README.md

---

language:
- en
- zh
license: other
license_name: upstream-embodiedswe-terms
license_link: https://huggingface.co/datasets/Travor278/EmbodiedSWE-Task-Examples/blob/main/NOTICE.md
pretty_name: EmbodiedSWE Simulation Task Examples
tags:
- robotics
- video
- simulation
configs:
- config_name: all
  data_files:
  - split: examples
    path: data/all.parquet
  default: true
- config_name: scene_allen_bolt
  data_files:
  - split: examples
    path: data/scene_allen_bolt.parquet
- config_name: scene_bulb
  data_files:
  - split: examples
    path: data/scene_bulb.parquet
- config_name: scene_ikea_table
  data_files:
  - split: examples
    path: data/scene_ikea_table.parquet
- config_name: scene_so101
  data_files:
  - split: examples
    path: data/scene_so101.parquet
- config_name: scene_nut_thread
  data_files:
  - split: examples
    path: data/scene_nut_thread.parquet
- config_name: scene_pc_gpu
  data_files:
  - split: examples
    path: data/scene_pc_gpu.parquet
- config_name: scene_pc_gpu_ram
  data_files:
  - split: examples
    path: data/scene_pc_gpu_ram.parquet
- config_name: scene_pc_motherboard
  data_files:
  - split: examples
    path: data/scene_pc_motherboard.parquet
- config_name: scene_pc_ram
  data_files:
  - split: examples
    path: data/scene_pc_ram.parquet
- config_name: scene_pen_holder
  data_files:
  - split: examples
    path: data/scene_pen_holder.parquet
- config_name: scene_tool_packing
  data_files:
  - split: examples
    path: data/scene_tool_packing.parquet
- config_name: scene_egg_carton
  data_files:
  - split: examples
    path: data/scene_egg_carton.parquet
- config_name: scene_clear_organic_objects
  data_files:
  - split: examples
    path: data/scene_clear_organic_objects.parquet
- config_name: scene_coffee
  data_files:
  - split: examples
    path: data/scene_coffee.parquet
- config_name: scene_spatula
  data_files:
  - split: examples
    path: data/scene_spatula.parquet
- config_name: scene_syringe
  data_files:
  - split: examples
    path: data/scene_syringe.parquet
- config_name: scene_push_shapes
  data_files:
  - split: examples
    path: data/scene_push_shapes.parquet
- config_name: scene_classify_objects
  data_files:
  - split: examples
    path: data/scene_classify_objects.parquet
- config_name: scene_stack_blocks
  data_files:
  - split: examples
    path: data/scene_stack_blocks.parquet
- config_name: scene_tshirt
  data_files:
  - split: examples
    path: data/scene_tshirt.parquet
- config_name: scene_latte
  data_files:
  - split: examples
    path: data/scene_latte.parquet
- config_name: scene_dumpling
  data_files:
  - split: examples
    path: data/scene_dumpling.parquet
- config_name: scene_shoe_knot
  data_files:
  - split: examples
    path: data/scene_shoe_knot.parquet
- config_name: scene_slice
  data_files:
  - split: examples
    path: data/scene_slice.parquet
- config_name: scene_dice
  data_files:
  - split: examples
    path: data/scene_dice.parquet
- config_name: scene_fruit_delivery
  data_files:
  - split: examples
    path: data/scene_fruit_delivery.parquet
- config_name: scene_box_to_bin
  data_files:
  - split: examples
    path: data/scene_box_to_bin.parquet
- config_name: scene_wheel_carry
  data_files:
  - split: examples
    path: data/scene_wheel_carry.parquet
- config_name: assembly
  data_files:
  - split: examples
    path: data/assembly.parquet
- config_name: cutting
  data_files:
  - split: examples
    path: data/cutting.parquet
- config_name: deformable
  data_files:
  - split: examples
    path: data/deformable.parquet
- config_name: liquid
  data_files:
  - split: examples
    path: data/liquid.parquet
- config_name: locomanip
  data_files:
  - split: examples
    path: data/locomanip.parquet
- config_name: organizing
  data_files:
  - split: examples
    path: data/organizing.parquet
- config_name: puzzle
  data_files:
  - split: examples
    path: data/puzzle.parquet
---

# EmbodiedSWE Simulation Task Examples

[打开任务 MP4 浏览页](https://travor278-embodiedswe-task-examples.static.hf.space/?task=bulb)

28 个官网场景 · 26 段官网 MP4 · 10 个官方数据来源各 3 条完整 episode，共 30 条多相机示教。shoe_knot 与 dice 暂无官方展示视频，保留任务目录和评分标准。



**序号规则：** 本页 C01–C28 是按官网目录顺序生成的辅助编号，官方任务以 `suite.scene` 标识。LeRobot `task_index` 和 `episode_index` 都只在各自 `source_repo` 内有效，绝不能把各库的 task_index=0 当成同一任务。



