bijou eval report

generated: 2026-08-09T08:00:46+00:00
data: /home/ubuntu/datasets/mcobzarenco/community_curated_v0
selection: 878 datasets, 4301 episodes, 2082640 frames (103 dropped)
samples: 22578 frames, seed 0
episodes: holdout (holdout fraction 0.1, split seed 0)
checkpoint: outputs/train/fontaine_molmo2_flow_frozen_10k_ddp4/step_010000
smolvla: -
sampler: heun-30
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_panel_v2.json (plan seed 0, 15056 core + 7522 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 22578 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@10000: 0.96

Bartm3/tape_to_bin — episode 45, frame 219 (global index 57036)

task: Grasp a tape and put it in the bin.
state: [47.8, 83.2, 92.9, 44.2, 1.1, 0.4]
chunk MAE — state-copy: 5.86 | state-copy-norm: 5.75 | bijou@10000: 14.99

Chojins/chess_game_001_red_stereo — episode 238, frame 51 (global index 118662)

task: Move the red chess pieces to the highlighted squares
state: [-0.4, 180.8, 132.4, 86.1, -91.7, 10.0]
chunk MAE — state-copy: 12.38 | state-copy-norm: 12.35 | bijou@10000: 8.12

CnLori/so101_piper — episode 41, frame 829 (global index 174830)

task: Place the tape on the same color areas
state: [-7.9, 11.8, 8.3, 76.1, -11.7, 2.1]
chunk MAE — state-copy: 17.60 | state-copy-norm: 9.91 | bijou@10000: 11.81

FeiYjf/new_Dataset — episode 53, frame 0 (global index 276442)

task: Pick up the blue cube.
state: [14.9, 110.0, 93.8, 112.2, 101.7, 0.6]
chunk MAE — state-copy: 0.86 | state-copy-norm: 0.54 | bijou@10000: 3.09

HITHY/so100_peach4 — episode 362, frame 110 (global index 315101)

task: Grasp a peach and put it on the plate.
state: [-21.5, 69.8, 69.8, 34.0, 65.1, 6.2]
chunk MAE — state-copy: 20.12 | state-copy-norm: 20.50 | bijou@10000: 26.64

Jinheng0130/Catch — episode 12, frame 11 (global index 388909)

task: Grasp the cup and put it in the center of the table.
state: [-0.8, 86.3, 122.0, -42.8, -95.6, 11.7]
chunk MAE — state-copy: 8.80 | state-copy-norm: 8.98 | bijou@10000: 6.79

LeRobot-worldwide-hackathon/292-AlorsCent-cube_and_arc_put_into_respective_shaped_holes — episode 71, frame 226 (global index 468275)

task: pick up the square block and drop it in corresponding square shaped hole
state: [-48.0, -1.5, 31.8, 51.4, -24.0, 38.4]
chunk MAE — state-copy: 9.28 | state-copy-norm: 9.20 | bijou@10000: 6.36

Mohamedal/so100_put_bananda_bowl_newda — episode 4, frame 48 (global index 517563)

task: Grasp the banana and put it in the red bowl
state: [1.6, 169.2, 157.1, 66.4, -12.0, 1.4]
chunk MAE — state-copy: 29.63 | state-copy-norm: 30.34 | bijou@10000: 9.09

RasmusP/so100_Orange2Green — episode 24, frame 176 (global index 572013)

task: Grasp the orange block and drop it in the box.
state: [2.5, 91.6, 108.5, 77.8, -4.9, 39.1]
chunk MAE — state-copy: 1.78 | state-copy-norm: 1.73 | bijou@10000: 1.75

VoicAndrei/so100_green_blocks — episode 33, frame 345 (global index 634478)

task: Pick up the items from the white plate and place them in the black recepient.
state: [-27.7, 95.5, 52.1, 70.2, -13.4, 3.4]
chunk MAE — state-copy: 18.22 | state-copy-norm: 18.98 | bijou@10000: 15.05

akira-sasaki/akabeko_instruct_v1 — episode 85, frame 270 (global index 696464)

task: Pick up the cube and place it in the box.
state: [-0.4, 192.0, 176.1, 72.1, 4.0, -0.1]
chunk MAE — state-copy: 1.15 | state-copy-norm: 0.74 | bijou@10000: 1.44

arulloomba/so100_test_trimmed — episode 17, frame 245 (global index 738157)

task: Grasp a block and put it in the bin.
state: [5.7, 189.5, 177.5, 63.4, 0.3, 0.5]
chunk MAE — state-copy: 0.95 | state-copy-norm: 0.75 | bijou@10000: 0.76

cezarsolo/so100_newdata — episode 6, frame 596 (global index 811163)

task: Grasp a lego block and put it in the bin.
state: [-0.5, 183.7, 173.0, 75.2, 170.8, 2.0]
chunk MAE — state-copy: 2.88 | state-copy-norm: 0.74 | bijou@10000: 0.28

danielkorth/bike-light4am — episode 18, frame 55 (global index 874759)

task: put the bike light into the black bag
state: [-4.3, -98.8, 97.6, 71.4, -1.7, 2.7]
chunk MAE — state-copy: 16.38 | state-copy-norm: 16.57 | bijou@10000: 8.03

dopaul/1500_chess_moves — episode 1002, frame 228 (global index 943903)

