bijou eval report

generated: 2026-08-05T18:24:29+00:00
data: /home/ubuntu/datasets/mcobzarenco/community_curated_v0
selection: 878 datasets, 4301 episodes, 2082640 frames (103 dropped)
samples: 25800 frames, seed 0
episodes: holdout (holdout fraction 0.1, split seed 0)
checkpoint: /home/ubuntu/checkpoints/bijou-checkpoints/bijou_arb_rcond_100k_ddp4/step_100000
smolvla: -
sampler: heun-10
fps filter: [30.0]
camera-count filter: [1, 2]
generate: (fast path)
sample plan: plans/holdout_curated_v0_k4l2_sealed.json (plan seed 1, 17204 core + 8596 labeled frames; headline metrics = core panel only)

Chunk metrics (raw action units, pad-masked)

Paired comparisons

Q2: chunk MAE by TRUE outcome label

Conditioning & aux diagnostics

Per-motor chunk MAE

Sample predictions (32 of 25800 scored frames)

00ri/so100_battery — episode 4, frame 236 (global index 236)

task: Grasp a battery and put it in the bin.
state: [-4.4, 109.2, 97.9, 69.9, -36.5, 3.2]
chunk MAE — state-copy: 10.70 | state-copy-norm: 10.28 | bijou@100000: 4.96 | bijou@100000+fields: 4.66

generated:
subgoal: lift and carry the battery over the bin
holding: yes
progress: 60%
event: none
visible: object 1; gripper 0,1

labels:
subgoal: lift the battery and carry it toward the bin
holding: yes
progress: 60%
event: none
visible: object 1; gripper 0,1

Beegbrain/draw_pixel_art — episode 41, frame 132 (global index 63961)

task: Grab the cube and place it into the grid
state: [-28.2, 20.7, -15.1, -6.1, 30.5, 28.4]
chunk MAE — state-copy: 2.20 | state-copy-norm: 3.00 | bijou@100000: 2.03 | bijou@100000+fields: 2.25

generated:
subgoal: move the gripper toward the loose blue brick
holding: no
progress: 20%
event: none
visible: object 0; gripper 0

labels:
subgoal: align over the blue brick and close the gripper on it

Chojins/chess_game_001_red_stereo — episode 238, frame 246 (global index 118857)

task: Move the red chess pieces to the highlighted squares
state: [-0.5, 151.6, 108.5, 92.9, -89.2, 3.7]
chunk MAE — state-copy: 10.39 | state-copy-norm: 10.38 | bijou@100000: 0.70 | bijou@100000+fields: 0.70

generated:
subgoal: retract the arm back to the home pose
holding: no
progress: 90%
event: none
visible: object 0; gripper 0

labels:
subgoal: release the piece on the target square
holding: no
progress: 90%
event: none
visible: object 0,1; gripper 0,1

Cornito/so101_chess17 — episode 122, frame 261 (global index 186609)

task: Play chess
state: [41.4, 87.2, 100.8, 86.3, 69.2, 13.7]
chunk MAE — state-copy: 4.34 | state-copy-norm: 4.04 | bijou@100000: 6.27 | bijou@100000+fields: 4.47

generated:
subgoal: hover the open gripper around the target chess piece
holding: no
progress: 20%
event: none
visible: object 0; gripper 0

labels:
subgoal: scan across the board toward the capture tray

EverNorif/so101-table-cleanup — episode 72, frame 236 (global index 257493)

task: Grab pens and place into pen holder.
state: [-16.8, -24.4, 59.4, 57.1, -52.8, 22.3]
chunk MAE — state-copy: 9.58 | state-copy-norm: 9.36 | bijou@100000: 6.25 | bijou@100000+fields: 6.11

generated:
subgoal: pick up the first pen and drop it into the holder
holding: no
progress: 10%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: pick up the first black pen and drop it into the holder

