bijou eval report

generated: 2026-08-09T00:49:28+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: outputs/train/fontaine_molmo2_ar_60k_ddp4/step_060000
smolvla: -
sampler: heun-10
target time: t (standard)
noise key: stable
state: intact
fps filter: [30.0]
camera-count filter: [1, 2]
generate: (fast path)
subgoal mode: none (planner-less)
sample plan: plans/holdout_curated_v0_k4l2.json (plan seed 0, 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 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@60000: 4.99 | bijou@60000+fields: 0.45

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

labels:
subgoal: hold still and align above the battery

Beegbrain/draw_pixel_art — episode 41, frame 240 (global index 64069)

task: Grab the cube and place it into the grid
state: [-8.2, -25.2, 19.6, -0.2, 41.6, 8.6]
chunk MAE — state-copy: 6.84 | state-copy-norm: 6.96 | bijou@60000: 2.58 | bijou@60000+fields: 3.12

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

labels:
subgoal: lift the brick and carry it over the mosaic grid

Chojins/chess_game_001_red_stereo — episode 238, frame 234 (global index 118845)

task: Move the red chess pieces to the highlighted squares
state: [-5.0, 118.1, 98.7, 85.8, -76.9, 8.3]
chunk MAE — state-copy: 17.45 | state-copy-norm: 17.62 | bijou@60000: 2.16 | bijou@60000+fields: 2.24

generated:
subgoal: retract the arm back to the home pose
holding: no
progress: 90%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: release the piece on the target square

Cornito/so101_chess17 — episode 122, frame 55 (global index 186403)

task: Play chess
state: [-0.7, 192.3, 179.8, -103.4, 83.4, 15.5]
chunk MAE — state-copy: 0.70 | state-copy-norm: 0.56 | bijou@60000: 0.68 | bijou@60000+fields: 0.75

generated:
subgoal: retract the arm back to the home pose
holding: no
progress: 5%
event: arm retreats with no piece moved
visible: object 0; gripper 1

labels:
subgoal: stay at home pose above the table

EverNorif/so101-table-cleanup — episode 72, frame 531 (global index 257788)

task: Grab pens and place into pen holder.
state: [-5.4, 2.5, 27.5, -30.2, -53.9, 6.1]
chunk MAE — state-copy: 9.83 | state-copy-norm: 9.84 | bijou@60000: 4.77 | bijou@60000+fields: 5.50

generated:
subgoal: pick up the second pen and insert it into the holder
holding: yes
progress: 40%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: pick up the second black pen and insert it into the holder

HITHY/so100_peach4 — episode 231, frame 176 (global index 312591)

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: 0.71 | bijou@60000: 0.79 | bijou@60000+fields: 1.39

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 24 (global index 373525)

task: Pick the gray block and keep it in the box.
state: [4.3, 187.6, 179.4, 45.4, -10.1, 1.2]
chunk MAE — state-copy: 19.56 | state-copy-norm: 20.20 | bijou@60000: 18.91 | bijou@60000+fields: 18.95

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

labels:
subgoal: reach down toward the gray block

LeRobot-worldwide-hackathon/241-Sushi_Shinkansen_So101-pick_sushi — episode 120, frame 118 (global index 450280)

task: Pick up the sushi from the Shinkansen and put it on the blue dish
state: [21.9, -0.5, -8.7, 93.9, 9.7, 30.6]
chunk MAE — state-copy: 4.59 | state-copy-norm: 4.70 | bijou@60000: 6.48 | bijou@60000+fields: 5.89

generated:
subgoal: reach toward the salmon sushi on the train
holding: no
progress: 20%
event: none
visible: object 0; gripper 0,1

labels:
subgoal: grasp the salmon nigiri

Mohamedal/put_peach_bowl_dis_test2 — episode 21, frame 200 (global index 513888)

task: put the peach in the red bowl .
state: [29.9, 44.1, 19.4, 102.1, 8.2, 44.4]
chunk MAE — state-copy: 32.88 | state-copy-norm: 31.86 | bijou@60000: 9.57 | bijou@60000+fields: 17.15

generated:
subgoal: lift and carry the peach over the red bowl
holding: yes
progress: 80%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: release the peach into the bowl

