| { |
| "format": "pilot-board/2", |
| "built": "2026-11-11T14:02:08+00:00", |
| "bodies": [ |
| { |
| "body": "cable", |
| "pilot": "MacroSwan/cablepilot", |
| "status": "open", |
| "carrier": "cable-driven parallel robot (4 lines, a gantry, a swinging pole)", |
| "machines": [ |
| "Stringman (Neufangled)" |
| ], |
| "rigs": [ |
| { |
| "rig": "stringman", |
| "hands": 1, |
| "hand": "Stringman two-finger gripper", |
| "status": "open" |
| }, |
| { |
| "rig": "duo_rig", |
| "hands": 2, |
| "hand": "two SO-101 arms on a turntable plate", |
| "status": "private" |
| } |
| ], |
| "predicates": [ |
| "see", |
| "pre_grasp", |
| "grasp", |
| "pre_inside", |
| "release", |
| "inside", |
| "avoid" |
| ], |
| "predicates_source": "cablepilot/cardrun.py CABLE_SKILLS", |
| "model": { |
| "params": 28401, |
| "train": "11 min, laptop CPU, task-free sim motion in 12k random rooms" |
| } |
| }, |
| { |
| "body": "arm", |
| "pilot": "MacroSwan/armpilot", |
| "status": "coming", |
| "carrier": "desk arm (SO-101, 6 servos)", |
| "machines": [ |
| "SO-101 (LeRobot)" |
| ], |
| "rigs": [ |
| { |
| "rig": "so101", |
| "hands": 1, |
| "hand": "SO-101 pinch", |
| "status": "private" |
| }, |
| { |
| "rig": "so101_duo", |
| "hands": 2, |
| "hand": "two SO-101s facing each other", |
| "status": "private" |
| } |
| ], |
| "predicates": [], |
| "note": "the only pilot with real-robot runs (pen in cup on a real SO-101): the first to release after cable" |
| }, |
| { |
| "body": "dog", |
| "pilot": "MacroSwan/dogpilot", |
| "status": "coming", |
| "carrier": "quadruped (Unitree Go2)", |
| "machines": [ |
| "Unitree Go2 (sim)" |
| ], |
| "rigs": [ |
| { |
| "rig": "go2", |
| "hands": 0, |
| "hand": "none", |
| "status": "private" |
| } |
| ], |
| "predicates": [], |
| "note": "MPPI over a learned motion model: duck under and jump over bars" |
| }, |
| { |
| "body": "drone", |
| "pilot": "MacroSwan/dronepilot", |
| "status": "coming", |
| "carrier": "quadrotor (and fixed wing)", |
| "machines": [ |
| "quadrotor (sim)" |
| ], |
| "rigs": [ |
| { |
| "rig": "quad", |
| "hands": 0, |
| "hand": "none", |
| "status": "private" |
| }, |
| { |
| "rig": "quad_pinch", |
| "hands": 1, |
| "hand": "SO-101 pinch under the frame", |
| "status": "private" |
| } |
| ], |
| "predicates": [], |
| "note": "SkyJEPA world model; public precursors on huggingface.co/Ethgar (skyjepa, skyfull datasets)" |
| }, |
| { |
| "body": "human", |
| "pilot": "MacroSwan/humanpilot", |
| "status": "coming", |
| "carrier": "humanoid (Unitree G1)", |
| "machines": [ |
| "Unitree G1 (sim)" |
| ], |
| "rigs": [ |
| { |
| "rig": "g1", |
| "hands": 2, |
| "hand": "G1 hands", |
| "status": "private" |
| } |
| ], |
| "predicates": [], |
| "note": "licence to settle before release: the motion prior is trained on LAFAN1 (CC BY-NC-ND)" |
| } |
| ], |
| "tasks": { |
| "avoid_furniture": { |
| "needs": { |
| "predicates": [ |
| "near", |
| "see" |