HITHY/so100_peach4 — episode 231, frame 175 (global index 312590)

task: Grasp a peach and put it on the plate.
state: [-9.1, 191.7, 173.0, 74.6, 11.2, 0.5]
chunk MAE — state-copy: 0.66 | state-copy-norm: 0.70 | bijou@100000: 0.77 | bijou@100000+fields: 0.77

generated:
subgoal: retract the arm to the home pose
holding: no
progress: 100%
event: none
visible: object 0; gripper 0

labels:
subgoal: retract the arm to the start pose

Jeevesh2009/so101_gray_block_pickup_test — episode 0, frame 0 (global index 373501)

task: Pick the gray block and keep it in the box.
state: [3.5, 187.6, 179.4, 45.4, -9.8, 1.2]
chunk MAE — state-copy: 4.94 | state-copy-norm: 4.62 | bijou@100000: 15.91 | bijou@100000+fields: 17.62

generated:
subgoal: reach down toward the gray block
holding: no
progress: 5%
event: none
visible: object 0; gripper 0

labels:
subgoal: reach down toward the gray block
holding: no
progress: 0%
event: none
visible: object 0,1; gripper 0,1

LeRobot-worldwide-hackathon/241-Sushi_Shinkansen_So101-pick_sushi — episode 120, frame 196 (global index 450358)

task: Pick up the sushi from the Shinkansen and put it on the blue dish
state: [19.8, -0.0, 13.4, 69.7, 11.3, 16.9]
chunk MAE — state-copy: 12.38 | state-copy-norm: 12.09 | bijou@100000: 5.91 | bijou@100000+fields: 5.48

generated:
subgoal: close the gripper on the sushi and lift it off the plate
holding: yes
progress: 50%
event: none
visible: object 0; gripper 0

labels:
subgoal: lift the sushi and carry it over the blue dish

Mohamedal/put_peach_bowl_dis_test2 — episode 21, frame 267 (global index 513955)

task: put the peach in the red bowl .
state: [-3.3, 182.8, 173.8, 56.8, 1.2, 0.5]
chunk MAE — state-copy: 1.13 | state-copy-norm: 2.34 | bijou@100000: 0.23 | bijou@100000+fields: 0.23

generated:
subgoal: retract the arm to rest
holding: no
progress: 100%
event: none
visible: object 0; gripper 0

labels:
subgoal: retract the arm to rest

RasmusP/so100_dataset50ep_a — episode 0, frame 49 (global index 576479)

task: Grasp a square block and put it in the box.
state: [-11.7, 180.9, 179.3, 45.4, 15.8, 4.8]
chunk MAE — state-copy: 4.28 | state-copy-norm: 4.59 | bijou@100000: 10.27 | bijou@100000+fields: 8.36

generated:
subgoal: reach down toward the orange block
holding: no
progress: 0%
event: none
visible: object 1; gripper 0,1

labels:
subgoal: reach down toward the orange block
holding: no
progress: 3%
event: none
visible: object 0,1; gripper 0,1

Yanis7777/so100_duck — episode 16, frame 207 (global index 652461)

task: Grasp a duck and put it on the black surface.
state: [-37.1, 104.4, 111.1, 66.4, 4.3, 4.3]
chunk MAE — state-copy: 13.68 | state-copy-norm: 13.78 | bijou@100000: 10.46 | bijou@100000+fields: 10.59

generated:
subgoal: carry the duck over the black surface
holding: yes
progress: 60%
event: none
visible: object 1; gripper 0,1

labels:
subgoal: lift and carry the duck over the black surface
holding: yes
progress: 65%
event: none
visible: object 1; gripper 0,1

akira-sasaki/akabeko_instruct_v2 — episode 263, frame 0 (global index 708794)

task: Pick up the red cube and place it in the box.
state: [1.6, 192.5, 178.2, 56.3, -0.4, 1.1]
chunk MAE — state-copy: 1.24 | state-copy-norm: 0.77 | bijou@100000: 18.28 | bijou@100000+fields: 14.74