RasmusP/so100_dataset50ep_a — episode 0, frame 80 (global index 576510)

task: Grasp a square block and put it in the box.
state: [-11.7, 180.8, 163.3, 45.6, 15.8, 4.8]
chunk MAE — state-copy: 17.11 | state-copy-norm: 17.33 | bijou@60000: 8.64 | bijou@60000+fields: 7.25

generated:
subgoal: reach down toward the orange block
holding: no
progress: 5%
event: none
visible: object 1; gripper 0,1

labels:
subgoal: reach down toward the orange block

Yanis7777/so100_duck — episode 16, frame 255 (global index 652509)

task: Grasp a duck and put it on the black surface.
state: [-15.5, 67.7, 78.9, 59.7, 4.7, 21.6]
chunk MAE — state-copy: 29.55 | state-copy-norm: 29.37 | bijou@60000: 5.45 | bijou@60000+fields: 3.50

generated:
subgoal: release the duck onto the black surface
holding: no
progress: 90%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: release the duck on the black surface

akira-sasaki/akabeko_instruct_v2 — episode 263, frame 61 (global index 708855)

task: Pick up the red cube and place it in the box.
state: [1.6, 187.6, 156.7, 52.4, -0.8, 1.0]
chunk MAE — state-copy: 26.54 | state-copy-norm: 27.27 | bijou@60000: 7.84 | bijou@60000+fields: 10.40

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

labels:
subgoal: reach down toward the red cube

bensprenger/chess_game_001_blue_stereo — episode 175, frame 39 (global index 770869)

task: Move the blue chess pieces to the highlighted squares.
state: [-0.6, 177.5, 130.3, 88.2, -97.3, 0.2]
chunk MAE — state-copy: 20.14 | state-copy-norm: 20.01 | bijou@60000: 2.45 | bijou@60000+fields: 2.40

generated:
subgoal: lower the arm toward the chessboard
holding: no
progress: 10%
event: none
visible: object 0,1; gripper 0

labels:
subgoal: reach out over the chessboard

chirag1701/record-test_green — episode 6, frame 345 (global index 831718)

task: pick the green lego brick and place it into the transparent box
state: [-54.8, 4.6, -9.5, 57.8, 0.2, 30.8]
chunk MAE — state-copy: 10.35 | state-copy-norm: 9.74 | bijou@60000: 3.30 | bijou@60000+fields: 3.81

generated:
subgoal: release the brick inside the box
holding: no
progress: 90%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: lower the brick into the box and release it

dongseon/so100_062801 — episode 13, frame 186 (global index 905887)

task: Grasp a Black stone and put it in the board on position (0,0).
state: [-34.4, 34.4, -15.1, 75.6, -72.2, 6.5]
chunk MAE — state-copy: 3.01 | state-copy-norm: 3.29 | bijou@60000: 4.05 | bijou@60000+fields: 4.36

generated:
subgoal: align the open gripper over a black stone
holding: no
progress: 25%
event: none
visible: object 1; gripper 0,1

labels:
subgoal: reach down to the black stone at the right of the board
holding: no
progress: 25%
event: none
visible: object 1; gripper 0,1

dopaul/1500_chess_moves — episode 1329, frame 305 (global index 956635)

task: Move the chess piece from red to blue
state: [-0.1, 15.8, 8.3, 27.2, -5.1, 5.8]
chunk MAE — state-copy: 14.85 | state-copy-norm: 15.16 | bijou@60000: 14.64 | bijou@60000+fields: 14.35

generated:
subgoal: lift and carry the piece to the blue-marked square
holding: yes
progress: 70%
event: none
visible: object 0; gripper 0

labels:
subgoal: retract the arm clear of the board

ethanCSL/demo_test — episode 12, frame 132 (global index 1025091)

task: Open the drawer pick up the cube and put it in the drawer.
state: [69.9, 83.4, 91.4, 57.0, 75.9, 30.7]
chunk MAE — state-copy: 14.64 | state-copy-norm: 14.64 | bijou@60000: 6.40 | bijou@60000+fields: 6.31