**相机：** 按官方实际提供的 front/front_wide/high/side/corner/wrist 展示，单臂 wrist 不伪装成 left/right。官网演示只展示其原有视角。

**评分：** 来自当前公开代码的 BaseGrader 与具体 RUBRIC，progress 是归一化权重和。live=当前值；once=历史最好；final=交付末端才评估。历史数据生成使用的 grader 可能不同；示例没有公开逐条分数，因此 actual_episode_score/success 留空。

[Franka 腕部相机说明](https://travor278-embodiedswe-task-examples.static.hf.space/?task=camera-guide) · [官方任务页](https://embodiedswe.github.io/#benchmark)

| 辅助目录号 | 官方 scene ID | Task | Category | 直接浏览 |
|---|---|---|---|---|
| C01 | `assembly.allen_bolt` | Allen bolt | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=allen_bolt) |
| C02 | `assembly.bulb` | Bulb screwing | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=bulb) |
| C03 | `assembly.ikea_table` | Table assembly | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=ikea_table) |
| C04 | `assembly.so101` | Robot-arm assembly | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=so101) |
| C05 | `assembly.nut_thread` | Nut threading | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=nut_thread) |
| C06 | `assembly.pc_gpu` | GPU insertion | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu) |
| C07 | `assembly.pc_gpu_ram` | GPU + RAM install | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu_ram) |
| C08 | `assembly.pc_motherboard` | Motherboard mount | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_motherboard) |
| C09 | `assembly.pc_ram` | RAM seating | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_ram) |
| C10 | `packing.pen_holder` | Pen holder | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pen_holder) |
| C11 | `packing.tool_packing` | Tool packing | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tool_packing) |
| C12 | `packing.egg_carton` | Egg carton | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=egg_carton) |
| C13 | `packing.clear_organic_objects` | Clear organics | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=clear_organic_objects) |
| C14 | `puzzle.coffee` | Coffee brewing | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=coffee) |
| C15 | `puzzle.spatula` | Spatula flip | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=spatula) |
| C16 | `puzzle.syringe` | Syringe dosing | Liquid | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=syringe) |
| C17 | `puzzle.push_shapes` | Push shapes | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=push_shapes) |
| C18 | `puzzle.classify_objects` | Classify objects | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=classify_objects) |
| C19 | `puzzle.stack_blocks` | Stack blocks | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=stack_blocks) |
| C20 | `deformable.tshirt` | T-shirt folding | Deformable | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tshirt) |
| C21 | `deformable.latte` | Latte pouring | Liquid | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=latte) |
| C22 | `deformable.dumpling` | Dough rolling | Deformable | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dumpling) |
| C23 | `deformable.shoe_knot` | Shoelace half-knot | Deformable | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=shoe_knot) |
| C24 | `cutting.slice` | Banana slicing | Cutting | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=slice) |
| C25 | `cutting.dice` | Food dicing | Cutting | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dice) |
| C26 | `locomanip.fruit_delivery` | Fruit delivery | Locomanip | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=fruit_delivery) |
| C27 | `locomanip.box_to_bin` | Box to bin | Locomanip | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=box_to_bin) |
| C28 | `locomanip.wheel_carry` | Wheel carry | Locomanip | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=wheel_carry) |

## C01 · Allen bolt · assembly.allen_bolt



**Instruction / objective:** Drive an Allen bolt into a threaded plate using an L-shaped key.



**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=allen_bolt) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/allen_bolt_assembly.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| key_grasped | 1 | 50.00% | once |
| driven | 1 | 50.00% | live |

```python

def check_success(self):

        return self.scene.success()

```

[官网展示 MP4](media/allen_bolt/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C02 · Bulb screwing · assembly.bulb

**Instruction / objective:** Pick up a light bulb and screw it into its socket until fully seated.

**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=bulb) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/bulb_assembly.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| lifted | 1 | 33.33% | once |
| engaged | 1 | 33.33% | live |
| threaded | 1 | 33.33% | live |

```python

def check_success(self):

        return self.scene.seated().all(dim=1)

```

**Official dataset:** [EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921](https://huggingface.co/datasets/EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921) · 15 FPS · cameras: front, wrist

**source task_index=0 / episode_index=0** · 2731 frames / 15 FPS / 182.07 s

**Dataset instruction:** pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.

![Source camera composite](media/bulb/episode_000000/preview.jpg)

[同步 MP4](media/bulb/episode_000000/synchronized.mp4) · [front MP4](media/bulb/episode_000000/front.mp4) · [wrist MP4](media/bulb/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/bulb/episode_000000.parquet)

**source task_index=0 / episode_index=408** · 1317 frames / 15 FPS / 87.80 s

**Dataset instruction:** pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.

![Source camera composite](media/bulb/episode_000408/preview.jpg)

[同步 MP4](media/bulb/episode_000408/synchronized.mp4) · [front MP4](media/bulb/episode_000408/front.mp4) · [wrist MP4](media/bulb/episode_000408/wrist.mp4) · [官方轨迹 Parquet](trajectories/bulb/episode_000408.parquet)

