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{
"task_index": 0,
"key": "ball_catching",
"name": "Ball Catching",
"category": "Reaction-critical",
"instruction": "hold the container with the gripper and catch the thrown ball in the container",
"description": "Catch a launched ball with a held container.",
"success_rule": "Episode success is task_phase == 4. The ball must remain in the virtual catch zone below the end effector for the configured consecutive-step threshold.",
"profile": {
"gym_id": "BallCatching-Franka-DataCollection-v0",
"action_scale": 0.1,
"has_ik_override": false,
"short_circuit_success": true,
"success_type": "task_phase_4",
"phase_names": {
"0": "wait",
"1": "launch",
"2": "predict",
"3": "position",
"4": "catch"
}
},
"official_gym_id": "BallCatching-Franka-DataCollection-v0",
"doc_url": "https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/ball_catching/README.md",
"published_episode_count": 200
},
{
"task_index": 1,
"key": "conveyor_belt_pick_and_place",
"name": "Conveyor Belt Pick And Place",
"category": "Reaction-critical",
"instruction": "pick up the cube from the moving conveyor and place it into the bin",
"description": "Pick from the moving conveyor and release into the bin.",
"success_rule": "Success requires the object inside the bin in environment-local coordinates: x in [-0.2,0.2], y in [-0.6,-0.3], z in [0.0,0.08] m.",
"profile": {
"gym_id": "ConveyorBeltPickAndPlace-Franka-DataCollection-v0",
"action_scale": 0.1,
"has_ik_override": true,
"short_circuit_success": true,
"success_type": "object_in_box",
"phase_names": {
"0": "approach",
"1": "lift",
"2": "transport",
"3": "release",
"4": "return",
"5": "done"
},
"box_x_range": [
-0.2,
0.2
],
"box_y_range": [
-0.6,
-0.3
],
"box_z_range": [
0.0,
0.08
]
},
"official_gym_id": "ConveyorBeltPickAndPlace-Franka-DataCollection-v0",
"doc_url": "https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/conveyor_belt_pick_and_place/README.md",
"published_episode_count": 236
},
{
"task_index": 2,
"key": "whack_a_mole",
"name": "Whack A Mole",
"category": "Reaction-critical",
"instruction": "hit the mole that pops up on the board with the closed gripper",
"description": "Strike the active mole using the closed gripper during its popup window.",
"success_rule": "Unified evaluation success is valid_hits > 0. A valid hit requires proximity to the active mole, closed gripper and the configured dwell. Current eval profile uses 2.0 s popup, 0.3 s gap, 0 s initial delay and 3.0 s evaluation length. Completing the window schedule alone is not success.",
"profile": {
"gym_id": "WhackAMole-Franka-DataCollection-v0",
"action_scale": 0.2,
"has_ik_override": false,
"short_circuit_success": false,
"success_type": "whack_a_mole",
"popup_duration_s": 2.0,
"popup_gap_s": 0.3,
"popup_initial_delay_s": 0.0,
"eval_episode_length_s": 3.0,
"phase_names": {
"0": "wait popup",
"1": "move",
"2": "strike",
"3": "return",
"4": "done"
}
},
"official_gym_id": "WhackAMole-Franka-DataCollection-v0",
"doc_url": "https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/whack_a_mole/README.md",
"published_episode_count": 200
},
{
"task_index": 3,
"key": "rolling_ball_interception",
"name": "Rolling Ball Interception",
"category": "Reaction-critical",
"instruction": "hold the container with the gripper and catch the orange rolling down the ramp in the container",
"description": "Intercept the ball or orange rolling down the ramp.",
"success_rule": "Episode success is task_phase == 4. The rolling object must stay in the virtual catch zone for the configured hold threshold.",
"profile": {
"gym_id": "RollingBallInterception-Franka-DataCollection-v0",
"action_scale": 0.1,
"has_ik_override": false,
"short_circuit_success": true,
"success_type": "task_phase_4",
"phase_names": {
"0": "wait",
"1": "roll",
"2": "predict",
"3": "position",
"4": "catch"
}
},
"official_gym_id": "RollingBallInterception-Franka-DataCollection-v0",
"doc_url": "https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/rolling_ball_interception/README.md",
"published_episode_count": 200
},
{
"task_index": 4,
"key": "ball_throwing",
"name": "Ball Throwing",
"category": "Reaction-critical",
"instruction": "toss the ball into the bin",
"description": "Throw the pre-grasped ball into the target bin.",
"success_rule": "Success is task_phase == 2, meaning the ball entered the target bin. Documentation bounds relative to bin center: |x-cx| <= 0.13, |y-cy| <= 0.09, z in [0.02,0.18] m.",
"profile": {
"gym_id": "BallThrowing-Franka-DataCollection-v0",
"action_scale": 0.1,
"has_ik_override": false,
"short_circuit_success": true,
"success_type": "task_phase_2",
"phase_names": {
"0": "swing",
"1": "release",
"2": "in box"
}
},
"official_gym_id": "BallThrowing-Franka-DataCollection-v0",
"doc_url": "https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/ball_throwing/README.md",
"published_episode_count": 200
},
{
"task_index": 5,
"key": "rotating_peg_insertion",
"name": "Rotating Peg Insertion",
"category": "Reaction-critical",
"instruction": "insert the peg into the hole on the rotating disc",
"description": "Time peg insertion into the moving hole of a rotating disc.",
"success_rule": "Success is task_phase == 4. Peg tip enters the hole within its radius tolerance, descends at least 0.02 m below the disc surface, and holds for at least 5 control steps (task README).",
"profile": {
"gym_id": "RotatingPegInsertion-Franka-DataCollection-v0",
"action_scale": 0.1,
"has_ik_override": false,
"short_circuit_success": true,
"success_type": "task_phase_4",
"phase_names": {
"0": "pre-align",
"1": "track",
"2": "wait alignment",
"3": "insert",
"4": "done"
}
},
"official_gym_id": "RotatingPegInsertion-Franka-DataCollection-v0",
"doc_url": "https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/rotating_peg_insertion/README.md",
"published_episode_count": 200
}
] |