| ], |
| "hands": 1 |
| }, |
| "lineage": { |
| "parent": null, |
| "by": "Ethgar", |
| "why": "every home task crosses a furnished room; scored on its own so a better avoid lifts every card" |
| }, |
| "tunings": [], |
| "results": [], |
| "best": [] |
| }, |
| "clean_the_room": { |
| "needs": { |
| "predicates": [ |
| "grasp", |
| "inside", |
| "pre_grasp", |
| "pre_inside", |
| "release", |
| "see" |
| ], |
| "hands": 1 |
| }, |
| "lineage": { |
| "parent": "worldpilot:cards/home/clean_the_room.yaml", |
| "by": "Ethgar", |
| "why": "runnable on today's skills: one box, every stray" |
| }, |
| "tunings": [ |
| "cable" |
| ], |
| "results": [ |
| { |
| "id": "2026-11-10_2ed39e20ae72_c1511f1b78dd_bedroom_s0", |
| "body": "cable", |
| "world": "sim:bedroom", |
| "seed": 0, |
| "episodes": 3, |
| "score": { |
| "done": 29, |
| "of": 36, |
| "done_frac": 0.8055555555555556, |
| "s_per_item": 62.325925926072756, |
| "furniture_contact_ticks": 0, |
| "max_tension_N": 24.770697346564702 |
| }, |
| "compute": { |
| "plan_ms_mean": 49.00661432258048, |
| "plan_ms_p95": 51.280632347697974, |
| "perception_ms_mean": 8.871021099325944 |
| }, |
| "card_sha": "2ed39e20ae72", |
| "tuning_sha": "c1511f1b78dd", |
| "lineage": { |
| "parent": "worldpilot:cards/home/clean_the_room.yaml", |
| "by": "Ethgar", |
| "why": "runnable on today's skills: one box, every stray" |
| }, |
| "by": "Ethgar", |
| "date": "2026-11-10T17:57:24+00:00", |
| "sim": "3.15.0", |
| "reference_sim": true, |
| "result": "tasks/clean_the_room/results/2026-11-10_2ed39e20ae72_c1511f1b78dd_bedroom_s0.json", |
| "media": "tasks/clean_the_room/media/2026-11-10_2ed39e20ae72_c1511f1b78dd_bedroom_s0.mp4" |
| } |
| ], |
| "best": [ |
| { |
| "id": "2026-11-10_2ed39e20ae72_c1511f1b78dd_bedroom_s0", |
| "body": "cable", |
| "world": "sim:bedroom", |
| "seed": 0, |
| "episodes": 3, |
| "score": { |
| "done": 29, |
| "of": 36, |
| "done_frac": 0.8055555555555556, |
| "s_per_item": 62.325925926072756, |
| "furniture_contact_ticks": 0, |
| "max_tension_N": 24.770697346564702 |
| }, |
| "compute": { |
| "plan_ms_mean": 49.00661432258048, |
| "plan_ms_p95": 51.280632347697974, |
| "perception_ms_mean": 8.871021099325944 |
| }, |
| "card_sha": "2ed39e20ae72", |
| "tuning_sha": "c1511f1b78dd", |
| "lineage": { |
| "parent": "worldpilot:cards/home/clean_the_room.yaml", |
| "by": "Ethgar", |
| "why": "runnable on today's skills: one box, every stray" |
| }, |
| "by": "Ethgar", |
| "date": "2026-11-10T17:57:24+00:00", |
| "sim": "3.15.0", |
| "reference_sim": true, |
| "result": "tasks/clean_the_room/results/2026-11-10_2ed39e20ae72_c1511f1b78dd_bedroom_s0.json", |
| "media": "tasks/clean_the_room/media/2026-11-10_2ed39e20ae72_c1511f1b78dd_bedroom_s0.mp4" |
| } |
| ] |
| }, |
| "fold_clothes": { |
| "needs": { |
| "predicates": [ |
| "folded", |
| "laid_flat", |
| "on_top", |
| "release", |
| "see", |
| "support_both" |
| ], |
| "hands": 2 |
