902-144030
20260902-144058❌ failureclean scene; grasp at 33, book lifted and carried over the box but held there, flexing in the jaws, never released20260902-144058
20260902-145900❌ failureclean scene; grasp at 62, book lifted half out of the rack and fans open in the jaws, held there to the end without reaching the box20260902-145900
20260902-145939❌ failureclean scene; grasp at 30 low on the book, pages fan open in the jaws, held above the rack to the end20260902-145939
20260902-150038❌ failureclean scene; grasp at 70 after one false close, book lifted and fans open, held above the rack, never placed20260902-150038
20260902-150124❌ failureclean scene; grasp at 34, book lifted clear of the rack and held; stopped at 7 s before it moved toward the box20260902-150124
20260902-150223❌ failureclean scene, book in the left slot; grasp at 73, book lifted and carried right toward the box but still in the jaws when recording stopped, box empty20260902-150223
20260902-150515❌ failureclean scene; grasp at 31, book lifted and held; stopped at 5 s20260902-150515

put the bowl on the rack

episodeoutcomenoteside · wrist · base
20260902-134841✅ successclean scene; grasp at 66, bowl set on the rack at 17920260902-134841
20260902-134950✅ successclean scene; grasp at 65, on the rack at 18120260902-134950
20260902-135020✅ successclean scene, bowl beside the rack; grasp at 54, on the rack at 17020260902-135020
20260902-135103✅ successclean scene, bowl in front of the rack; grasp at 54, on the rack at 15720260902-135103
20260902-135315✅ successclean scene; grasp at 60, on the rack at 17220260902-135315
20260902-135355✅ successclean scene, bowl at the far left; grasp at 53, on the rack at 18620260902-135355
20260902-135440✅ successclean scene; grasp at 48, on the rack at 17120260902-135440
20260902-135507✅ successclean scene, bowl in front of the rack; grasp at 61, on the rack at 16220260902-135507
20260902-135539✅ successclean scene; grasp at 58, on the rack at 16120260902-135539
20260902-135620✅ successclean scene; grasp at 62, on the rack at 17620260902-135620

put the cup in the bowl

episodeoutcomenoteside · wrist · base
20260902-133817✅ successclean scene; grasp at 48, placed in the bowl and released at 17820260902-133817
20260902-133848✅ successclean scene; grasp at 70, placed at 22720260902-133848
20260902-133926✅ successclean scene, cup behind the bowl; grasp at 72, placed at 19420260902-133926
20260902-133955✅ successclean scene; grasp at 61, placed at 18320260902-133955
20260902-134040✅ successclean scene; grasp at 54, placed at 16320260902-134040
20260902-134109✅ successclean scene; grasp at 52, placed at 15820260902-134109
20260902-134309✅ successclean scene; first grasp at 37 held on the table and released at 306, re-grasp at 382, placed in the bowl at 44820260902-134309
20260902-134412✅ successclean scene; grasp at 86 held on the table for 15 s, then placed in the bowl at 52620260902-134412
20260902-134530✅ successclean scene, gripper already at the cup when the episode opened; grasp at 69, placed at 20220260902-134530
20260902-134608✅ successclean scene, cup behind the bowl; grasp at 78, placed at 20620260902-134608

put the mug on the coaster

episodeoutcomenoteside · wrist · base
20260902-140140✅ successclean scene; grasp at 69, mug set on the coaster at 19620260902-140140
20260902-140237✅ successclean scene; grasp at 68, on the coaster at 20420260902-140237
20260902-140627✅ successclean scene, mug at the right; grasp at 72, on the coaster at 20220260902-140627
20260902-140702✅ successclean scene, mug at the left; grasp at 62, on the coaster at 20220260902-140702
20260902-140733✅ successclean scene; grasp at 71, on the coaster at 21220260902-140733
20260902-140808✅ successclean scene, mug beside the coaster; grasp at 56, on the coaster at 16820260902-140808
20260902-140836✅ successclean scene; grasp at 62, on the coaster at 20320260902-140836
20260902-140947✅ successclean scene, mug at the far right; grasp at 79, on the coaster at 23120260902-140947
20260902-141017✅ successclean scene; grasp at 57, on the coaster at 21520260902-141017
20260902-141051✅ successclean scene, mug at the left; grasp at 43, on the coaster at 18320260902-141051

stack the two cubes

episodeoutcomenoteside · wrist · base
20260902-142326✅ successclean scene; grasp at 70, cube stacked and released at 20420260902-142326
20260902-142407✅ successclean scene; grasp at 43, stacked at 18720260902-142407
20260902-142439✅ successclean scene, cubes far apart; grasp at 98, stacked at 23020260902-142439
20260902-142546✅ successclean scene; grasp at 69, stacked at 20320260902-142546
20260902-142624✅ successclean scene, cubes close together; grasp at 52, stacked at 16820260902-142624
20260902-142704✅ successclean scene; grasp at 92, stacked at 20720260902-142704
20260902-142738❌ failureclean scene; gripper closes on the near cube at 54 and holds it on the table for the rest of the episode without lifting20260902-142738
20260902-142908✅ successclean scene, cubes in line; grasp at 48, stacked at 18720260902-142908
20260902-142945✅ successclean scene, cubes touching; grasp at 91, stacked at 20620260902-142945
20260902-143020✅ successclean scene, cubes touching; grasp at 84, stacked at 20120260902-143020
mahgoobi/ur5e_pi05_eval · CoolFace