bijou eval report

generated: 2026-08-06T19:01:44+00:00
data: /home/ubuntu/datasets/mcobzarenco/community_curated_v0
selection: 878 datasets, 4301 episodes, 2082640 frames (103 dropped)
samples: 4301 frames, seed 0
episodes: holdout (holdout fraction 0.1, split seed 0)
checkpoint: outputs/train/fontaine_arb_rcond_statedrop80_40k_1xh100/step_040000
smolvla: -
sampler: heun-10
target time: t (standard)
noise key: index
state: MASKED to dataset mean (state-reliance probe)
fps filter: [30.0]
camera-count filter: [1, 2]
generate: (fast path)
sample plan: plans/holdout_curated_v0_k4l2_stateprobe_q4.json (plan seed 0, 4301 core + 0 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 (12 of 4301 scored frames)

00ri/so100_battery — episode 4, frame 5 (global index 5)

task: Grasp a battery and put it in the bin.
state: [-2.3, 189.2, 166.6, 77.2, -3.5, 0.4]
chunk MAE — state-copy: 0.28 | state-copy-norm: 0.35 | bijou@40000_state-masked: 0.66 | bijou@40000_state-masked+fields: 0.66

generated:
subgoal: reach down toward the battery on the table
holding: no
progress: 10%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: hold still and align above the battery

Chojins/chess_game_009_white — episode 308, frame 138 (global index 160570)

task: Move the blue chess pieces to the highlighted squares.
state: [10.6, 92.4, 147.7, 20.3, -131.1, 1.4]
chunk MAE — state-copy: 8.47 | state-copy-norm: 8.35 | bijou@40000_state-masked: 8.85 | bijou@40000_state-masked+fields: 8.25

generated:
subgoal: carry the piece to the target square
holding: yes
progress: 70%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: close the gripper on the blue piece

Hale-Sage/merge_data — episode 2, frame 120 (global index 328610)

task: Grab the cube
state: [2.6, -60.4, -14.4, -84.3, 5.5, 59.5]
chunk MAE — state-copy: 10.99 | state-copy-norm: 11.91 | bijou@40000_state-masked: 12.78 | bijou@40000_state-masked+fields: 9.57

generated:
subgoal: reach down toward the green cube
holding: no
progress: 10%
event: none
visible: object 0; gripper 0

labels:
subgoal: reach and grasp the green cube

Mohamedal/put_peach_bowl_dis_test2 — episode 21, frame 81 (global index 513769)

task: put the peach in the red bowl .
state: [2.2, 38.5, 38.1, 93.5, 15.6, 58.6]
chunk MAE — state-copy: 3.64 | state-copy-norm: 3.98 | bijou@40000_state-masked: 13.63 | bijou@40000_state-masked+fields: 13.91

generated:
subgoal: close the gripper on the peach
holding: no
progress: 40%
event: none
visible: object 0; gripper 0

labels:
subgoal: reach down toward the peach

akira-sasaki/akabeko_instruct_v1 — episode 67, frame 13 (global index 695009)

task: Pick up the cube and place it in the box.
state: [8.4, 188.4, 166.9, 61.2, -3.6, -0.3]
chunk MAE — state-copy: 19.16 | state-copy-norm: 19.75 | bijou@40000_state-masked: 8.09 | bijou@40000_state-masked+fields: 9.81

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

labels:
subgoal: reach down toward the red cube

danaaubakirova/so100_task_3 — episode 5, frame 76 (global index 855953)

task: Pick up the blue cube and place it in the box.
state: [-7.1, 121.6, 123.8, 74.4, 82.3, 0.2]
chunk MAE — state-copy: 13.78 | state-copy-norm: 14.29 | bijou@40000_state-masked: 7.15 | bijou@40000_state-masked+fields: 6.66

generated:
subgoal: reach down toward the blue cube
holding: no
progress: 15%
event: none
visible: object 0; gripper 0

labels:
subgoal: stay at home pose, then reach toward the blue cube

ethanCSL/box_test — episode 24, frame 6 (global index 1024374)

task: Open the drawer pick up the cube and put it in the drawer.
state: [-4.7, 131.8, 140.9, 89.6, 88.0, 31.6]
chunk MAE — state-copy: 31.14 | state-copy-norm: 31.01 | bijou@40000_state-masked: 10.18 | bijou@40000_state-masked+fields: 12.39

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

labels:
subgoal: reach toward the drawer handle

juni3227/so100_test_cap02_sideway — episode 53, frame 19 (global index 1190825)

task: Put bottle_cap into a cup
state: [-2.3, 192.0, 181.4, 74.7, -87.6, 0.5]
chunk MAE — state-copy: 31.31 | state-copy-norm: 32.18 | bijou@40000_state-masked: 32.03 | bijou@40000_state-masked+fields: 31.94

generated:
subgoal: reach toward the bottle cap on the right of the table
holding: no
progress: 0%
event: none
visible: object 0; gripper 0

labels:
subgoal: reach toward the white bottle cap on the right

lt-s/so100_train_move_two_blocks_tray_to_matching_dishes — episode 16, frame 20 (global index 1375954)

task: move two blocks tray to matching dishes
state: [5.7, 189.3, 173.1, 56.8, 3.3, -0.1]
chunk MAE — state-copy: 22.88 | state-copy-norm: 23.41 | bijou@40000_state-masked: 22.93 | bijou@40000_state-masked+fields: 22.67

generated:
subgoal: reach into the tray and grasp the blue cube
holding: no
progress: 0%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: reach into the tray and grasp the blue cube

psg777/combinedtape — episode 49, frame 259 (global index 1575985)

task: Pick the red roll and drop it in the blue box
state: [-19.0, 4.0, 24.8, 61.1, 86.5, 2.6]
chunk MAE — state-copy: 4.94 | state-copy-norm: 4.26 | bijou@40000_state-masked: 7.34 | bijou@40000_state-masked+fields: 10.02

generated:
subgoal: lift and carry the roll over the blue box
holding: yes
progress: 50%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: lift and carry the roll over the blue box

samsam0510/tooth_extraction_4 — episode 17, frame 32 (global index 1728453)

task: Extarct the molar and put it somewhere.
state: [2.4, 189.8, 170.9, 70.8, -1.1, 0.7]
chunk MAE — state-copy: 19.00 | state-copy-norm: 19.58 | bijou@40000_state-masked: 17.52 | bijou@40000_state-masked+fields: 11.02

generated:
subgoal: move the gripper down toward the dental model
holding: no
progress: 0%
event: none
visible: object 0; gripper 0

labels:
subgoal: lower the pliers toward the dental model

siqiLi/so100_test16 — episode 21, frame 74 (global index 1928887)

task: Pick up the spray and put it in a vertical position.
state: [-18.3, 106.4, 101.4, 76.7, -93.2, 84.5]
chunk MAE — state-copy: 16.09 | state-copy-norm: 16.75 | bijou@40000_state-masked: 18.96 | bijou@40000_state-masked+fields: 18.60

generated:
subgoal: reach toward the lying spray bottle
holding: no
progress: 15%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: reach toward the lying spray bottle