{ "schema": "dexbench-results/1", "release": { "id": "v0.0.1", "as_of": "2026-10-23", "protocol": "Early access v0.0.1", "note": "Early-access release v0.0.1. Private to EA collaborators." }, "cells": { "train": { "name": "Train", "objects": "training", "space": "inside" }, "ga_o": { "name": "GA-O", "objects": "held-out", "space": "inside" }, "ga_s": { "name": "GA-S", "objects": "training", "space": "beyond" }, "ga_os": { "name": "GA-OS", "objects": "held-out", "space": "beyond" } }, "tasks": [ { "id": "db_r2", "name": "DB-R2", "title": "Drink from a fridge shelf", "scene": "E1 Retail", "exo": "exo/r2.mp4", "poster": "exo/r2.jpg", "instruction": "Take the Coca-Cola 355 mL can out of the open refrigerator's second shelf and put it in the basket without disturbing the drinks next to it.", "objective": "Pull one drink from a packed shelf without disturbing its neighbours and set it in the basket.", "success": "The drink is inside the basket interior and at rest for 1 s.", "cap_s": 35, "objects": { "train": "TC1, TC2, TP1 (3 drinks)", "held_out": "EC1, EC2, EP2, EP3 (4 drinks)" }, "range": { "inside": "Target in lane MF3, MF4 or MF5; robot base 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} }, { "id": "db_l2", "name": "DB-L2", "title": "Box from cage to conveyor", "scene": "E2 Logistics", "exo": "exo/l2.mp4", "poster": "exo/l2.jpg", "instruction": "Lift the package off the cage with both hands and place it on the conveyor.", "objective": "Lift a box from a cage stack with both hands and set it on the conveyor.", "success": "The box rests on the conveyor's carrying surface (belt, rollers or work plate), not on its side, and is still for 0.5 s.", "cap_s": 25, "objects": { "train": "train_0, train_1 (2 boxes)", "held_out": "eval_0 – eval_3 (4 boxes)" }, "range": { "inside": "Cage stack depth 0–80 mm, lateral ±10 mm", "beyond": "Depth −50 to +88 mm, lateral ±13 mm, outside the training box" }, "data": "240 MimicGen demonstrations, 120 per box", "stages": [ "lifted" ], "cells": [ "train", "ga_o", "ga_s", "ga_os" ], "frozen_sha256": "80d73959…", "env_id": "E2", "env": "Logistics", "video_caption": "Third-person view of a training demonstration in the current scene 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"poster": "v/h1_pi05_mt120k_ga_os_r33e0_fbe2f2.jpg" } ], "hz": 30, "note": "Furthest stage of the task's progress chain reached in each episode (Arena progress events). One clip per model and failure group, drawn with a fixed seed from that group's episodes." }, "model_cards": [ { "family": "GR00T N1.7", "base": "nvidia/GR00T-N1.7-3B (Cosmos-Reason2-2B backbone)", "code": "NVIDIA/Isaac-GR00T n1.7-release @ 23ace64; served from RLWRLD/DexBench-Isaac-GR00T (public)", "actions": "Absolute 62-D joint targets (headline since 10-19). The arm-relative variant, with the 14 arm joints predicted relative to the current state, is reported as an ablation.", "chunk": "40-step action chunk, 4 denoising steps", "recipe": "lr 1e-4, cosine, 5% warmup, global batch 256 (32 × 8 H100), state dropout 0.2, vision encoder frozen", "inputs": "Both stereo ego camera views at 320×180 