generated:
subgoal: reach down toward the red cube
holding: no
progress: 0%
event: none
visible: none

labels:
subgoal: stay at rest before approaching the cube
holding: no
progress: 0%
event: none
visible: object 0,1; gripper 0,1

bensprenger/chess_game_001_blue_stereo — episode 175, frame 178 (global index 771008)

task: Move the blue chess pieces to the highlighted squares.
state: [-7.6, 102.4, 142.3, 44.2, -162.7, 2.7]
chunk MAE — state-copy: 4.94 | state-copy-norm: 6.54 | bijou@100000: 2.25 | bijou@100000+fields: 2.26

generated:
subgoal: carry the piece to the target square
holding: no
progress: 60%
event: none
visible: object 0; gripper 0

labels:
subgoal: carry the piece to the highlighted square

chirag1701/record-test_green — episode 6, frame 475 (global index 831848)

task: pick the green lego brick and place it into the transparent box
state: [8.0, -99.2, 94.6, 68.8, 0.3, 1.7]
chunk MAE — state-copy: 0.45 | state-copy-norm: 0.46 | bijou@100000: 0.99 | bijou@100000+fields: 0.43

generated:
subgoal: withdraw the arm to rest position
holding: no
progress: 100%
event: none
visible: object 0; gripper 0

labels:
subgoal: retract the arm back to the home pose

dongseon/so100_062801 — episode 13, frame 46 (global index 905747)

task: Grasp a Black stone and put it in the board on position (0,0).
state: [-16.1, -89.8, 99.3, 71.7, -42.2, 7.0]
chunk MAE — state-copy: 3.07 | state-copy-norm: 2.96 | bijou@100000: 2.80 | bijou@100000+fields: 2.80

generated:
subgoal: reach toward the black stones on the table
holding: no
progress: 0%
event: none
visible: object 0; gripper 0,1

labels:
subgoal: stay at home and start moving toward the stones
holding: no
progress: 2%
event: none
visible: object 0; gripper 1

dopaul/1500_chess_moves — episode 1329, frame 334 (global index 956664)

task: Move the chess piece from red to blue
state: [0.2, -6.0, 25.5, 35.3, -7.3, 18.3]
chunk MAE — state-copy: 33.39 | state-copy-norm: 33.47 | bijou@100000: 3.82 | bijou@100000+fields: 5.81

generated:
subgoal: retract the arm clear of the board
holding: no
progress: 95%
event: none
visible: object 0; gripper 0

labels:
subgoal: retract the arm clear of the board

ethanCSL/demo_test — episode 12, frame 20 (global index 1024979)

task: Open the drawer pick up the cube and put it in the drawer.
state: [86.0, 129.6, 112.0, 96.0, 87.5, 32.5]
chunk MAE — state-copy: 45.61 | state-copy-norm: 46.59 | bijou@100000: 6.30 | bijou@100000+fields: 7.31

generated:
subgoal: reach toward the drawer handle
holding: no
progress: 5%
event: none
visible: object 0; gripper 0

labels:
subgoal: reach toward the drawer handle

hkphoooey/throw_stuffie — episode 104, frame 72 (global index 1087225)

task: Grab stuffed animal and throw it on the dot.
state: [0.8, 192.5, 177.9, 65.1, -54.8, 0.5]
chunk MAE — state-copy: 47.31 | state-copy-norm: 47.56 | bijou@100000: 46.02 | bijou@100000+fields: 46.36

generated:
subgoal: retract arm after the throw
holding: no
progress: 85%
event: none
visible: none

labels:
subgoal: lower the gripper toward the stuffed animal

jlesein/TestBoulon7 — episode 178, frame 106 (global index 1141449)

task: Pick up the bolt and put it on the plate.
state: [16.8, 131.0, 108.1, 67.8, -19.7, 0.8]
chunk MAE — state-copy: 18.00 | state-copy-norm: 17.95 | bijou@100000: 3.56 | bijou@100000+fields: 3.36