| }, |
| "lineage": { |
| "parent": "worldpilot:cards/home/fold_clothes.yaml", |
| "by": "Ethgar", |
| "why": "the first two-hand challenge on the board, unchanged" |
| }, |
| "tunings": [], |
| "results": [], |
| "best": [] |
| }, |
| "pen_in_cup": { |
| "needs": { |
| "predicates": [ |
| "grasp", |
| "inside", |
| "pre_grasp", |
| "pre_inside", |
| "release", |
| "see" |
| ], |
| "hands": 1 |
| }, |
| "lineage": null, |
| "tunings": [], |
| "results": [], |
| "best": [] |
| } |
| }, |
| "matrix": { |
| "avoid_furniture": { |
| "cable": { |
| "state": "gap", |
| "missing": [ |
| "near" |
| ] |
| }, |
| "arm": { |
| "state": "coming" |
| }, |
| "dog": { |
| "state": "coming" |
| }, |
| "drone": { |
| "state": "coming" |
| }, |
| "human": { |
| "state": "coming" |
| } |
| }, |
| "clean_the_room": { |
| "cable": { |
| "state": "scored", |
| "done": 29, |
| "of": 36, |
| "world": "sim:bedroom", |
| "result": "tasks/clean_the_room/results/2026-11-10_2ed39e20ae72_c1511f1b78dd_bedroom_s0.json" |
| }, |
| "arm": { |
| "state": "coming" |
| }, |
| "dog": { |
| "state": "coming" |
| }, |
| "drone": { |
| "state": "coming" |
| }, |
| "human": { |
| "state": "coming" |
| } |
| }, |
| "fold_clothes": { |
| "cable": { |
| "state": "gap", |
| "missing": [ |
| "2 hands" |
| ] |
| }, |
| "arm": { |
| "state": "coming" |
| }, |
| "dog": { |
| "state": "coming" |
| }, |
| "drone": { |
| "state": "coming" |
| }, |
| "human": { |
| "state": "coming" |
| } |
| }, |
| "pen_in_cup": { |
| "cable": { |
| "state": "runs" |
| }, |
| "arm": { |
| "state": "coming" |
| }, |
| "dog": { |
| "state": "coming" |
| }, |
| "drone": { |
| "state": "coming" |
| }, |
| "human": { |
| "state": "coming" |
| } |
| } |
| }, |
| "skills": { |
| "folded": { |
| "cards": [ |
| "fold_clothes" |
| ], |
| "bodies": [] |
| }, |
| "grasp": { |
| "cards": [ |
| "clean_the_room", |
| "pen_in_cup" |
| ], |
| "bodies": [ |
| "cable" |
| ] |
| }, |
| "inside": { |
| "cards": [ |
| "clean_the_room", |
| "pen_in_cup" |
| ], |
| "bodies": [ |
| "cable" |
| ] |
| }, |
| "laid_flat": { |
| "cards": [ |
| "fold_clothes" |
| ], |
| "bodies": [] |
| }, |
| "near": { |
| "cards": [ |
| "avoid_furniture" |
| ], |
| "bodies": [] |
| }, |
| "on_top": { |
| "cards": [ |
| "fold_clothes" |
| ], |
| "bodies": [] |
| }, |
| "pre_grasp": { |
| "cards": [ |
| "clean_the_room", |
| "pen_in_cup" |
| ], |
| "bodies": [ |
| "cable" |
| ] |
| }, |
| "pre_inside": { |
| "cards": [ |
| "clean_the_room", |
| "pen_in_cup" |
| ], |
| "bodies": [ |
| "cable" |
| ] |
| }, |
| "release": { |
| "cards": [ |
| "clean_the_room", |
| "fold_clothes", |
| "pen_in_cup" |
| ], |
| "bodies": [ |
| "cable" |
| ] |
| }, |
| "see": { |
| "cards": [ |
| "avoid_furniture", |
| "clean_the_room", |
| "fold_clothes", |
| "pen_in_cup" |
| ], |
| "bodies": [ |
| "cable" |
| ] |
| }, |
| "support_both": { |
| "cards": [ |
| "fold_clothes" |
| ], |
| "bodies": [] |
| } |
| } |
| } |