each (crop 0.95, color jitter), 62 joint positions, the task instruction", "steps": "Per-task 30k steps (~3 h 40 min on 8 H100). Multitask 120k steps on all four tasks with equal task sampling" }, { "family": "Cosmos3-Nano", "base": "nvidia Cosmos3-Nano", "code": "RLWRLD/DexBench-cosmos-framework @ 0ee2e79 (public), which serves the released checkpoints with actions bit-identical to the code the EA scores used. The checkpoints were trained on earlier private revisions of the same recipe (per-task: f51bb4f). Serve with --num-steps 10; the framework defaults to 4", "actions": "Absolute 62-D joint targets", "chunk": "32-step action chunk; UniPC sampler, 10 steps, shift 5.0, seed 0", "recipe": "lr 5e-5, 500-iteration warmup, global batch 256 (8 per GPU × 4 accumulation × 8 H100), q01/q99 normalisation over state and action", "inputs": "Both stereo ego camera views at 256×144 each (area-downsampled from 640×360), stacked with a 32-row gap, 62 joint positions, the task instruction", "steps": "Per-task 4k iterations (~5 h 40 min on 8 H100). Multitask 4k, then 16k iterations; tasks sampled in proportion to their training windows (R2 22%, M1 29%, H1 33%, L2 16%)" }, { "family": "π0.5", "base": "pi05_base (openpi)", "code": "RLWRLD/openpi (private repository; not part of the EA release): trained at 8d1d142, served at bba4caf with scripts/serve_policy.py", "actions": "Absolute 62-D joint targets.", "chunk": "50-step action chunk, 10 denoising steps; the client executes 16 actions per query", "recipe": "Peak lr 2.5e-5, 1k warmup, cosine to 2.5e-6, AdamW (β 0.9/0.95), grad clip 1, EMA 0.99, global batch 256 (8 H100), SigLIP frozen, 62-D actions over a 50-step horizon", "inputs": "Both stereo ego camera views, letterboxed to 224, 62 joint positions, the task instruction", "steps": "Per-task 30k steps (one checkpoint per task; the cosine is set for 60k, so it stops half way down). Multitask 120k steps on all four tasks. A batch-1024 run, 60k steps over the same data, is reported as a variant" } ], "training_data": [ { "task": "db_r2", "set": "r2_allex_ea_240", "n": 240, "how": "MimicGen 197, teleoperation 34, MPPI-refined 9; 80 per drink" }, { "task": "db_l2", "set": "MimicGen (HF b6980a02)", "n": 240, "how": "MimicGen, 120 per box" }, { "task": "db_m1", "set": "final240", "n": 240, "how": "Closed-loop scripted policy (247 drawn, 240 seated)" }, { "task": "db_h1", "set": "torque240", "n": 240, "how": "cuRobo scripted policy, 80 per dish" } ], "ablations": [ { "name": "GR00T N1.7, per-task, absolute (headline)", "macro": { "db_r2": 0.0, "db_l2": 59.0, "db_m1": 30.0, "db_h1": 11.2 }, "headline": true }, { "name": "GR00T N1.7, per-task, arm-relative", "macro": { "db_r2": 5.2, "db_l2": 49.8, "db_m1": 25.8, "db_h1": 1.2 } }, { "name": "Cosmos3-Nano, per-task, absolute (headline)", "macro": { "db_r2": 0.0, "db_l2": 41.2, "db_m1": 81.7, "db_h1": 30.0 }, "headline": true }, { "name": "Cosmos3-Nano, per-task, arm-relative", "macro": { "db_r2": 12.9, "db_m1": 29.6, "db_l2": 52.3, "db_h1": 0.0 } }, { "name": "GR00T N1.7, multitask 120k, absolute (headline)", "macro": { "db_l2": 49.0, "db_r2": 