A lightweight toolkit for quantitatively scoring LeRobot episodes.
LeRobot Episode Scoring Toolkit
A comprehensive toolkit for evaluating and filtering LeRobot episode datasets based on multiple quality dimensions. It combines classic Computer Vision heuristics (blur/exposure tests, kinematic smoothness, collision spikes) with optional Gemini-powered vision-language checks to give each episode a 0–1 score across multiple quality dimensions.
Use this toolkit to:
Automatically score robot demonstration episodes on visual clarity, motion smoothness, collision detection, and more
robot demonstration episodes on visual clarity, motion smoothness, collision detection, and more Filter low-quality episodes to improve downstream training performance
low-quality episodes to improve downstream training performance Train and compare baseline vs. filtered dataset models
baseline vs. filtered dataset models Visualize score distributions and identify problematic episodes
Table of Contents
✨ Features
... continue reading