bijou eval report
generated: 2026-08-18T02:09:18+00:00
data: /home/ubuntu/datasets/fontaine/grasp_demos_v2/merged
selection: 1 datasets, 500 episodes, 192304 frames (0 dropped)
samples: 256 frames, seed 0
episodes: holdout (holdout fraction 0.1, split seed 0)
checkpoint: /home/ubuntu/checkpoints/finetune/grasp_sft_v2_demosonly_1gpu_disc/step_001000
smolvla: -
sampler: euler-10
molmo-norm: checkpoint
target time: t (standard)
noise key: stable
state: intact
fps filter: all
camera-count filter: all
generate: (fast path)
subgoal mode: none (planner-less)
sample plan: none (uniform frame sampling)
Chunk metrics (raw action units, pad-masked)
| policy | chunk_mae | p50 | p90 | first_mae | chunk_mse | ms/frame |
|---|
| state-copy | 7.671 | 3.784 | 20.187 | 3.731 | 310.3 | 0 |
| state-copy-norm | 7.678 | 3.410 | 20.593 | 3.935 | 318.3 | 0 |
| bijou@1000 | 5.763 | 4.791 | 9.056 | 5.641 | 129.6 | 78 |
Paired comparisons
| policy | vs | mean_delta_mae | delta_p50 | win_rate |
|---|
| state-copy-norm | state-copy | +0.020 | -0.025 | 51% |
| bijou@1000 | state-copy | -1.952 | -0.006 | 50% |
Per-motor chunk MAE
| policy | shoulder_pan.pos | shoulder_lift.pos | elbow_flex.pos | wrist_flex.pos | wrist_roll.pos | gripper.pos |
|---|
| state-copy | 3.70 | 15.14 | 8.60 | 5.27 | 3.99 | 9.33 |
| state-copy-norm | 3.77 | 15.25 | 8.53 | 6.05 | 4.17 | 8.30 |
| bijou@1000 | 3.66 | 6.23 | 5.33 | 3.52 | 12.31 | 3.53 |
Per-dataset chunk MAE (1 datasets; sorted by bijou@1000 MAE, worst first; rows with few frames are noise-dominated)
| dataset | frames | state-copy | state-copy-norm | bijou@1000 |
|---|
| grasp_demos_v2/merged | 256 | 7.671 | 7.678 | 5.763 |
Sample predictions (32 of 256 scored frames)
grasp_demos_v2/merged — episode 17, frame 299 (global index 299)
task: Pick up the toy boat and place it on the wooden disk.
state: [27.2, 47.1, -47.9, 95.1, 46.0, 6.4]
chunk MAE — state-copy: 2.65 | state-copy-norm: 1.80 | bijou@1000: 8.26
grasp_demos_v2/merged — episode 208, frame 293 (global index 8643)
task: Pick up the toy boat and place it on the wooden disk.
state: [-13.3, 32.3, -21.5, 95.3, 8.7, 4.0]
chunk MAE — state-copy: 2.05 | state-copy-norm: 1.72 | bijou@1000: 6.66
grasp_demos_v2/merged — episode 397, frame 317 (global index 16001)
task: Pick up the toy boat and place it on the wooden disk.
state: [14.2, -8.3, 38.4, 40.3, 79.5, 3.9]
chunk MAE — state-copy: 1.79 | state-copy-norm: 1.53 | bijou@1000: 6.72
grasp_demos_v2/merged — episode 496, frame 395 (global index 19331)
task: Pick up the toy boat and place it on the wooden disk.
state: [-42.9, 52.6, -57.3, 95.1, 154.0, 3.4]
chunk MAE — state-copy: 4.20 | state-copy-norm: 4.89 | bijou@1000: 6.34
grasp_demos_v2/merged — episode 594, frame 300 (global index 23994)
task: Pick up the toy boat and place it on the wooden disk.
state: [41.9, -15.3, 42.0, 40.4, 149.0, 18.7]
chunk MAE — state-copy: 7.72 | state-copy-norm: 9.09 | bijou@1000: 7.09
grasp_demos_v2/merged — episode 657, frame 55 (global index 26607)
task: Pick up the toy boat and place it on the wooden disk.
state: [20.9, 10.1, 18.8, 46.9, 63.4, 41.7]
chunk MAE — state-copy: 12.13 | state-copy-norm: 11.31 | bijou@1000: 7.61
grasp_demos_v2/merged — episode 821, frame 92 (global index 32622)
task: Pick up the toy boat and place it on the wooden disk.