task: Move the chess piece from red to blue
state: [10.4, 6.9, 18.2, 43.9, -2.3, 3.1]
chunk MAE — state-copy: 9.98 | state-copy-norm: 10.43 | bijou@10000: 8.51

duthvik/sputnik_100_24_pick_place_surface — episode 15, frame 288 (global index 1015841)

task: Pick up teacup from center of table and place it onto the saucer
state: [14.9, 183.9, 169.2, 74.3, -14.8, -0.6]
chunk MAE — state-copy: 1.24 | state-copy-norm: 1.32 | bijou@10000: 1.52

gribok201/150episodes6 — episode 30, frame 82 (global index 1070390)

task: Grasp a lego block and put it in the bin.
state: [-11.5, -82.3, 96.2, 65.0, 40.3, 3.0]
chunk MAE — state-copy: 29.93 | state-copy-norm: 30.42 | bijou@10000: 30.86

jiajun001/eraser00_2 — episode 3, frame 292 (global index 1123986)

task: picks tissue paper from box.
state: [8.3, 101.0, 109.9, 71.6, -86.6, 1.5]
chunk MAE — state-copy: 8.80 | state-copy-norm: 8.51 | bijou@10000: 6.37

jpata/so100_pick_place_tangerine — episode 17, frame 32 (global index 1180588)

task: Pick up the tangerine and place it.
state: [0.8, 155.6, 153.0, 67.2, -18.1, 49.4]
chunk MAE — state-copy: 28.37 | state-copy-norm: 30.39 | bijou@10000: 12.91

koenvanwijk/orange50-1 — episode 22, frame 49 (global index 1276239)

task: Pick up the orange object and but it in the LEGO box.
state: [-21.3, 99.7, 127.9, 52.2, -35.2, 33.9]
chunk MAE — state-copy: 24.49 | state-copy-norm: 24.87 | bijou@10000: 15.53

liuhuanjim013/so100_th_1 — episode 8, frame 188 (global index 1339605)

task: Grasp a lego figure and put it in the box.
state: [-4.4, 109.4, 114.1, 87.3, 100.7, 12.2]
chunk MAE — state-copy: 15.86 | state-copy-norm: 15.80 | bijou@10000: 18.52

masato-ka/so100_nlact_block_instruct_v3 — episode 90, frame 148 (global index 1394403)

task: Yellow plate for the blue block!
state: [-11.6, 66.2, 79.9, 61.8, 93.7, 38.1]
chunk MAE — state-copy: 11.25 | state-copy-norm: 10.53 | bijou@10000: 8.74

nduque/robustness_e9_2 — episode 115, frame 277 (global index 1456848)

task: Grasp a green dice and put it in the bin.
state: [104.6, 92.5, 88.1, 46.2, -26.8, 21.5]
chunk MAE — state-copy: 15.02 | state-copy-norm: 15.60 | bijou@10000: 10.91

pierfabre/sheep — episode 51, frame 195 (global index 1528839)

task: Pick the sheep and place it to the right.
state: [-58.4, 103.9, 117.9, 78.5, 126.3, 19.6]
chunk MAE — state-copy: 21.68 | state-copy-norm: 20.85 | bijou@10000: 9.55

ricky0526/so101_pick_toy_to_plate_v4 — episode 12, frame 79 (global index 1608144)

task: Pick up the toy and place it on the plate
state: [31.9, 1.2, 11.2, 67.5, 24.4, 40.9]
chunk MAE — state-copy: 8.86 | state-copy-norm: 8.95 | bijou@10000: 6.98

samsam0510/cube_reorientation_2 — episode 8, frame 142 (global index 1696608)

task: Rotate the object so it aligns with the silhouette on the table.
state: [-31.5, 102.0, 114.1, 68.5, 24.1, 0.7]
chunk MAE — state-copy: 6.92 | state-copy-norm: 8.37 | bijou@10000: 7.94

sattgle/record-test — episode 36, frame 368 (global index 1760111)

task: Pick up the white slippers and put them on the top shelf.
state: [-6.7, 11.5, -25.3, 33.6, 99.6, 2.2]
chunk MAE — state-copy: 3.28 | state-copy-norm: 2.77 | bijou@10000: 3.24

shuohsuan/grasp_data_230_239 — episode 3, frame 98 (global index 1836179)

task: grasp the red cube
state: [0.4, -83.3, 83.3, 48.5, 48.8, 0.9]
chunk MAE — state-copy: 15.81 | state-copy-norm: 16.33 | bijou@10000: 7.63

sihyun77/suho_red2 — episode 9, frame 441 (global index 1905244)

task: Grasp a lego block and put it in the bin.
state: [0.7, -6.7, 1.1, 76.0, -88.0, 1.6]
chunk MAE — state-copy: 3.19 | state-copy-norm: 1.28 | bijou@10000: 1.46

slowturtle99/so100_pick_place — episode 33, frame 81 (global index 1953649)

task: Pick a white block and place it in the black box.
state: [-7.4, 149.0, 151.3, 67.1, -88.5, 21.3]
chunk MAE — state-copy: 12.62 | state-copy-norm: 12.86 | bijou@10000: 3.33

vladfatu/so100_ds — episode 29, frame 880 (global index 2013549)

task: Pick up the cube and place it in the box.
state: [50.2, 191.7, 179.5, 60.7, 85.4, 0.4]
chunk MAE — state-copy: 0.82 | state-copy-norm: 0.26 | bijou@10000: 0.55