0.4, "db_m1": 76.3, "db_h1": 29.4 }, "headline": true }, { "name": "GR00T N1.7, multitask 120k, arm-relative", "macro": { "db_r2": 9.6, "db_l2": 51.2, "db_m1": 20.4, "db_h1": 0.4 } }, { "name": "GR00T N1.7, multitask 30k, arm-relative", "macro": { "db_r2": 1.9, "db_l2": 32.5, "db_m1": 0.8, "db_h1": 0.0 } }, { "name": "Cosmos3-Nano, multitask 16k, absolute (headline)", "macro": { "db_r2": 0.8, "db_l2": 48.8, "db_m1": 72.1, "db_h1": 8.5 }, "headline": true }, { "name": "Cosmos3-Nano, multitask 4k iterations", "macro": { "db_r2": 0.0, "db_l2": 36.5, "db_m1": 52.5, "db_h1": 2.9 } }, { "name": "π0.5, multitask 120k, batch 256, absolute (headline)", "macro": { "db_r2": 3.3, "db_l2": 74.4, "db_m1": 59.6, "db_h1": 37.7 }, "headline": true }, { "name": "π0.5, multitask 60k, batch 1024, absolute", "macro": { "db_r2": 5.6, "db_l2": 69.4, "db_m1": 66.3, "db_h1": 35.0 } } ], "agent_trials": { "agent": "GPT-6 Astra (LLM agent, medium reasoning, stateless requests)", "conditions": [ { "id": "l0", "name": "Astra L0", "interface": "62 absolute joint targets", "rows": 10 }, { "id": "l1_generic", "name": "Astra L1, one grasp", "interface": "hand grasp poses in the torso frame through an arms-only IK; torso and neck as direct joints; one eigengrasp for the hands", "rows": 20 }, { "id": "l1_shapes", "name": "Astra L1, five grasp shapes", "interface": "as L1, with five grasp shapes taken from the demonstrations", "rows": 20 } ], "success": { "l0": { "db_r2": [ 0, 10 ], "db_l2": [ 0, 10 ], "db_m1": [ 0, 10 ], "db_h1": [ 0, 10 ] }, "l1_generic": { "db_r2": [ 0, 20 ], "db_l2": [ 0, 20 ], "db_m1": [ 0, 20 ], "db_h1": [ 0, 20 ] }, "l1_shapes": { "db_r2": [ 0, 20 ], "db_l2": [ 0, 20 ], "db_m1": [ 0, 20 ], "db_h1": [ 0, 20 ] } }, "progress": { "db_r2": [ [ 0.1, 3 ], [ 0.01, 1 ], [ 0.0, 0 ] ], "db_l2": [ [ 0.2, 8 ], [ 0.13, 8 ], [ 0.05, 4 ] ], "db_m1": [ [ 0.0, 0 ], [ 0.0, 0 ], [ 0.0, 0 ] ], "db_h1": [ [ 0.45, 10 ], [ 0.35, 17 ], [ 0.14, 6 ] ] }, "paired": { "db_r2": { "10": { "gr00t_pt": [ 0, 10 ], "cosmos_pt": [ 0, 10 ], "gr00t_mt": [ 0, 10 ], "cosmos_mt": [ 0, 10 ], "pi05_pt": [ 0, 10 ], "pi05_mt": [ 1, 10 ] }, "20": { "gr00t_pt": [ 0, 20 ], "cosmos_pt": [ 0, 20 ], "gr00t_mt": [ 1, 20 ], "cosmos_mt": [ 1, 20 ], "pi05_pt": [ 0, 20 ], "pi05_mt": [ 3, 20 ] } }, "db_l2": { "10": { "gr00t_pt": [ 5, 10 ], "cosmos_pt": [ 5, 10 ], "gr00t_mt": [ 6, 10 ], "cosmos_mt": [ 7, 10 ], "pi05_pt": [ 9, 10 ], "pi05_mt": [ 8, 10 ] }, "20": { "gr00t_pt": [ 12, 20 ], "cosmos_pt": [ 11, 20 ], "gr00t_mt": [ 9, 20 ], "cosmos_mt": [ 12, 20 ], "pi05_pt": [ 17, 20 ], "pi05_mt": [ 16, 20 ] } }, "db_m1": { "10": { "gr00t_pt": [ 2, 10 ], "cosmos_pt": [ 9, 10 ], "gr00t_mt": [ 6, 10 ], "cosmos_mt": [ 8, 10 ], "pi05_pt": [ 5, 10 ], "pi05_mt": [ 4, 10 ] }, "20": { "gr00t_pt": [ 5, 20 ], "cosmos_pt": [ 19, 20 ], "gr00t_mt": [ 16, 20 ], "cosmos_mt": [ 18, 20 ], "pi05_pt": [ 12, 20 ], "pi05_mt": [ 11, 20 ] } }, "db_h1": { "10": { "gr00t_pt": [ 4, 10 ], "cosmos_pt": [ 5, 10 ], "gr00t_mt": [ 3, 10 ], "cosmos_mt": [ 0, 10 ], "pi05_pt": [ 0, 10 ], "pi05_mt": [ 5, 10 ] }, "20": { "gr00t_pt": [ 5, 20 ], "cosmos_pt": [ 6, 20 ], "gr00t_mt": [ 7, 