**source task_index=0 / episode_index=815** · 1745 frames / 15 FPS / 116.33 s

**Dataset instruction:** pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.

![Source camera composite](media/bulb/episode_000815/preview.jpg)

[同步 MP4](media/bulb/episode_000815/synchronized.mp4) · [front MP4](media/bulb/episode_000815/front.mp4) · [wrist MP4](media/bulb/episode_000815/wrist.mp4) · [官方轨迹 Parquet](trajectories/bulb/episode_000815.parquet)

[官网展示 MP4](media/bulb/website_demo.mp4) · 网站原始播放倍率 5.0x；该示例不等同于公开三相机训练轨迹。

## C03 · Table assembly · assembly.ikea_table



**Instruction / objective:** Attach four threaded legs to the corner studs of a tabletop.



**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=ikea_table) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/ikea_table_assembly.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| aligned | 1 | 50.00% | live |

| seated | 1 | 50.00% | live |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/ikea_table/website_demo.mp4) · 网站原始播放倍率 4.0x；该示例不等同于公开三相机训练轨迹。

## C04 · Robot-arm assembly · assembly.so101

**Instruction / objective:** Assemble a robot arm.

**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=so101) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/so101_assembly.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| motor_seated | 1 | 7.14% | live |

| tab_screws_picked | 2 | 14.29% | once |

| tab_screws_fastened | 2 | 14.29% | live |

| fork_seated | 1 | 7.14% | live |
| horn_screws_picked | 4 | 28.57% | once |
| horn_screws_fastened | 4 | 28.57% | live |

```python

def check_success(self):

        """Every loose screw fastened (the scene's `state == 2`) AND the servo live in the

        pocket AND the forearm live on the horn — the assembled elbow, on the final state."""

        all_fastened = (self.scene.fastened >= 0).all(dim=1)

        return all_fastened & self._motor_seated() & self._fork_seated()

```

[官网展示 MP4](media/so101/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C05 · Nut threading · assembly.nut_thread



**Instruction / objective:** Pick up an M16 nut and thread it onto a fixed bolt.



**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=nut_thread) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/nut_thread_assembly.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| lifted | 1 | 33.33% | once |

| aligned | 1 | 33.33% | live |

| threaded | 1 | 33.33% | live |



```python

def check_success(self):
        return self.scene.seated().all(dim=1)

```


**Official dataset:** [EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905](https://huggingface.co/datasets/EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905) · 20 FPS · cameras: front, side, wrist

**source task_index=0 / episode_index=0** · 3661 frames / 20 FPS / 183.05 s

**Dataset instruction:** pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.

![Source camera composite](media/nut_thread/episode_000000/preview.jpg)

[同步 MP4](media/nut_thread/episode_000000/synchronized.mp4) · [front MP4](media/nut_thread/episode_000000/front.mp4) · [side MP4](media/nut_thread/episode_000000/side.mp4) · [wrist MP4](media/nut_thread/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/nut_thread/episode_000000.parquet)

**source task_index=0 / episode_index=200** · 2298 frames / 20 FPS / 114.90 s

**Dataset instruction:** pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.

![Source camera composite](media/nut_thread/episode_000200/preview.jpg)

[同步 MP4](media/nut_thread/episode_000200/synchronized.mp4) · [front MP4](media/nut_thread/episode_000200/front.mp4) · [side MP4](media/nut_thread/episode_000200/side.mp4) · [wrist MP4](media/nut_thread/episode_000200/wrist.mp4) · [官方轨迹 Parquet](trajectories/nut_thread/episode_000200.parquet)

**source task_index=0 / episode_index=400** · 2181 frames / 20 FPS / 109.05 s

**Dataset instruction:** pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.

![Source camera composite](media/nut_thread/episode_000400/preview.jpg)

[同步 MP4](media/nut_thread/episode_000400/synchronized.mp4) · [front MP4](media/nut_thread/episode_000400/front.mp4) · [side MP4](media/nut_thread/episode_000400/side.mp4) · [wrist MP4](media/nut_thread/episode_000400/wrist.mp4) · [官方轨迹 Parquet](trajectories/nut_thread/episode_000400.parquet)

[官网展示 MP4](media/nut_thread/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C06 · GPU insertion · assembly.pc_gpu



**Instruction / objective:** Align a graphics card with a PCIe slot and press it into place.



**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_gpu_assembly.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| grasped | 1 | 33.33% | once |

| aligned | 1 | 33.33% | live |

| pressed | 1 | 33.33% | live |



```python

def check_success(self):
        return self.scene.seated()

```


**Official dataset:** [EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907) · 15 FPS · cameras: front, wrist

**source task_index=0 / episode_index=0** · 2010 frames / 15 FPS / 134.00 s

**Dataset instruction:** grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.

![Source camera composite](media/pc_gpu/episode_000000/preview.jpg)

[同步 MP4](media/pc_gpu/episode_000000/synchronized.mp4) · [front MP4](media/pc_gpu/episode_000000/front.mp4) · [wrist MP4](media/pc_gpu/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu/episode_000000.parquet)

**source task_index=2 / episode_index=49** · 1350 frames / 15 FPS / 90.00 s

**Dataset instruction:** grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.
The case has been set down by hand and is not on a fixed mark: its position on the bench shifts by a centimetre or so from one build to the next, so the slot's location must be read off the case itself rather than assumed. Its orientation is always the same — square to the bench.