generated:
subgoal: move to the cube and grasp it
holding: no
progress: 50%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: descend and grasp the white cube

hkphoooey/throw_stuffie — episode 104, frame 164 (global index 1087317)

task: Grab stuffed animal and throw it on the dot.
state: [-4.7, 88.1, 69.0, 95.7, -72.1, 1.7]
chunk MAE — state-copy: 12.44 | state-copy-norm: 13.19 | bijou@60000: 18.40 | bijou@60000+fields: 21.72

generated:
subgoal: swing the arm and release the plush toward the dot
holding: yes
progress: 60%
event: fast swing causes motion blur
visible: objects 0; gripper 0

labels:
subgoal: grasp the stuffed animal and swing it forward

jlesein/TestBoulon7 — episode 178, frame 120 (global index 1141463)

task: Pick up the bolt and put it on the plate.
state: [12.1, 173.3, 143.6, 72.6, -17.1, 0.3]
chunk MAE — state-copy: 8.26 | state-copy-norm: 8.32 | bijou@60000: 2.63 | bijou@60000+fields: 2.71

generated:
subgoal: release the bolt and retract the arm
holding: no
progress: 95%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: release the bolt and retract the arm

kantine/industrial_robothon_hatchAndProbe_anomaly — episode 13, frame 117 (global index 1237886)

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: [-11.1, 144.1, 119.0, 62.8, 51.2, 0.7]
chunk MAE — state-copy: 7.83 | state-copy-norm: 8.12 | bijou@60000: 5.93 | bijou@60000+fields: 5.62

generated:
subgoal: approach the task board hatch
holding: no
progress: 5%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: reach the hatch handle and lift the hatch open

lirislab/green_lego_block_into_mug — episode 3, frame 197 (global index 1309157)

task: pick the green block and place it in the red cup
state: [18.5, 84.7, 66.6, 76.4, 3.6, 16.7]
chunk MAE — state-copy: 5.85 | state-copy-norm: 6.01 | bijou@60000: 3.47 | bijou@60000+fields: 3.58

generated:
subgoal: lift and carry the block over the red mug
holding: yes
progress: 70%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: lift the block and move it over the red mug
holding: yes
progress: 65%
event: none
visible: object 0,1; gripper 0,1

lizi178119985/so100_jia — episode 12, frame 329 (global index 1359477)

task: Grasp a lego block and put it in the bin.
state: [-2.5, 50.2, 29.7, 91.0, -15.1, 30.7]
chunk MAE — state-copy: 6.26 | state-copy-norm: 6.57 | bijou@60000: 1.61 | bijou@60000+fields: 1.29

generated:
subgoal: carry the object toward the bin and release it
holding: no
progress: 50%
event: none
visible: object none; gripper 0,1

labels:
subgoal: lift and carry the object toward the bin

nduque/robustness_e6_2 — episode 74, frame 349 (global index 1427965)

task: Grasp a green dice and put it in the bin.
state: [-2.0, 124.2, 151.3, 28.3, 2.8, 22.1]
chunk MAE — state-copy: 19.89 | state-copy-norm: 19.15 | bijou@60000: 4.34 | bijou@60000+fields: 6.35

generated:
subgoal: lift and carry the dice over the wooden bin
holding: yes
progress: 55%
event: none
visible: object 0; gripper 0,1

labels:
subgoal: close the gripper on the dice
holding: yes
progress: 55%
event: none
visible: object 0; gripper 0,1

pengjunkun/so100_push_to_hole — episode 8, frame 348 (global index 1507907)

task: Push the T into the hole.
state: [-2.1, -8.3, 18.5, -37.1, -92.2, 0.2]
chunk MAE — state-copy: 0.52 | state-copy-norm: 0.45 | bijou@60000: 0.45 | bijou@60000+fields: 0.45

generated:
subgoal: retract the arm and hold still
holding: no
progress: 100%
event: none
visible: object none; gripper 0