generated:
subgoal: carry the bolt over the gold dish
holding: no
progress: 80%
event: none
visible: object 1; gripper 0,1

labels:
subgoal: move the bolt over the dish and set it down
holding: yes
progress: 85%
event: bolt occluded by arm in camera A
visible: object 1; gripper 0,1

kantine/industrial_robothon_hatchAndProbe_anomaly — episode 13, frame 355 (global index 1238124)

task: 3 anomalies : forget to close the hatch, measure tension in the wrong hole, put the probe on the red hole instead of the black
state: [-2.5, 123.0, 101.2, 79.0, 74.5, 0.9]
chunk MAE — state-copy: 5.30 | state-copy-norm: 5.30 | bijou@100000: 1.41 | bijou@100000+fields: 2.14

generated:
subgoal: reach into the compartment and pick up the multimeter probe
holding: no
progress: 30%
event: none
visible: object 0; gripper 0

labels:
subgoal: reach into the open hatch and free the probe

lirislab/green_lego_block_into_mug — episode 3, frame 179 (global index 1309139)

task: pick the green block and place it in the red cup
state: [15.6, 96.9, 71.6, 79.7, 3.7, 16.7]
chunk MAE — state-copy: 7.88 | state-copy-norm: 7.24 | bijou@100000: 3.17 | bijou@100000+fields: 2.47

generated:
subgoal: lift the block and move it over the red mug
holding: no
progress: 60%
event: none
visible: object 0; gripper 0

labels:
subgoal: lift the block and move it over the red mug

lizi178119985/so100_jia — episode 12, frame 256 (global index 1359404)

task: Grasp a lego block and put it in the bin.
state: [15.0, 49.1, 30.4, 82.3, -16.2, 4.6]
chunk MAE — state-copy: 4.26 | state-copy-norm: 4.30 | bijou@100000: 2.17 | bijou@100000+fields: 2.56

generated:
subgoal: close the gripper on the object
holding: no
progress: 50%
event: none
visible: object 0; gripper 0

labels:
subgoal: lift and carry the object toward the bin
holding: yes
progress: 55%
event: arm passes very close to camera B, view largely blocked
visible: object 1; gripper 0,1

nduque/robustness_e6_2 — episode 74, frame 328 (global index 1427944)

task: Grasp a green dice and put it in the bin.
state: [-5.4, 124.1, 151.3, 30.5, 2.8, 31.6]
chunk MAE — state-copy: 11.57 | state-copy-norm: 11.47 | bijou@100000: 6.97 | bijou@100000+fields: 5.77

generated:
subgoal: close the gripper on the dice
holding: no
progress: 45%
event: none
visible: object 0; gripper 0

labels:
subgoal: close the gripper on the dice

pengjunkun/so100_push_to_hole — episode 8, frame 296 (global index 1507855)

task: Push the T into the hole.
state: [11.3, 37.9, 54.0, 30.9, -89.5, 0.2]
chunk MAE — state-copy: 19.09 | state-copy-norm: 19.27 | bijou@100000: 3.89 | bijou@100000+fields: 3.74

generated:
subgoal: push the T over the edge into the hole
holding: no
progress: 85%
event: none
visible: none

labels:
subgoal: drive the T into the hole

psg777/combinedtape — episode 93, frame 194 (global index 1577652)

task: Pick the black tape roll and drop it in the blue box
state: [-22.1, 23.1, -15.5, 70.3, 74.8, 1.9]
chunk MAE — state-copy: 2.85 | state-copy-norm: 2.80 | bijou@100000: 3.03 | bijou@100000+fields: 2.29

generated:
subgoal: close the gripper on the tape roll
holding: no
progress: 30%
event: none
visible: object 0; gripper 0

labels:
subgoal: reach down toward the black tape roll
holding: no
progress: 22%
event: none
visible: object 1; gripper 0,1

roboticshack/team16-water-pouring — episode 27, frame 199 (global index 1645898)