![Source camera composite](media/pc_gpu/episode_000049/preview.jpg)

[同步 MP4](media/pc_gpu/episode_000049/synchronized.mp4) · [front MP4](media/pc_gpu/episode_000049/front.mp4) · [wrist MP4](media/pc_gpu/episode_000049/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu/episode_000049.parquet)

**source task_index=4 / episode_index=114** · 1830 frames / 15 FPS / 122.00 s

**Dataset instruction:** grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.
The work is raised: the case stands on a grey 60 mm bench riser and the card's holder on a matching plinth of the same height, so the whole job — the slot, the card and the space above them — sits that much higher off the table top than the bare bench would put it. The two platforms are fixed bench furniture: they do not move and are not part of the task.

![Source camera composite](media/pc_gpu/episode_000114/preview.jpg)

[同步 MP4](media/pc_gpu/episode_000114/synchronized.mp4) · [front MP4](media/pc_gpu/episode_000114/front.mp4) · [wrist MP4](media/pc_gpu/episode_000114/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu/episode_000114.parquet)

[官网展示 MP4](media/pc_gpu/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C07 · GPU + RAM install · assembly.pc_gpu_ram

**Instruction / objective:** Install a graphics card and then seat two memory modules in their slots.

**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu_ram) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_gpu_ram_assembly.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| gpu_grasped | 1 | 11.11% | once |

| gpu_aligned | 1 | 11.11% | live |
| gpu_seated | 1 | 11.11% | live |

| ram_grasped | 2 | 22.22% | once |
| ram_aligned | 2 | 22.22% | live |

| ram_seated | 2 | 22.22% | live |

```python

def check_success(self):

        return self.scene.success()

```

**Official dataset:** [EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907) · 15 FPS · cameras: front, high, wrist

**source task_index=0 / episode_index=0** · 2850 frames / 15 FPS / 190.00 s

**Dataset instruction:** install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.

![Source camera composite](media/pc_gpu_ram/episode_000000/preview.jpg)

[同步 MP4](media/pc_gpu_ram/episode_000000/synchronized.mp4) · [front MP4](media/pc_gpu_ram/episode_000000/front.mp4) · [high MP4](media/pc_gpu_ram/episode_000000/high.mp4) · [wrist MP4](media/pc_gpu_ram/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu_ram/episode_000000.parquet)

**source task_index=1 / episode_index=16** · 2070 frames / 15 FPS / 138.00 s

**Dataset instruction:** install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.
The bench is a working one: well to the west of the case, clear of the case, the parts and every path between them, a shallow steel parts tray, a ceramic coffee mug and the motherboard's printed manual lie about. None of them belongs to this job — leave them where they are.

![Source camera composite](media/pc_gpu_ram/episode_000016/preview.jpg)

[同步 MP4](media/pc_gpu_ram/episode_000016/synchronized.mp4) · [front MP4](media/pc_gpu_ram/episode_000016/front.mp4) · [high MP4](media/pc_gpu_ram/episode_000016/high.mp4) · [wrist MP4](media/pc_gpu_ram/episode_000016/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu_ram/episode_000016.parquet)

**source task_index=2 / episode_index=84** · 2070 frames / 15 FPS / 138.00 s

**Dataset instruction:** install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.
The bench stands in a service bay: a pegboard panel rises along its far edge, a steel shelf is cantilevered above that panel well over head height for the arm, and a wooden crate stands on the floor off the bench's west end. All three are fixed parts of the room — not objects to handle, and none is within reach of the work.

![Source camera composite](media/pc_gpu_ram/episode_000084/preview.jpg)

[同步 MP4](media/pc_gpu_ram/episode_000084/synchronized.mp4) · [front MP4](media/pc_gpu_ram/episode_000084/front.mp4) · [high MP4](media/pc_gpu_ram/episode_000084/high.mp4) · [wrist MP4](media/pc_gpu_ram/episode_000084/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu_ram/episode_000084.parquet)

[官网展示 MP4](media/pc_gpu_ram/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

## C08 · Motherboard mount · assembly.pc_motherboard



**Instruction / objective:** Use an Allen key to drive seven mounting bolts and secure a motherboard inside a case.



**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_motherboard) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_motherboard_assembly.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| key_grasped | 1 | 12.50% | once |
| driven | 7 | 87.50% | live |

```python

def check_success(self):

        return self.scene.success()

```

[官网展示 MP4](media/pc_motherboard/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

## C09 · RAM seating · assembly.pc_ram



**Instruction / objective:** Align and seat two memory modules in separate DIMM slots.



**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_ram) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_ram_assembly.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| grasped | 1 | 33.33% | once |

| aligned | 1 | 33.33% | live |

| seated | 1 | 33.33% | live |



```python

def check_success(self):
        return self.scene.success()