state: [-1.2, -11.9, 34.8, 54.9, 36.1, 7.3]
chunk MAE — state-copy: 3.89 | state-copy-norm: 3.24 | bijou@1000: 4.98
grasp_demos_v2/merged — episode 939, frame 190 (global index 38525)
task: Pick up the toy boat and place it on the wooden disk.
state: [23.8, 28.2, -3.7, 33.8, 63.9, 12.4]
chunk MAE — state-copy: 8.30 | state-copy-norm: 10.31 | bijou@1000: 6.20
grasp_demos_v2/merged — episode 1136, frame 247 (global index 47269)
task: Pick up the toy boat and place it on the wooden disk.
state: [16.3, 8.3, 14.2, 61.5, 49.8, 4.1]
chunk MAE — state-copy: 1.99 | state-copy-norm: 1.99 | bijou@1000: 6.41
grasp_demos_v2/merged — episode 1244, frame 135 (global index 51010)
task: Pick up the toy boat and place it on the wooden disk.
state: [6.2, 14.0, 8.9, 41.2, 104.4, 3.2]
chunk MAE — state-copy: 2.70 | state-copy-norm: 2.33 | bijou@1000: 3.23
grasp_demos_v2/merged — episode 1376, frame 311 (global index 57350)
task: Pick up the toy boat and place it on the wooden disk.
state: [21.6, 45.0, -44.1, 95.1, 41.2, 5.2]
chunk MAE — state-copy: 4.29 | state-copy-norm: 4.73 | bijou@1000: 6.79
grasp_demos_v2/merged — episode 1517, frame 227 (global index 63710)
task: Pick up the toy boat and place it on the wooden disk.
state: [10.1, -8.9, -4.4, 54.9, 96.1, 41.7]
chunk MAE — state-copy: 17.36 | state-copy-norm: 18.78 | bijou@1000: 3.72
grasp_demos_v2/merged — episode 1641, frame 419 (global index 68192)
task: Pick up the toy boat and place it on the wooden disk.
state: [-42.5, -30.1, -75.2, 95.0, 126.2, 41.7]
chunk MAE — state-copy: 24.67 | state-copy-norm: 25.57 | bijou@1000: 9.57
grasp_demos_v2/merged — episode 1844, frame 315 (global index 76108)
task: Pick up the toy boat and place it on the wooden disk.
state: [30.9, -12.7, 47.2, 22.7, 70.0, 4.6]
chunk MAE — state-copy: 1.72 | state-copy-norm: 1.30 | bijou@1000: 5.65
grasp_demos_v2/merged — episode 2003, frame 129 (global index 83111)
task: Pick up the toy boat and place it on the wooden disk.
state: [48.4, 1.4, 22.7, 50.9, 157.2, 8.0]
chunk MAE — state-copy: 4.29 | state-copy-norm: 3.43 | bijou@1000: 1.94
grasp_demos_v2/merged — episode 2156, frame 153 (global index 87889)
task: Pick up the toy boat and place it on the wooden disk.
state: [11.0, 8.1, 15.6, 37.3, 118.9, 4.0]
chunk MAE — state-copy: 3.18 | state-copy-norm: 2.41 | bijou@1000: 1.09
grasp_demos_v2/merged — episode 2342, frame 23 (global index 93860)
task: Pick up the toy boat and place it on the wooden disk.
state: [-5.1, 7.4, 22.5, 49.6, 117.0, 41.6]
chunk MAE — state-copy: 11.81 | state-copy-norm: 11.01 | bijou@1000: 6.30
grasp_demos_v2/merged — episode 2625, frame 202 (global index 102570)
task: Pick up the toy boat and place it on the wooden disk.
state: [-29.6, 4.7, 20.8, 43.3, 156.7, 4.4]
chunk MAE — state-copy: 2.17 | state-copy-norm: 1.96 | bijou@1000: 6.30
grasp_demos_v2/merged — episode 2818, frame 32 (global index 111707)
task: Pick up the toy boat and place it on the wooden disk.
state: [-18.0, 7.4, 14.6, 59.0, -4.2, 41.7]
chunk MAE — state-copy: 3.56 | state-copy-norm: 4.56 | bijou@1000: 5.94
grasp_demos_v2/merged — episode 3025, frame 43 (global index 120049)
task: Pick up the toy boat and place it on the wooden disk.
