---
language:
- en
- zh
license: other
pretty_name: ReflexBench Simulation Task Examples
configs:
- config_name: all
  data_files:
  - split: examples
    path: data/all.parquet
  default: true
- config_name: task_000000
  data_files:
  - split: examples
    path: data/task_000000.parquet
- config_name: task_000001
  data_files:
  - split: examples
    path: data/task_000001.parquet
- config_name: task_000002
  data_files:
  - split: examples
    path: data/task_000002.parquet
- config_name: task_000003
  data_files:
  - split: examples
    path: data/task_000003.parquet
- config_name: task_000004
  data_files:
  - split: examples
    path: data/task_000004.parquet
- config_name: task_000005
  data_files:
  - split: examples
    path: data/task_000005.parquet
- config_name: reaction_critical
  data_files:
  - split: examples
    path: data/reaction_critical.parquet
tags:
- robotics
- video
- simulation
license_name: upstream-reflexbench-terms
license_link: LICENSE
---
# ReflexBench Simulation Task Examples

[打开 MP4 任务浏览页](https://travor278-reflexbench-task-examples.static.hf.space/?task=0)

Six official task_index values 0–5. Single Franka arm; only fixed_cam and wrist_cam exist. Do not relabel the wrist as left/right. Success rules describe evaluation, not an unprovided per-demo score.

所有示例是完整 H.264 MP4。单臂相机保留官方名称：fixed_cam / wrist_cam。每条有同步合并视频、各路原视频与官方动作/状态 Parquet。

评估标准根据官方代码和文档整理；发布数据未保存逐条示教 success 标签，故 actual_episode_success 为 null。本文不编造 0–100 得分。

| 官方 task_index | Task / instruction scenario | 分类 | 直接浏览 |
|---|---|---|---|
| 0 | Ball Catching | Reaction-critical | [打开](https://travor278-reflexbench-task-examples.static.hf.space/?task=0) |
| 1 | Conveyor Belt Pick And Place | Reaction-critical | [打开](https://travor278-reflexbench-task-examples.static.hf.space/?task=1) |
| 2 | Whack A Mole | Reaction-critical | [打开](https://travor278-reflexbench-task-examples.static.hf.space/?task=2) |
| 3 | Rolling Ball Interception | Reaction-critical | [打开](https://travor278-reflexbench-task-examples.static.hf.space/?task=3) |
| 4 | Ball Throwing | Reaction-critical | [打开](https://travor278-reflexbench-task-examples.static.hf.space/?task=4) |
| 5 | Rotating Peg Insertion | Reaction-critical | [打开](https://travor278-reflexbench-task-examples.static.hf.space/?task=5) |

ReflexBench 上游 episode 本身很短，多数选取记录只有约 1 秒。此处保持完整官方 length 和时间区间，没有人为截短、慢放或补帧。

## task_index=0 · Ball Catching

**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 / evaluation:** 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.

[官方说明](https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/ball_catching/README.md)

**Gym ID:** `BallCatching-Franka-DataCollection-v0`

**episode_index=0** · 24 frames / 0.96 s

![Camera preview](media/ball_catching/episode_000000/preview.jpg)

[同步 MP4](media/ball_catching/episode_000000/synchronized.mp4) · [fixed_cam MP4](media/ball_catching/episode_000000/fixed_cam.mp4) · [wrist_cam MP4](media/ball_catching/episode_000000/wrist_cam.mp4) · [官方轨迹](trajectories/ball_catching/episode_000000.parquet)

**episode_index=100** · 27 frames / 1.08 s

![Camera preview](media/ball_catching/episode_000100/preview.jpg)

[同步 MP4](media/ball_catching/episode_000100/synchronized.mp4) · [fixed_cam MP4](media/ball_catching/episode_000100/fixed_cam.mp4) · [wrist_cam MP4](media/ball_catching/episode_000100/wrist_cam.mp4) · [官方轨迹](trajectories/ball_catching/episode_000100.parquet)

**episode_index=199** · 37 frames / 1.48 s

![Camera preview](media/ball_catching/episode_000199/preview.jpg)

[同步 MP4](media/ball_catching/episode_000199/synchronized.mp4) · [fixed_cam MP4](media/ball_catching/episode_000199/fixed_cam.mp4) · [wrist_cam MP4](media/ball_catching/episode_000199/wrist_cam.mp4) · [官方轨迹](trajectories/ball_catching/episode_000199.parquet)

## task_index=1 · Conveyor Belt Pick And Place

**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 / evaluation:** 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.

