Rollout then Recycle: 3,718 Labelled Real-Robot Episodes from Benchmarking 7 Policies on 12 Tasks

Abstract

We release all 3,718 episodes from the ArmnetBench v0.1 evaluation (arXiv:2607.24481), which contains 600 teleoperated demonstrations and 3,118 rollouts of seven imitation-learning and vision-language-action policies on 12 tabletop tasks, recorded on low-cost SO-101 arms; 73% of the rollouts are failures. Every policy for a task was trained or fine-tuned on the same 50 demonstrations and rolled out on the same cell, so the corpus contains many policies' failures on shared tasks. An operator labelled every rollout successful, suboptimal or failure. Each episode has three camera views, joint states and actions and is available on the Hugging Face Hub in LeRobot v3.0 and a reward-model format. This note documents how the episodes were collected and the limitations that could affect their use.