state: [37.4, -2.4, 34.4, 69.1, 118.4, 7.1]
chunk MAE — state-copy: 6.68 | state-copy-norm: 5.74 | bijou@1000: 8.29
grasp_demos_v2/merged — episode 3197, frame 422 (global index 125628)
task: Pick up the toy boat and place it on the wooden disk.
state: [14.3, 36.2, -26.8, 95.0, 58.3, 41.1]
chunk MAE — state-copy: 11.54 | state-copy-norm: 13.08 | bijou@1000: 7.75
grasp_demos_v2/merged — episode 3361, frame 226 (global index 132300)
task: Pick up the toy boat and place it on the wooden disk.
state: [47.0, -0.7, 25.8, 58.0, 51.3, 6.4]
chunk MAE — state-copy: 3.44 | state-copy-norm: 2.38 | bijou@1000: 9.23
grasp_demos_v2/merged — episode 3543, frame 15 (global index 139608)
task: Pick up the toy boat and place it on the wooden disk.
state: [33.1, -23.0, 28.9, 49.5, 91.0, 40.4]
chunk MAE — state-copy: 15.26 | state-copy-norm: 14.47 | bijou@1000: 2.46
grasp_demos_v2/merged — episode 3667, frame 130 (global index 143508)
task: Pick up the toy boat and place it on the wooden disk.
state: [-26.7, -0.0, 21.7, 39.8, 123.7, 6.8]
chunk MAE — state-copy: 3.40 | state-copy-norm: 2.39 | bijou@1000: 2.95
grasp_demos_v2/merged — episode 3861, frame 194 (global index 149361)
task: Pick up the toy boat and place it on the wooden disk.
state: [-51.9, 5.0, 19.9, 48.7, 104.1, 4.4]
chunk MAE — state-copy: 3.67 | state-copy-norm: 2.73 | bijou@1000: 4.52
grasp_demos_v2/merged — episode 4034, frame 13 (global index 154612)
task: Pick up the toy boat and place it on the wooden disk.
state: [-36.1, -38.8, 35.3, 48.8, 80.5, 39.3]
chunk MAE — state-copy: 18.79 | state-copy-norm: 18.09 | bijou@1000: 7.78
grasp_demos_v2/merged — episode 4110, frame 27 (global index 158947)
task: Pick up the toy boat and place it on the wooden disk.
state: [32.9, -0.8, 31.4, 63.8, 156.9, 41.0]
chunk MAE — state-copy: 13.83 | state-copy-norm: 13.10 | bijou@1000: 4.62
grasp_demos_v2/merged — episode 4284, frame 162 (global index 163909)
task: Pick up the toy boat and place it on the wooden disk.
state: [39.2, 1.3, 24.8, 33.7, 129.2, 2.8]
chunk MAE — state-copy: 2.64 | state-copy-norm: 3.07 | bijou@1000: 6.73
grasp_demos_v2/merged — episode 4501, frame 166 (global index 172139)
task: Pick up the toy boat and place it on the wooden disk.
state: [6.4, -6.8, 22.4, 37.2, -150.1, 6.8]
chunk MAE — state-copy: 2.21 | state-copy-norm: 2.33 | bijou@1000: 4.29
grasp_demos_v2/merged — episode 4639, frame 10 (global index 178086)
task: Pick up the toy boat and place it on the wooden disk.
state: [-32.8, -60.8, 53.0, 54.3, 63.1, 35.4]
chunk MAE — state-copy: 26.03 | state-copy-norm: 25.55 | bijou@1000: 15.40
grasp_demos_v2/merged — episode 4784, frame 117 (global index 182897)
task: Pick up the toy boat and place it on the wooden disk.
state: [-19.1, 4.9, 25.0, 53.4, -157.1, 33.9]
chunk MAE — state-copy: 11.37 | state-copy-norm: 10.51 | bijou@1000: 4.68
grasp_demos_v2/merged — episode 4872, frame 120 (global index 186188)
task: Pick up the toy boat and place it on the wooden disk.
state: [23.8, -6.1, 26.4, 43.0, 66.9, 6.4]
chunk MAE — state-copy: 3.23 | state-copy-norm: 3.25 | bijou@1000: 3.25