20 ], "cosmos_mt": [ 3, 20 ], "pi05_pt": [ 1, 20 ], "pi05_mt": [ 9, 20 ] } } }, "stages": { "db_r2": { "names": [ "lifted", "past shelf", "over basket", "placed" ], "rows10": { "astra_l0": { "rows": 10, "reach": [ 3, 1, 0, 0 ], "succ": 0 }, "astra_l1_generic@10": { "rows": 10, "reach": [ 0, 0, 0, 0 ], "succ": 0 }, "astra_l1_shapes@10": { "rows": 10, "reach": [ 0, 0, 0, 0 ], "succ": 0 }, "gr00t_n17_pt@10": { "rows": 10, "reach": [ 10, 6, 0, 0 ], "succ": 0 }, "cosmos3_nano_pt@10": { "rows": 10, "reach": [ 7, 4, 0, 0 ], "succ": 0 }, "gr00t_n17_mt120k@10": { "rows": 10, "reach": [ 9, 6, 0, 0 ], "succ": 0 }, "cosmos3_nano_mt16k@10": { "rows": 10, "reach": [ 7, 5, 0, 0 ], "succ": 0 }, "astra_best": { "rows": 10, "reach": [ 3, 1, 0, 0 ], "succ": 0 }, "pi05_pt@10": { "rows": 10, "reach": [ 0, 0, 0, 0 ], "succ": 0 }, "pi05_mt120k@10": { "rows": 10, "reach": [ 5, 4, 3, 1 ], "succ": 1 } } }, "db_l2": { "names": [ "lifted", "clear of cage" ], "rows10": { "astra_l0": { "rows": 10, "reach": [ 8, 0 ], "succ": 0 }, "astra_l1_generic@10": { "rows": 10, "reach": [ 5, 1 ], "succ": 0 }, "astra_l1_shapes@10": { "rows": 10, "reach": [ 3, 0 ], "succ": 0 }, "gr00t_n17_pt@10": { "rows": 10, "reach": [ 10, 10 ], "succ": 5 }, "cosmos3_nano_pt@10": { "rows": 10, "reach": [ 10, 10 ], "succ": 5 }, "gr00t_n17_mt120k@10": { "rows": 10, "reach": [ 10, 9 ], "succ": 6 }, "cosmos3_nano_mt16k@10": { "rows": 10, "reach": [ 10, 8 ], "succ": 7 }, "astra_best": { "rows": 10, "reach": [ 8, 1 ], "succ": 0 }, "pi05_pt@10": { "rows": 10, "reach": [ 10, 9 ], "succ": 9 }, "pi05_mt120k@10": { "rows": 10, "reach": [ 9, 9 ], "succ": 8 } } }, "db_m1": { "names": [ "at slot mouth", "entered", "deep", "seated" ], "rows10": { "astra_l0": { "rows": 10, "reach": [ 0, 0, 0, 0 ], "succ": 0 }, "astra_l1_generic@10": { "rows": 10, "reach": [ 0, 0, 0, 0 ], "succ": 0 }, "astra_l1_shapes@10": { "rows": 10, "reach": [ 0, 0, 0, 0 ], "succ": 0 }, "gr00t_n17_pt@10": { "rows": 10, "reach": [ 3, 2, 2, 2 ], "succ": 2 }, "cosmos3_nano_pt@10": { "rows": 10, "reach": [ 9, 9, 9, 9 ], "succ": 9 }, "gr00t_n17_mt120k@10": { "rows": 10, "reach": [ 7, 7, 7, 6 ], "succ": 6 }, "cosmos3_nano_mt16k@10": { "rows": 10, "reach": [ 8, 8, 8, 8 ], "succ": 8 }, "astra_best": { "rows": 10, "reach": [ 0, 0, 0, 0 ], "succ": 0 }, "pi05_pt@10": { "rows": 10, "reach": [ 8, 8, 6, 5 ], "succ": 5 }, "pi05_mt120k@10": { "rows": 10, "reach": [ 4, 4, 4, 4 ], "succ": 4 } } }, "db_h1": { "names": [ "lifted", "above cart", "over stack", "seated" ], "rows10": { "astra_l0": { "rows": 10, "reach": [ 10, 8, 0, 0 ], "succ": 0 }, "astra_l1_generic@10": { "rows": 10, "reach": [ 9, 4, 0, 0 ], "succ": 0 }, "astra_l1_shapes@10": { "rows": 10, "reach": [ 3, 2, 0, 0 ], "succ": 0 }, "gr00t_n17_pt@10": { "rows": 10, "reach": [ 10, 10, 9, 4 ], "succ": 4 }, "cosmos3_nano_pt@10": { "rows": 10, "reach": [ 10, 10, 8, 5 ], "succ": 5 }, "gr00t_n17_mt120k@10": { "rows": 10, "reach": [ 10, 10, 10, 3 ], "succ": 3 }, "cosmos3_nano_mt16k@10": { "rows": 10, "reach": [ 9, 9, 6, 0 ], "succ": 0 }, "astra_best": { "rows": 10, "reach": [ 10, 9, 0, 0 ], "succ": 0 }, "pi05_pt@10": { "rows": 10, "reach": [ 