```


**Official dataset:** [EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907) · 15 FPS · cameras: front, wrist

**source task_index=0 / episode_index=0** · 2250 frames / 15 FPS / 150.00 s

**Dataset instruction:** grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.

![Source camera composite](media/pc_ram/episode_000000/preview.jpg)

[同步 MP4](media/pc_ram/episode_000000/synchronized.mp4) · [front MP4](media/pc_ram/episode_000000/front.mp4) · [wrist MP4](media/pc_ram/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_ram/episode_000000.parquet)

**source task_index=0 / episode_index=300** · 1290 frames / 15 FPS / 86.00 s

**Dataset instruction:** grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.

![Source camera composite](media/pc_ram/episode_000300/preview.jpg)

[同步 MP4](media/pc_ram/episode_000300/synchronized.mp4) · [front MP4](media/pc_ram/episode_000300/front.mp4) · [wrist MP4](media/pc_ram/episode_000300/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_ram/episode_000300.parquet)

**source task_index=0 / episode_index=599** · 600 frames / 15 FPS / 40.00 s

**Dataset instruction:** grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.

![Source camera composite](media/pc_ram/episode_000599/preview.jpg)

[同步 MP4](media/pc_ram/episode_000599/synchronized.mp4) · [front MP4](media/pc_ram/episode_000599/front.mp4) · [wrist MP4](media/pc_ram/episode_000599/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_ram/episode_000599.parquet)

[官网展示 MP4](media/pc_ram/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C10 · Pen holder · packing.pen_holder



**Instruction / objective:** Insert every present pen tip-up and then place the filled holder upright.



**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pen_holder) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/pen_holder.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| pens_in | 0.9 | 90.00% | live |
| holder_placed | 0.1 | 10.00% | live |



```python

def check_success(self):
        return self.scene.success()

```


**Official dataset:** [EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909](https://huggingface.co/datasets/EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909) · 15 FPS · cameras: front, corner, wrist

**source task_index=0 / episode_index=0** · 3780 frames / 15 FPS / 252.00 s

**Dataset instruction:** put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.

![Source camera composite](media/pen_holder/episode_000000/preview.jpg)

[同步 MP4](media/pen_holder/episode_000000/synchronized.mp4) · [front MP4](media/pen_holder/episode_000000/front.mp4) · [corner MP4](media/pen_holder/episode_000000/corner.mp4) · [wrist MP4](media/pen_holder/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pen_holder/episode_000000.parquet)

**source task_index=0 / episode_index=342** · 900 frames / 15 FPS / 60.00 s

**Dataset instruction:** put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.

![Source camera composite](media/pen_holder/episode_000342/preview.jpg)

[同步 MP4](media/pen_holder/episode_000342/synchronized.mp4) · [front MP4](media/pen_holder/episode_000342/front.mp4) · [corner MP4](media/pen_holder/episode_000342/corner.mp4) · [wrist MP4](media/pen_holder/episode_000342/wrist.mp4) · [官方轨迹 Parquet](trajectories/pen_holder/episode_000342.parquet)

**source task_index=0 / episode_index=683** · 420 frames / 15 FPS / 28.00 s

**Dataset instruction:** put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.

![Source camera composite](media/pen_holder/episode_000683/preview.jpg)

[同步 MP4](media/pen_holder/episode_000683/synchronized.mp4) · [front MP4](media/pen_holder/episode_000683/front.mp4) · [corner MP4](media/pen_holder/episode_000683/corner.mp4) · [wrist MP4](media/pen_holder/episode_000683/wrist.mp4) · [官方轨迹 Parquet](trajectories/pen_holder/episode_000683.parquet)

[官网展示 MP4](media/pen_holder/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C11 · Tool packing · packing.tool_packing



**Instruction / objective:** Stow three tools in their assigned drawers and close the cabinet.



**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tool_packing) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/tool_packing.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| stowed | 0.45 | 45.00% | live |

| drawer_shut | 0.45 | 45.00% | live |
| cabinet_shut | 0.1 | 10.00% | live |



```python

def check_success(self):
        return self.scene.success()

```


**Official dataset:** [EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910](https://huggingface.co/datasets/EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910) · 15 FPS · cameras: front, corner, wrist

**source task_index=0 / episode_index=0** · 8730 frames / 15 FPS / 582.00 s

**Dataset instruction:** pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.

![Source camera composite](media/tool_packing/episode_000000/preview.jpg)

[同步 MP4](media/tool_packing/episode_000000/synchronized.mp4) · [front MP4](media/tool_packing/episode_000000/front.mp4) · [corner MP4](media/tool_packing/episode_000000/corner.mp4) · [wrist MP4](media/tool_packing/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/tool_packing/episode_000000.parquet)

**source task_index=0 / episode_index=843** · 3720 frames / 15 FPS / 248.00 s

**Dataset instruction:** pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.

![Source camera composite](media/tool_packing/episode_000843/preview.jpg)