[官方说明](https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/conveyor_belt_pick_and_place/README.md)

**Gym ID:** `ConveyorBeltPickAndPlace-Franka-DataCollection-v0`

**episode_index=200** · 31 frames / 1.24 s

![Camera preview](media/conveyor_belt_pick_and_place/episode_000200/preview.jpg)

[同步 MP4](media/conveyor_belt_pick_and_place/episode_000200/synchronized.mp4) · [fixed_cam MP4](media/conveyor_belt_pick_and_place/episode_000200/fixed_cam.mp4) · [wrist_cam MP4](media/conveyor_belt_pick_and_place/episode_000200/wrist_cam.mp4) · [官方轨迹](trajectories/conveyor_belt_pick_and_place/episode_000200.parquet)

**episode_index=318** · 37 frames / 1.48 s

![Camera preview](media/conveyor_belt_pick_and_place/episode_000318/preview.jpg)

[同步 MP4](media/conveyor_belt_pick_and_place/episode_000318/synchronized.mp4) · [fixed_cam MP4](media/conveyor_belt_pick_and_place/episode_000318/fixed_cam.mp4) · [wrist_cam MP4](media/conveyor_belt_pick_and_place/episode_000318/wrist_cam.mp4) · [官方轨迹](trajectories/conveyor_belt_pick_and_place/episode_000318.parquet)

**episode_index=435** · 36 frames / 1.44 s

![Camera preview](media/conveyor_belt_pick_and_place/episode_000435/preview.jpg)

[同步 MP4](media/conveyor_belt_pick_and_place/episode_000435/synchronized.mp4) · [fixed_cam MP4](media/conveyor_belt_pick_and_place/episode_000435/fixed_cam.mp4) · [wrist_cam MP4](media/conveyor_belt_pick_and_place/episode_000435/wrist_cam.mp4) · [官方轨迹](trajectories/conveyor_belt_pick_and_place/episode_000435.parquet)

## task_index=2 · Whack A Mole

**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 / evaluation:** 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.

[官方说明](https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/whack_a_mole/README.md)

**Gym ID:** `WhackAMole-Franka-DataCollection-v0`

**episode_index=436** · 18 frames / 0.72 s

![Camera preview](media/whack_a_mole/episode_000436/preview.jpg)

[同步 MP4](media/whack_a_mole/episode_000436/synchronized.mp4) · [fixed_cam MP4](media/whack_a_mole/episode_000436/fixed_cam.mp4) · [wrist_cam MP4](media/whack_a_mole/episode_000436/wrist_cam.mp4) · [官方轨迹](trajectories/whack_a_mole/episode_000436.parquet)

**episode_index=536** · 16 frames / 0.64 s

![Camera preview](media/whack_a_mole/episode_000536/preview.jpg)

[同步 MP4](media/whack_a_mole/episode_000536/synchronized.mp4) · [fixed_cam MP4](media/whack_a_mole/episode_000536/fixed_cam.mp4) · [wrist_cam MP4](media/whack_a_mole/episode_000536/wrist_cam.mp4) · [官方轨迹](trajectories/whack_a_mole/episode_000536.parquet)

**episode_index=635** · 16 frames / 0.64 s

![Camera preview](media/whack_a_mole/episode_000635/preview.jpg)

[同步 MP4](media/whack_a_mole/episode_000635/synchronized.mp4) · [fixed_cam MP4](media/whack_a_mole/episode_000635/fixed_cam.mp4) · [wrist_cam MP4](media/whack_a_mole/episode_000635/wrist_cam.mp4) · [官方轨迹](trajectories/whack_a_mole/episode_000635.parquet)

## task_index=3 · Rolling Ball Interception

**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 / evaluation:** Episode success is task_phase == 4. The rolling object must stay in the virtual catch zone for the configured hold threshold.

[官方说明](https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/rolling_ball_interception/README.md)

**Gym ID:** `RollingBallInterception-Franka-DataCollection-v0`

**episode_index=636** · 26 frames / 1.04 s

![Camera preview](media/rolling_ball_interception/episode_000636/preview.jpg)

[同步 MP4](media/rolling_ball_interception/episode_000636/synchronized.mp4) · [fixed_cam MP4](media/rolling_ball_interception/episode_000636/fixed_cam.mp4) · [wrist_cam MP4](media/rolling_ball_interception/episode_000636/wrist_cam.mp4) · [官方轨迹](trajectories/rolling_ball_interception/episode_000636.parquet)

**episode_index=736** · 26 frames / 1.04 s

![Camera preview](media/rolling_ball_interception/episode_000736/preview.jpg)

[同步 MP4](media/rolling_ball_interception/episode_000736/synchronized.mp4) · [fixed_cam MP4](media/rolling_ball_interception/episode_000736/fixed_cam.mp4) · [wrist_cam MP4](media/rolling_ball_interception/episode_000736/wrist_cam.mp4) · [官方轨迹](trajectories/rolling_ball_interception/episode_000736.parquet)

**episode_index=835** · 26 frames / 1.04 s

![Camera preview](media/rolling_ball_interception/episode_000835/preview.jpg)

[同步 MP4](media/rolling_ball_interception/episode_000835/synchronized.mp4) · [fixed_cam MP4](media/rolling_ball_interception/episode_000835/fixed_cam.mp4) · [wrist_cam MP4](media/rolling_ball_interception/episode_000835/wrist_cam.mp4) · [官方轨迹](trajectories/rolling_ball_interception/episode_000835.parquet)