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

psg777/combinedtape — episode 93, frame 34 (global index 1577492)

task: Pick the black tape roll and drop it in the blue box
state: [0.3, -95.8, 99.0, 19.8, 91.6, 1.8]
chunk MAE — state-copy: 2.76 | state-copy-norm: 2.33 | bijou@60000: 1.62 | bijou@60000+fields: 1.53

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

labels:
subgoal: reach down toward the black tape roll

roboticshack/team16-water-pouring — episode 27, frame 349 (global index 1646048)

task: Pouring water from one cup to another cup
state: [-1.9, 126.7, 141.2, -10.7, -41.6, 8.4]
chunk MAE — state-copy: 29.52 | state-copy-norm: 29.32 | bijou@60000: 11.60 | bijou@60000+fields: 11.28

generated:
subgoal: return the small cup to the table and release
holding: no
progress: 95%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: return the small cup and set it upright on the table
holding: yes
progress: 85%
event: none
visible: object 0,1; gripper 0,1

samanthalhy/so100_herding_3 — episode 251, frame 445 (global index 1691357)

task: push granules from left to the grey container
state: [0.4, 102.9, 102.0, 93.0, -84.9, 8.4]
chunk MAE — state-copy: 2.03 | state-copy-norm: 0.77 | bijou@60000: 0.63 | bijou@60000+fields: 0.35

generated:
subgoal: lift the tool and retreat to the home pose
holding: no
progress: 10%
event: none
visible: object 0,1; gripper 0

labels:
subgoal: lift the tool and return to the home pose

sattgle/clean-test — episode 34, frame 49 (global index 1752730)

task: Pick up the grey slippers and put them on the top shelf.
state: [-1.3, -93.9, 99.4, -97.3, 99.6, 1.5]
chunk MAE — state-copy: 21.55 | state-copy-norm: 21.70 | bijou@60000: 4.56 | bijou@60000+fields: 5.95

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

labels:
subgoal: reach toward the first slipper on the table
holding: no
progress: 0%
event: none
visible: object 0,1; gripper 0,1

shuohsuan/grasp_data_030_039 — episode 3, frame 234 (global index 1822025)

task: grasp the red cube
state: [-59.8, -43.0, 43.0, 54.6, 58.8, 31.6]
chunk MAE — state-copy: 5.19 | state-copy-norm: 5.43 | bijou@60000: 1.50 | bijou@60000+fields: 1.59

generated:
subgoal: move the arm toward the red cube at the right edge
holding: no
progress: 20%
event: none
visible: object 0,1; gripper 0,1

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

sihyun77/suho_red — episode 18, frame 454 (global index 1903515)

task: Grasp a lego block and put it in the bin.
state: [-33.5, 87.2, 95.4, 84.4, -46.9, 5.3]
chunk MAE — state-copy: 5.50 | state-copy-norm: 5.48 | bijou@60000: 11.06 | bijou@60000+fields: 7.93

generated:
subgoal: lift and carry the block over the bin
holding: yes
progress: 85%
event: none
visible: object 0; gripper 0,1

labels:
subgoal: carry the block over the bin and release it

slowturtle99/so100_pick_place — episode 84, frame 24 (global index 1955625)

task: Pick a white block and place it in the black box.
state: [-0.1, 190.6, 177.2, 76.9, -93.2, 0.6]
chunk MAE — state-copy: 3.48 | state-copy-norm: 3.91 | bijou@60000: 3.69 | bijou@60000+fields: 3.61

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

labels:
subgoal: reach down toward the white block

weiye11/so100_410_zwy — episode 99, frame 96 (global index 2023591)

task: Pick up the cube and place it on the black circle.
state: [0.4, 33.2, 17.3, 88.8, -18.5, 34.1]
chunk MAE — state-copy: 9.68 | state-copy-norm: 9.58 | bijou@60000: 7.04 | bijou@60000+fields: 6.06

generated:
subgoal: close the gripper on the cube
holding: yes
progress: 45%
event: none
visible: object 0,1; gripper 0,1

labels:
subgoal: close the gripper on the cube