task: Pouring water from one cup to another cup
state: [-23.2, 133.8, 98.8, 11.2, -30.0, 6.8]
chunk MAE — state-copy: 13.69 | state-copy-norm: 13.32 | bijou@100000: 29.61 | bijou@100000+fields: 29.08

generated:
subgoal: tilt the cup and pour the water into the tall cup
holding: yes
progress: 60%
event: none
visible: object 0; gripper 0

labels:
subgoal: tilt the cup over the tall cup and pour
holding: yes
progress: 55%
event: cup tilted over the tall cup, pouring
visible: object 0,1; gripper 0

samanthalhy/so100_herding_3 — episode 251, frame 203 (global index 1691115)

task: push granules from left to the grey container
state: [-18.8, 40.7, 32.3, 96.9, 16.6, 8.4]
chunk MAE — state-copy: 2.71 | state-copy-norm: 2.15 | bijou@100000: 0.92 | bijou@100000+fields: 0.65

generated:
subgoal: sweep the pusher along the board toward the tray gap
holding: no
progress: 15%
event: none
visible: object 0; gripper 0

labels:
subgoal: sweep the tool back toward the centre gap

sattgle/clean-test — episode 34, frame 201 (global index 1752882)

task: Pick up the grey slippers and put them on the top shelf.
state: [-14.7, -11.8, -11.5, 19.7, 99.6, 2.4]
chunk MAE — state-copy: 15.88 | state-copy-norm: 15.43 | bijou@100000: 3.96 | bijou@100000+fields: 3.85

generated:
subgoal: lift the first slipper onto the top shelf and release
holding: yes
progress: 40%
event: none
visible: object 0; gripper 0

labels:
subgoal: lift it onto the top shelf and release

shuohsuan/grasp_data_030_039 — episode 3, frame 279 (global index 1822070)

task: grasp the red cube
state: [-63.5, -25.6, 45.1, 40.6, 54.6, 33.8]
chunk MAE — state-copy: 3.00 | state-copy-norm: 3.51 | bijou@100000: 1.59 | bijou@100000+fields: 1.65

generated:
subgoal: reach across the mat toward the red cube
holding: no
progress: 40%
event: none
visible: object 0; gripper 0

labels:
subgoal: swing right and align the gripper over the red cube

sihyun77/suho_red — episode 18, frame 242 (global index 1903303)

task: Grasp a lego block and put it in the bin.
state: [44.2, 139.8, 79.4, -40.0, -96.5, 31.7]
chunk MAE — state-copy: 4.03 | state-copy-norm: 4.17 | bijou@100000: 2.38 | bijou@100000+fields: 2.41

generated:
subgoal: lower the gripper onto the red lego block
holding: no
progress: 35%
event: none
visible: object 0; gripper 0,1

labels:
subgoal: align the gripper over the red lego block
holding: no
progress: 30%
event: none
visible: object 0,1; gripper 0,1

slowturtle99/so100_pick_place — episode 84, frame 166 (global index 1955767)

task: Pick a white block and place it in the black box.
state: [-6.2, 77.4, 93.3, 61.9, -76.4, 20.3]
chunk MAE — state-copy: 14.11 | state-copy-norm: 13.93 | bijou@100000: 3.29 | bijou@100000+fields: 4.07

generated:
subgoal: close the gripper on the block
holding: no
progress: 35%
event: none
visible: object 0; gripper 0

labels:
subgoal: grasp the white block

weiye11/so100_410_zwy — episode 99, frame 163 (global index 2023658)

task: Pick up the cube and place it on the black circle.
state: [2.4, 90.6, 97.5, 74.6, -26.6, 12.6]
chunk MAE — state-copy: 3.91 | state-copy-norm: 4.18 | bijou@100000: 2.33 | bijou@100000+fields: 2.36

generated:
subgoal: lift and carry the cube toward the center
holding: yes
progress: 70%
event: none
visible: object 0; gripper 0,1

labels:
subgoal: lift and carry the cube