10, 10, 10, 0 ], "succ": 0 }, "pi05_mt120k@10": { "rows": 10, "reach": [ 10, 10, 10, 5 ], "succ": 5 } } } }, "failure_clips": [ { "task": "db_h1", "file": "astra/h1_l1_generic_ep6.mp4", "poster": "astra/h1_l1_generic_ep6.jpg", "title": "It believes it holds the stack", "text": "Astra reports “both hands flank the three nested bowls and the fingers appear engaged” and lifts. The hands only squeeze the outside of the stack, and the bowls tip over between them; at 46 s it notes the bowls “tipped on the table beside the right hand”. The progress criteria still credit this episode with 0.75 (lifted, raised above the cart's height, over the destination), which is why progress alone overstates what the agent did." }, { "task": "db_m1", "file": "astra/m1_l1_generic_ep3.mp4", "poster": "astra/m1_l1_generic_ep3.jpg", "title": "It loses the drawer and does not notice", "text": "The episode starts with the drawer already held at the slot. Astra plans pushes of 1–20 cm “preserving both grasps”, but the drawer tilts and slides out of the hands, and every later note still says the drawer is held. 17–18 of 20 DB-M1 episodes end before the cap, most likely the same way (not yet confirmed)." }, { "task": "db_l2", "file": "astra/l2_l1_generic_ep4.mp4", "poster": "astra/l2_l1_generic_ep4.jpg", "title": "Right idea, too slow", "text": "Its best DB-L2 episode: it closes both hands on the box, lifts, clears the cage and gets the box over the conveyor, but six requests fill the 25 s cap and it never sets the box down. Most of its arm goals end on their 5 s timeout before the arm arrives." }, { "task": "db_r2", "file": "astra/r2_l1_generic_ep0.mp4", "poster": "astra/r2_l1_generic_ep0.jpg", "title": "It cannot see what its hand is doing", "text": "It names the target drink and reaches for it, but once the arm is in front of the shelf the head cameras see mostly the arm. It closes the hand and “retracts” on a grip it cannot check; the drink never leaves the shelf (progress 0)." } ], "pairs": [ { "task": "db_l2", "row": "train_0 · row 4", "astra": { "file": "astra/l2_l1_generic_ep4.mp4", "poster": "astra/l2_l1_generic_ep4.jpg" }, "baselines": [ { "label": "GR00T per-task", "file": "astra/pair_l2_gr00t_n17_pt.mp4", "poster": "astra/pair_l2_gr00t_n17_pt.jpg", "success": false, "t": 25.0 }, { "label": "Cosmos per-task", "file": "astra/pair_l2_cosmos3_nano_pt.mp4", "poster": "astra/pair_l2_cosmos3_nano_pt.jpg", "success": false, "t": 25.0 }, { "label": "GR00T multitask", "file": "astra/pair_l2_gr00t_n17_mt120k.mp4", "poster": "astra/pair_l2_gr00t_n17_mt120k.jpg", "success": false, "t": 7.0 }, { "label": "Cosmos multitask", "file": "astra/pair_l2_cosmos3_nano_mt16k.mp4", "poster": "astra/pair_l2_cosmos3_nano_mt16k.jpg", "success": true, "t": 12.4 }, { "label": "π0.5 per-task", "file": "astra/pair_l2_pi05_pt.mp4", "poster": "astra/pair_l2_pi05_pt.jpg", "success": true, "t": 13.3 }, { "label": "π0.5 multitask", "file": "astra/pair_l2_pi05_mt120k.mp4", "poster": "astra/pair_l2_pi05_mt120k.jpg", "success": true, "t": 13.0 } ] }, { "task": "db_m1", "row": "row 