[ { "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 } ]