| [ | |
| { | |
| "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 | |
| } | |
| ] |