3", "astra": { "file": "astra/m1_l1_generic_ep3.mp4", "poster": "astra/m1_l1_generic_ep3.jpg" }, "baselines": [ { "label": "GR00T multitask", "file": "astra/pair_m1_gr00t_n17_mt120k.mp4", "poster": "astra/pair_m1_gr00t_n17_mt120k.jpg", "success": true, "t": 24.3 }, { "label": "GR00T per-task", "file": "astra/pair_m1_gr00t_n17_pt.mp4", "poster": "astra/pair_m1_gr00t_n17_pt.jpg", "success": false, "t": 70.0 }, { "label": "Cosmos per-task", "file": "astra/pair_m1_cosmos3_nano_pt.mp4", "poster": "astra/pair_m1_cosmos3_nano_pt.jpg", "success": true, "t": 61.6 }, { "label": "Cosmos multitask", "file": "astra/pair_m1_cosmos3_nano_mt16k.mp4", "poster": "astra/pair_m1_cosmos3_nano_mt16k.jpg", "success": true, "t": 26.5 }, { "label": "π0.5 per-task", "file": "astra/pair_m1_pi05_pt.mp4", "poster": "astra/pair_m1_pi05_pt.jpg", "success": false, "t": 70.0 }, { "label": "π0.5 multitask", "file": "astra/pair_m1_pi05_mt120k.mp4", "poster": "astra/pair_m1_pi05_mt120k.jpg", "success": false, "t": 70.0 } ] }, { "task": "db_h1", "row": "HARMYNTA plate · row 6", "astra": { "file": "astra/h1_l1_generic_ep6.mp4", "poster": "astra/h1_l1_generic_ep6.jpg" }, "baselines": [ { "label": "Cosmos per-task", "file": "astra/pair_h1_cosmos3_nano_pt.mp4", "poster": "astra/pair_h1_cosmos3_nano_pt.jpg", "success": false, "t": 50.0 }, { "label": "GR00T multitask", "file": "astra/pair_h1_gr00t_n17_mt120k.mp4", "poster": "astra/pair_h1_gr00t_n17_mt120k.jpg", "success": false, "t": 50.0 }, { "label": "GR00T per-task", "file": "astra/pair_h1_gr00t_n17_pt.mp4", "poster": "astra/pair_h1_gr00t_n17_pt.jpg", "success": false, "t": 50.0 }, { "label": "π0.5 per-task", "file": "astra/pair_h1_pi05_pt.mp4", "poster": "astra/pair_h1_pi05_pt.jpg", "success": false, "t": 50.0 }, { "label": "π0.5 multitask", "file": "astra/pair_h1_pi05_mt120k.mp4", "poster": "astra/pair_h1_pi05_mt120k.jpg", "success": true, "t": 18.1 } ] } ] }, "envs": [ { "id": "e1", "code": "E1", "name": "Retail store", "label": "Retail", "modules": "Produce display, beverage and snack gondola shelving with price rails, shopping basket and cart, replenishment tote.", "tasks": [ "db_r1", "db_r2", "db_r3" ] }, { "id": "e2", "code": "E2", "name": "Logistics center", "label": "Logistics", "modules": "Variable-speed sorter conveyor with induction zone, sort chutes and totes, parcel cage with unloading station, packing bench with insert stack and outbound carton.", "tasks": [ "db_l1", "db_l2", "db_l3", "db_l4" ] }, { "id": "e3", "code": "E3", "name": "Manufacturing", "label": "Manufacturing", "modules": "Manufacturing workbench and jig, tool stand, parts tray, appliance and PC workpiece station, line conveyor.", "tasks": [ "db_m1", "db_m2", "db_m3", "db_m4", "db_m5" ] }, { "id": "e4", "code": "E4", "name": "Hotel F&B", "label": "Hotel", "modules": "Banquet and breakfast tables, clearing tray, serving station with pitcher and glassware, cutlery bin and setting zone.", "tasks": [ "db_h1", "db_h2", "db_h3" ] } ], "ga_tasks": [ { "id": "db_r1", "name": "DB-R1", "title": "Fragile fruit picking", "full_name": "Compliant / Fragile Object Picking", "objective": "Pick one target fruit from a clustered produce display