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HUD records each robot task as a trace you can replay and grade. Add --hud to any dreamscale run command.

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1. Connect HUD

This installs HUD support, opens HUD’s API key page, and saves the key you paste. You only do this once per computer.

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2. Record a run

--hud works the same with dreamscale run so101. The run itself doesn’t change.
  • Each dreamscale run session is one HUD job. --hud-job names it.
  • Each task is one trace, with the instruction, one video per camera, measured and commanded joints, and the model’s action chunks.
  • Tasks with the same instruction are grouped, so the job shows a success rate per instruction.

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3. Grade each task

When a task stops, the robot holds its final pose and asks for a grade: The grade becomes the trace’s reward on HUD.
Recording never slows the robot. If it falls behind, it drops recorded frames and the trace reports how many. --hud can’t be combined with --inspect-robots.