[同步 MP4](media/tool_packing/episode_000843/synchronized.mp4) · [front MP4](media/tool_packing/episode_000843/front.mp4) · [corner MP4](media/tool_packing/episode_000843/corner.mp4) · [wrist MP4](media/tool_packing/episode_000843/wrist.mp4) · [官方轨迹 Parquet](trajectories/tool_packing/episode_000843.parquet)

**source task_index=0 / episode_index=1685** · 3600 frames / 15 FPS / 240.00 s

**Dataset instruction:** pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.

![Source camera composite](media/tool_packing/episode_001685/preview.jpg)

[同步 MP4](media/tool_packing/episode_001685/synchronized.mp4) · [front MP4](media/tool_packing/episode_001685/front.mp4) · [corner MP4](media/tool_packing/episode_001685/corner.mp4) · [wrist MP4](media/tool_packing/episode_001685/wrist.mp4) · [官方轨迹 Parquet](trajectories/tool_packing/episode_001685.parquet)

[官网展示 MP4](media/tool_packing/website_demo.mp4) · 网站原始播放倍率 5.0x；该示例不等同于公开三相机训练轨迹。

## C12 · Egg carton · packing.egg_carton



**Instruction / objective:** Seat three eggs upright in the cells of an egg carton, then push the hinged lid closed.



**Difficulty:** Hard · **官网列出的 evaluated on:** Unitree G1



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=egg_carton) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/egg_carton.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| eggs_seated | 0.9 | 90.00% | live |
| lid_closed | 0.1 | 10.00% | live |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/egg_carton/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C13 · Clear organics · packing.clear_organic_objects

**Instruction / objective:** Clear the organic objects on a cluttered table into a bin while leaving the other items in place.

**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=clear_organic_objects) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/clear_organic_objects.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| organics_cleared | 1.0 | 100.00% | live |



```python

def check_success(self):
        return self.scene.success() & self._bin_upright()

```


**Official dataset:** [EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918](https://huggingface.co/datasets/EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918) · 20 FPS · cameras: front, side, wrist

**source task_index=0 / episode_index=0** · 4797 frames / 20 FPS / 239.85 s

**Dataset instruction:** identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.

![Source camera composite](media/clear_organic_objects/episode_000000/preview.jpg)

[同步 MP4](media/clear_organic_objects/episode_000000/synchronized.mp4) · [front MP4](media/clear_organic_objects/episode_000000/front.mp4) · [side MP4](media/clear_organic_objects/episode_000000/side.mp4) · [wrist MP4](media/clear_organic_objects/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/clear_organic_objects/episode_000000.parquet)

**source task_index=0 / episode_index=200** · 1879 frames / 20 FPS / 93.95 s

**Dataset instruction:** identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.

![Source camera composite](media/clear_organic_objects/episode_000200/preview.jpg)

[同步 MP4](media/clear_organic_objects/episode_000200/synchronized.mp4) · [front MP4](media/clear_organic_objects/episode_000200/front.mp4) · [side MP4](media/clear_organic_objects/episode_000200/side.mp4) · [wrist MP4](media/clear_organic_objects/episode_000200/wrist.mp4) · [官方轨迹 Parquet](trajectories/clear_organic_objects/episode_000200.parquet)

**source task_index=0 / episode_index=399** · 1320 frames / 20 FPS / 66.00 s

**Dataset instruction:** identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.

![Source camera composite](media/clear_organic_objects/episode_000399/preview.jpg)

[同步 MP4](media/clear_organic_objects/episode_000399/synchronized.mp4) · [front MP4](media/clear_organic_objects/episode_000399/front.mp4) · [side MP4](media/clear_organic_objects/episode_000399/side.mp4) · [wrist MP4](media/clear_organic_objects/episode_000399/wrist.mp4) · [官方轨迹 Parquet](trajectories/clear_organic_objects/episode_000399.parquet)

[官网展示 MP4](media/clear_organic_objects/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

## C14 · Coffee brewing · puzzle.coffee

**Instruction / objective:** Load a capsule, brew coffee, and return the filled mug to the serving tray.

**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=coffee) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/coffee_service.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| pod_loaded | 1 | 14.29% | once |

| bay_closed | 1 | 14.29% | once |
| cup_staged | 1 | 14.29% | once |

| started | 1 | 14.29% | once |

| brewed | 1 | 14.29% | live |

| cup_out | 1 | 14.29% | once |
| served | 1 | 14.29% | live |

```python

def check_success(self):

        return self.scene.success()

```

**Official dataset:** [EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907) · 60 FPS · cameras: front_wide, wrist



**source task_index=0 / episode_index=0** · 8610 frames / 60 FPS / 143.50 s



**Dataset instruction:** the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.



![Source camera composite](media/coffee/episode_000000/preview.jpg)



[同步 MP4](media/coffee/episode_000000/synchronized.mp4) · [front_wide MP4](media/coffee/episode_000000/front_wide.mp4) · [wrist MP4](media/coffee/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/coffee/episode_000000.parquet)