and place it in a shopping basket. Grip force has to adapt to how soft the fruit is, so it is lifted without being crushed or dropped.", "success": "Peak contact force below the damage threshold, indentation under 3 mm, fruit placed in the basket.", "exo": "exo/ga/r1.mp4", "poster": "exo/ga/r1.jpg", "loop": "exo/ga/r1_loop.mp4", "axes_example": { "ga_p": "Fruit softness/damage thresholds 3/5/8 N → unseen fruit × softness combinations." }, "concept": false, "status": "ga" }, { "id": "db_r3", "name": "DB-R3", "title": "Slot placement", "full_name": "Spatially-Constrained Slot Placement", "objective": "Pick a snack carton from a replenishment tote and insert it, front panel facing out, into a shelf slot only slightly wider than the carton.", "success": "Carton seated and aligned in the slot, no neighbour or price-rail displacement, no crushing.", "exo": "exo/ga/r3.mp4", "poster": "exo/ga/r3.jpg", "loop": "exo/ga/r3_loop.mp4", "axes_example": null, "concept": false, "status": "ga" }, { "id": "db_l1", "name": "DB-L1", "title": "Conveyor pick", "full_name": "Conveyor Pick – Multi-Speed", "objective": "Track a polybag moving on a sorter conveyor, grasp it at the right moment and place it in a sort tote, across a range of belt speeds.", "success": "Intact lift, placement in the tote, zero drop, completed within the timing window.", "exo": "exo/ga/l1.mp4", "poster": "exo/ga/l1.jpg", "loop": "exo/ga/l1_loop.mp4", "axes_example": { "ga_p": "Train at 0.2 / 0.4 m/s → interpolate and extrapolate across 0.1–0.5 m/s." }, "concept": false, "status": "ga" }, { "id": "db_l3", "name": "DB-L3", "title": "Insert kitting", "full_name": "Paper Insert Kitting – Sheet Singulation & Insertion", "objective": "Separate exactly one heavy paper insert from a stack and slide it, uncreased, into the gap above the items in an outbound box.", "success": "Exactly one sheet, no double feed, no crease or tear, insertion completed.", "exo": "exo/ga/l3.mp4", "poster": "exo/ga/l3.jpg", "loop": "exo/ga/l3_loop.mp4", "axes_example": null, "concept": false, "status": "ga" }, { "id": "db_l4", "name": "DB-L4", "title": "Bag flip induction", "full_name": "Poly Bag Flip Induction", "objective": "Pinch a polybag that arrives barcode-side down, lift and flip it so the barcode faces up for the downstream scanner, keeping it inside the induction zone.", "success": "Barcode up and scan-readable, bag stays in the zone, no film damage.", "exo": "exo/ga/l4.mp4", "poster": "exo/ga/l4.jpg", "loop": "exo/ga/l4_loop.mp4", "axes_example": null, "concept": false, "status": "ga" }, { "id": "db_m2", "name": "DB-M2", "title": "Connector insertion", "full_name": "Multi-Connector Sequential Insertion", "objective": "Insert cable connectors one after another into the ports of a product panel, aligning each connector's keying.", "success": "All connectors fully inserted and latched, zero mis-insertion.", "exo": "exo/ga/m2.mp4", "poster": "exo/ga/m2.jpg", "loop": "exo/ga/m2_loop.mp4", "axes_example": null, "concept": false, "status": "ga" }, { "id": "db_m3", "name": "DB-M3", "title": "Screw fastening", "full_name": "Power-Driver Screw