## task_index=4 · Ball Throwing

**Instruction:** toss the ball into the bin

**Description:** Throw the pre-grasped ball into the target bin.

**Success / evaluation:** 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.

[官方说明](https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/ball_throwing/README.md)

**Gym ID:** `BallThrowing-Franka-DataCollection-v0`

**episode_index=836** · 33 frames / 1.32 s

![Camera preview](media/ball_throwing/episode_000836/preview.jpg)

[同步 MP4](media/ball_throwing/episode_000836/synchronized.mp4) · [fixed_cam MP4](media/ball_throwing/episode_000836/fixed_cam.mp4) · [wrist_cam MP4](media/ball_throwing/episode_000836/wrist_cam.mp4) · [官方轨迹](trajectories/ball_throwing/episode_000836.parquet)

**episode_index=936** · 35 frames / 1.40 s

![Camera preview](media/ball_throwing/episode_000936/preview.jpg)

[同步 MP4](media/ball_throwing/episode_000936/synchronized.mp4) · [fixed_cam MP4](media/ball_throwing/episode_000936/fixed_cam.mp4) · [wrist_cam MP4](media/ball_throwing/episode_000936/wrist_cam.mp4) · [官方轨迹](trajectories/ball_throwing/episode_000936.parquet)

**episode_index=1035** · 33 frames / 1.32 s

![Camera preview](media/ball_throwing/episode_001035/preview.jpg)

[同步 MP4](media/ball_throwing/episode_001035/synchronized.mp4) · [fixed_cam MP4](media/ball_throwing/episode_001035/fixed_cam.mp4) · [wrist_cam MP4](media/ball_throwing/episode_001035/wrist_cam.mp4) · [官方轨迹](trajectories/ball_throwing/episode_001035.parquet)

## task_index=5 · Rotating Peg Insertion

**Instruction:** insert the peg into the hole on the rotating disc

**Description:** Time peg insertion into the moving hole of a rotating disc.

**Success / evaluation:** 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).

[官方说明](https://github.com/LxRoboticsLab/ReflexBench/blob/8bb931485093c6d98f8729774ad01bf824964e16/source/reflexbench/reflexbench/tasks/manager_based/rotating_peg_insertion/README.md)

**Gym ID:** `RotatingPegInsertion-Franka-DataCollection-v0`

**episode_index=1036** · 28 frames / 1.12 s

![Camera preview](media/rotating_peg_insertion/episode_001036/preview.jpg)

[同步 MP4](media/rotating_peg_insertion/episode_001036/synchronized.mp4) · [fixed_cam MP4](media/rotating_peg_insertion/episode_001036/fixed_cam.mp4) · [wrist_cam MP4](media/rotating_peg_insertion/episode_001036/wrist_cam.mp4) · [官方轨迹](trajectories/rotating_peg_insertion/episode_001036.parquet)

**episode_index=1136** · 59 frames / 2.36 s

![Camera preview](media/rotating_peg_insertion/episode_001136/preview.jpg)

[同步 MP4](media/rotating_peg_insertion/episode_001136/synchronized.mp4) · [fixed_cam MP4](media/rotating_peg_insertion/episode_001136/fixed_cam.mp4) · [wrist_cam MP4](media/rotating_peg_insertion/episode_001136/wrist_cam.mp4) · [官方轨迹](trajectories/rotating_peg_insertion/episode_001136.parquet)

**episode_index=1235** · 34 frames / 1.36 s

![Camera preview](media/rotating_peg_insertion/episode_001235/preview.jpg)

[同步 MP4](media/rotating_peg_insertion/episode_001235/synchronized.mp4) · [fixed_cam MP4](media/rotating_peg_insertion/episode_001235/fixed_cam.mp4) · [wrist_cam MP4](media/rotating_peg_insertion/episode_001235/wrist_cam.mp4) · [官方轨迹](trajectories/rotating_peg_insertion/episode_001235.parquet)

## 来源、许可与复现

官方数据：[原仓库](https://huggingface.co/datasets/cyx337/ReflexBench_dataset) · 固定 revision `9295b6e9878609a992047f0b8b65421a493299e7`。

官方代码：[GitHub](https://github.com/LxRoboticsLab/ReflexBench) · revision `8bb931485093c6d98f8729774ad01bf824964e16`。

保留上游 LICENSE 和来源文件在 `reference/`。ReflexBench 官方数据未单列许可证元数据；保留官方实现 BSD-3-Clause 来源，不扩大作者权利。

选择性提取记录、原始时间区间、task/episode 对应、相机元数据和校验均在 `provenance/`。不下载场景资产、模型权重或完整数据仓库。

复现脚本：`scripts/build_examples.py`。浏览页源码另见 `browser/` 和 `scripts/build_browser.py`。