**source task_index=0 / episode_index=300** · 8610 frames / 60 FPS / 143.50 s



**Dataset instruction:** the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.



![Source camera composite](media/coffee/episode_000300/preview.jpg)



[同步 MP4](media/coffee/episode_000300/synchronized.mp4) · [front_wide MP4](media/coffee/episode_000300/front_wide.mp4) · [wrist MP4](media/coffee/episode_000300/wrist.mp4) · [官方轨迹 Parquet](trajectories/coffee/episode_000300.parquet)



**source task_index=0 / episode_index=599** · 1530 frames / 60 FPS / 25.50 s



**Dataset instruction:** the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.



![Source camera composite](media/coffee/episode_000599/preview.jpg)



[同步 MP4](media/coffee/episode_000599/synchronized.mp4) · [front_wide MP4](media/coffee/episode_000599/front_wide.mp4) · [wrist MP4](media/coffee/episode_000599/wrist.mp4) · [官方轨迹 Parquet](trajectories/coffee/episode_000599.parquet)



[官网展示 MP4](media/coffee/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。



## C15 · Spatula flip · puzzle.spatula



**Instruction / objective:** Wedge a spatula under bread, flip it, reload it onto the blade, and serve it to a plate.



**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=spatula) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/spatula_flip_serve.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| lifted | 1 | 20.00% | once |

| wedged | 1 | 20.00% | once |

| flipped | 1 | 20.00% | once |

| loaded | 1 | 20.00% | once |

| served | 1 | 20.00% | live |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/spatula/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C16 · Syringe dosing · puzzle.syringe

**Instruction / objective:** Draw liquid from a reservoir, meter three target doses, and repark the syringe.

**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=syringe) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/syringe_dosing.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| drawn | 1 | 20.00% | once |
| dosed | 3 | 60.00% | live |
| parked | 1 | 20.00% | live |

```python

def check_success(self):

        return self.scene.success()

```

[官网展示 MP4](media/syringe/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C17 · Push shapes · puzzle.push_shapes



**Instruction / objective:** Push three blocks onto their matching pads, correcting each block’s orientation along the way.



**Difficulty:** Easy · **官网列出的 evaluated on:** Unitree G1



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=push_shapes) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/push_shapes.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| yaw_aligned | 1 | 33.33% | live |
| near_pad | 1 | 33.33% | live |

| seated | 1 | 33.33% | live |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/push_shapes/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C18 · Classify objects · puzzle.classify_objects



**Instruction / objective:** Sort scattered coloured blocks into the zones matching their colours.



**Difficulty:** Easy · **官网列出的 evaluated on:** Unitree G1



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=classify_objects) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/classify_objects.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| sorted_blocks | 1 | 100.00% | live |

```python

def check_success(self):

        return self.scene.success()

```

[官网展示 MP4](media/classify_objects/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C19 · Stack blocks · puzzle.stack_blocks



**Instruction / objective:** Stack scattered blocks into a single aligned tower on a marked pad.



**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=stack_blocks) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/stack_blocks.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| tower | 1 | 100.00% | live |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/stack_blocks/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C20 · T-shirt folding · deformable.tshirt

**Instruction / objective:** Fold a T-shirt into a compact, flat bundle.

**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tshirt) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/tshirt.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| sleeves | 2 | 40.00% | live |
| hem | 1 | 20.00% | live |
| folded | 1 | 20.00% | live |
| plausible | 1 | 20.00% | final |

```python

def check_success(self):

        return self.scene.success()

```

[官网展示 MP4](media/tshirt/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

## C21 · Latte pouring · deformable.latte

**Instruction / objective:** Coordinate two arms to pour milk into a carried coffee mug without excessive spilling.

**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=latte) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/latte.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| pitcher_grasped | 1 | 25.00% | once |

| transferred | 1 | 25.00% | live |

| poured | 1 | 25.00% | live |

| plausible | 1 | 25.00% | final |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/latte/website_demo.mp4) · 网站原始播放倍率 3.0x；该示例不等同于公开三相机训练轨迹。

## C22 · Dough rolling · deformable.dumpling

**Instruction / objective:** Roll a ball of dough flat into a round dumpling wrapper with a rolling pin.

**Difficulty:** Hard · **官网列出的 evaluated on:** Franka / xArm7 / Gen3

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dumpling) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/dumpling.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| flattened | 1 | 25.00% | live |
| spread | 1 | 25.00% | live |
| rolled | 1 | 25.00% | live |
| plausible | 1 | 25.00% | final |

```python

def check_success(self):

        return self.scene.success()

```

[官网展示 MP4](media/dumpling/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C23 · Shoelace half-knot · deformable.shoe_knot



**Instruction / objective:** Tie a half knot from the two shoelaces of a sneaker.



**Difficulty:** Hard · **官网列出的 evaluated on:** Franka / xArm7 / Gen3



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=shoe_knot) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/shoe_knot.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| wound | 1 | 25.00% | live |

| snug | 1 | 25.00% | live |

| tied | 1 | 25.00% | live |

| plausible | 1 | 25.00% | final |



```python

def check_success(self):
        import torch


        return torch.tensor([bool(self.scene.success(w)) for w in self._worlds()])

```


官方目录中该任务目前没有公开展示 MP4。

## C24 · Banana slicing · cutting.slice

**Instruction / objective:** Pick up a chef knife from its rest and slice a carrot (or a banana) into a target number of pieces on a chopping board.