Fastening", "objective": "Pick up a power driver from its stand, align the bit to a pre-engaged screw and drive it home while holding alignment against the reaction torque.", "success": "Screw fully seated, no cam-out, no loss of pose.", "exo": "exo/ga/m3.mp4", "poster": "exo/ga/m3.jpg", "loop": "exo/ga/m3_loop.mp4", "axes_example": null, "concept": false, "status": "ga" }, { "id": "db_m4", "name": "DB-M4", "title": "Nut threading", "full_name": "Multi-Size Nut Hand-Threading", "objective": "Pick a nut from a tray, align it to the one empty stud among three fastening sites and thread it on by hand to the specified depth, without a tool.", "success": "Threaded to depth, no cross-threading, no drop.", "exo": "exo/ga/m4.mp4", "poster": "exo/ga/m4.jpg", "loop": "exo/ga/m4_loop.mp4", "axes_example": { "ga_s": "A random empty fastening site among three." }, "concept": false, "status": "ga" }, { "id": "db_m5", "name": "DB-M5", "title": "Conveyor kitting", "full_name": "Moving-Conveyor Kitting", "objective": "Pick the instructed industrial part out of a cluttered staging bin and place it into the empty compartment of a kit box moving on a conveyor.", "success": "Correct part, placed in the moving compartment, no drop or double pick, within cycle time.", "exo": "exo/ga/m5.mp4", "poster": "exo/ga/m5.jpg", "loop": "exo/ga/m5_loop.mp4", "axes_example": { "ga_o": "Hold out combinations of industrial-part grasp strategy × size." }, "concept": false, "status": "ga" }, { "id": "db_h2", "name": "DB-H2", "title": "Liquid pour", "full_name": "Liquid Pour & Serve", "objective": "Pour from a pitcher whose fill level changes its mass and slosh, and serve a measured amount.", "success": "180 ± 20 mL delivered, spill under 5 mL, stable set-down.", "exo": "exo/ga/h2.mp4", "poster": "exo/ga/h2.jpg", "loop": "exo/ga/h2_loop.mp4", "axes_example": { "ga_p": "Fill 30 / 70 % → 50 / 90 %." }, "concept": false, "status": "ga" }, { "id": "db_h3", "name": "DB-H3", "title": "Utensil singulation", "full_name": "Bimanual Singulation", "objective": "One hand holds a mixed bundle of forks, knives and spoons. The other hand pulls out one instructed utensil at a time and places it neatly in the setting zone while the rest of the bundle stays in hand.", "success": "Exactly one utensil per extraction, correct type, aligned placement, zero drop from the bundle.", "exo": "exo/ga/h3.mp4", "poster": "exo/ga/h3.jpg", "loop": "exo/ga/h3_loop.mp4", "axes_example": { "ga_s": "Composition of the held-in-hand cutlery bundle." }, "concept": true, "status": "ga" } ], "axes": [ { "id": "ga_o", "name": "GA-O", "label": "Object", "definition": "Variation in SKU, geometry, size, or appearance while preserving the task. Evaluation measures performance on unseen objects." }, { "id": "ga_p", "name": "GA-P", "label": "Physics", "definition": "Variation in mass, friction, stiffness, center of mass, force/torque, and dynamic states such as speed and timing." }, { "id": "ga_s", "name": "GA-S", "label": "Spatial", "definition": "Variation in initial pose, arrangement, clutter density, access constraints, clearance, and target position." } ] }