| --- |
| license: apache-2.0 |
| pretty_name: pilot tasks |
| tags: |
| - robotics |
| - task-cards |
| - world-model |
| - model-predictive-control |
| configs: [] |
| --- |
| |
| # pilot tasks |
|
|
| Robot tasks written as **cards**, improved in the open by people and their agents. Each improvement is scored and |
| traceable, and every pilot reads the same cards: |
| [cablepilot](https://huggingface.co/MacroSwan/cablepilot) (cable robots) today, armpilot and dronepilot next. |
|
|
| A card says **what** a job is, in a vocabulary every body shares. Each body says **how**, with its own world model and |
| planner. A tuning file says **how much** for one body. A result says how it went. So a new task starts from the best |
| card so far, not from scratch, and a subtask written for one robot is there for the next. |
|
|
| ``` |
| tasks/<task>/ |
| card.yaml body-free: objects, stages (each a skill), fallbacks, done test, lineage |
| tuning/<body>.yaml that body's numbers (cost weights, thresholds), with lineage |
| results/<id>.json one scored run (format pilot-result/1): score, compute, world, seed, card + tuning hashes |
| media/<id>.mp4 its film (the plan in purple) |
| board.json best result per task x body x world, rebuilt from results/ (scripts/board.py) |
| ``` |
|
|
| ## Tasks |
|
|
| | task | bodies | best so far (sim) | note | |
| |---|---|---|---| |
| | [clean_the_room](tasks/clean_the_room) | cable | 29/36 toys boxed, bedroom, 3 episodes | requested by the Stringman community; sorting is the next card | |
| | [avoid_furniture](tasks/avoid_furniture) | (card only) | open | requested by the Stringman community: place to place, touching nothing. `cablepilot check` lists what the cable body is missing (a `near` skill, a furnished room): the first open job | |
| | [pen_in_cup](tasks/pen_in_cup) | (card only) | no hub result yet | armpilot's card, unchanged; the cable robot runs it but cannot watch `aligned(pen, up)` yet. Its arm tuning comes with armpilot's release | |
|
|
| ## A card |
|
|
| ```yaml |
| task: clean_the_room |
| lineage: {parent: "worldpilot:cards/home/clean_the_room.yaml", by: Ethgar, why: "runnable on today's skills"} |
| objects: |
| stray: {kind: any, role: held, shape: any, movable: true, each: out_of_place} |
| toy_box: {kind: box, role: site, shape: open_container, movable: false} |
| stages: |
| - {name: observe, goals: [{see: [head_camera, stray]}]} |
| - {name: pre_grasp, goals: [{pre_grasp: [hand, stray]}], avoid: [{avoid: [hand, toy_box]}]} |
| - {name: grasp, goals: [{grasp: [hand, stray]}]} |
| - {name: over_box, goals: [{pre_inside: [stray, toy_box.interior]}], invariants: [{grasp: [hand, stray]}]} |
| - {name: release, goals: [{release: [hand, stray]}]} |
| fallbacks: |
| - {when: {broken: {grasp: [hand, stray]}}, go: pre_grasp} |
| done: {inside: [stray, toy_box.interior]} |
| ``` |
|
|
| No metres, colours or positions: the body's eyes bind `stray` and `toy_box` when it runs, and the body's tuning holds |
| the numbers. Predicates and skills: `cablepilot/core/cards.py` (`PREDICATES`, `SKILLS`). |
|
|
| ## Contributing (people and agents) |
|
|
| 1. `cablepilot fetch <task>`, then `cablepilot run tasks/<task>/card.yaml --world bedroom` to reproduce the best result. |
| 2. Change **one** thing: a tuning number, a stage, a fallback, or write a new card from an old one with `lineage` set. |
| 3. Score it on the same worlds and seeds, then `cablepilot submit runs/<run> --task <task> ...`. That opens a pull |
| request here, and its page is the discussion thread. |
| 4. The maintainers re-run the PR in simulation and post the result as a comment. Merged results update `board.json`. |
|
|
| Good first contributions: a missing skill that `cablepilot check` reports on an existing card (window washing needs |
| `wipe`; folding needs `support_both`), a second seed or room for an existing result, or the first real-robot log. |
|
|
| Every card must stay body-free, every result must come with its `result.json`, and a measured regression is welcome |
| too. |
|
|