**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=slice) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/cutting/grader/slice_food.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| knife_taken | 1 | 11.11% | once |

| planes_cut | 7 | 77.78% | live |
| sliced | 1 | 11.11% | live |

```python

def check_success(self):

        return self._sliced()

```

**Official dataset:** [EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919](https://huggingface.co/datasets/EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919) · 15 FPS · cameras: front, wrist

**source task_index=0 / episode_index=0** · 1440 frames / 15 FPS / 96.00 s

**Dataset instruction:** pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the banana into slices. The banana is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.

![Source camera composite](media/slice/episode_000000/preview.jpg)

[同步 MP4](media/slice/episode_000000/synchronized.mp4) · [front MP4](media/slice/episode_000000/front.mp4) · [wrist MP4](media/slice/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/slice/episode_000000.parquet)

**source task_index=5 / episode_index=1055** · 1200 frames / 15 FPS / 80.00 s

**Dataset instruction:** pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the carrot into slices. The carrot is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.

![Source camera composite](media/slice/episode_001055/preview.jpg)

[同步 MP4](media/slice/episode_001055/synchronized.mp4) · [front MP4](media/slice/episode_001055/front.mp4) · [wrist MP4](media/slice/episode_001055/wrist.mp4) · [官方轨迹 Parquet](trajectories/slice/episode_001055.parquet)

**source task_index=21 / episode_index=3664** · 1320 frames / 15 FPS / 88.00 s

**Dataset instruction:** pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the baguette_1 into slices. The baguette_1 is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.

![Source camera composite](media/slice/episode_003664/preview.jpg)

[同步 MP4](media/slice/episode_003664/synchronized.mp4) · [front MP4](media/slice/episode_003664/front.mp4) · [wrist MP4](media/slice/episode_003664/wrist.mp4) · [官方轨迹 Parquet](trajectories/slice/episode_003664.parquet)

[官网展示 MP4](media/slice/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C25 · Food dicing · cutting.dice

**Instruction / objective:** Dice a tomato (or a potato) into a 3×3 grid of pieces, cutting along two plane families with the knife re-yawed between them.

**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dice) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/cutting/grader/dice_food.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| knife_taken | 1 | 7.14% | once |

| pairs_cut | 12 | 85.71% | live |
| diced | 1 | 7.14% | live |

```python

def check_success(self):

        return self._diced()

```

官方目录中该任务目前没有公开展示 MP4。

## C26 · Fruit delivery · locomanip.fruit_delivery



**Instruction / objective:** Pick up every fruit on a long table and carry it around the table to a plate beyond arm reach.



**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=fruit_delivery) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/locomanip/grader/fruit_delivery.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| lifted | 1 | 33.33% | once |

| carried | 1 | 33.33% | once |

| placed | 1 | 33.33% | live |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/fruit_delivery/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C27 · Box to bin · locomanip.box_to_bin

**Instruction / objective:** Pick a cardboard box off a shelf and carry it to a sorting bin on a table across the room.

**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1

[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=box_to_bin) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/locomanip/grader/box_to_bin.py)

| Stage | Weight | Normalized share | Mode |
|---|---|---|---|
| picked | 1 | 33.33% | once |
| carried | 1 | 33.33% | once |
| in_bin | 1 | 33.33% | live |



```python

def check_success(self):
        return self.scene.success()

```


[官网展示 MP4](media/box_to_bin/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## C28 · Wheel carry · locomanip.wheel_carry



**Instruction / objective:** Pick a steering wheel off one packing table and carry it to a basket on another, three metres away.



**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1



[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=wheel_carry) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/locomanip/grader/wheel_carry.py)



| Stage | Weight | Normalized share | Mode |

|---|---|---|---|

| picked | 1 | 33.33% | once |

| carried | 1 | 33.33% | once |

| in_basket | 1 | 33.33% | live |

```python

def check_success(self):

        return self.scene.success()

```

[官网展示 MP4](media/wheel_carry/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

## 来源与复现

代码 revision：`433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b`。官网抓取日期：2026-10-05。

保留各数据源固定 revision、源文件大小与校验和、官方 episode 时间区间和元数据、源码评分说明。合并源视频采用 HTTP Range 读取选定 episode；不下载完整 assets、权重或整库。

脚本 `scripts/build_examples.py` 可基于保留的 manifests 运行 demos/extract/render/package；浏览页源码保留在 browser/ 与 scripts/build_browser.py。



官方代码采用 Apache-2.0；部分源数据未单列许可元数据。本整理保留各来源权利与署名，不另行扩张许可；见 NOTICE.md、LICENSE 和 reference/。