{
 "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": []
  }
 }
}