File size: 80,035 Bytes
6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 1d5b4c0 6860975 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 1646 1647 1648 1649 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686 1687 1688 1689 1690 1691 1692 1693 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705 1706 1707 1708 1709 1710 1711 1712 1713 1714 1715 1716 1717 1718 1719 1720 1721 1722 1723 1724 1725 1726 1727 1728 1729 1730 1731 1732 1733 1734 1735 1736 1737 1738 1739 1740 1741 1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885 1886 1887 1888 1889 1890 1891 1892 1893 1894 1895 1896 1897 1898 1899 1900 1901 1902 1903 1904 1905 1906 1907 1908 1909 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 | [
{
"catalog_number": 1,
"task_index": 30,
"task_key": "stack_bowls",
"task_name": "Stack Bowls",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/",
"fields": {
"Instruction": "Stack the three bowls together.",
"Description": "There are three bowls. The robot needs to stack all the bowls together.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "No two bowls are stacked correctly."
},
{
"score": "15",
"condition": "Any two bowls are stacked upright and the gripper is open."
},
{
"score": "100",
"condition": "All three bowls are stacked together, all bowls are upright, the bottom bowl is strictly and stably placed on the table, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls-random.mp4",
"path": "media/stack_bowls/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_30_stack_bowls",
"dataset_instruction": "Stack the three bowls together.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 2,
"task_index": 26,
"task_key": "push_T",
"task_name": "Push T",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/push-t/",
"fields": {
"Instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.",
"Description": "There is a thin gray T-shaped pad and a T-shaped block. The robot needs to push the T-shaped block until it is precisely aligned with and fitted onto the gray pad.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "The target pose, reset, or no-lift condition is not satisfied."
},
{
"score": "100",
"condition": "The T-shaped block is within the target xy threshold, its orientation matches the target, the robot returns to origin, and the block is never lifted above the allowed height."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/push-t.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4",
"path": "media/push_T/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_26_push_T",
"dataset_instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 3,
"task_index": 18,
"task_key": "pack_objects_into_box",
"task_name": "Pack Objects Into Box",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/",
"fields": {
"Instruction": "Place all the objects into the box with their front sides facing left.",
"Description": "There are several objects on the table and a box. The robot needs to pick up all the objects, place them into the box, and ensure that each object is oriented with its front side facing left.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "No object is placed correctly into the box."
},
{
"score": "10",
"condition": "Any one object is inside the box with its front side facing left, the box is aligned, and the gripper is open."
},
{
"score": "25",
"condition": "Any two objects are placed correctly into the box."
},
{
"score": "50",
"condition": "Any three objects are placed correctly into the box."
},
{
"score": "100",
"condition": "All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4",
"path": "media/pack_objects_into_box/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_18_pack_objects_into_box",
"dataset_instruction": "Place all the objects into the box with their front sides facing left.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 4,
"task_index": 9,
"task_key": "fold_clothes",
"task_name": "Fold Clothes",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/",
"fields": {
"Instruction": "Fold the clothes neatly.",
"Description": "There is a piece of clothing. The robot needs to fold it neatly.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "DateGen / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "The sleeve-fold condition is not reached."
},
{
"score": "20",
"condition": "When the gripper opens, both sleeves are folded inward close to the opposite chest points."
},
{
"score": "100",
"condition": "Both sleeves are folded inward, the hems are close to the shoulder points in x/y, the hem line is aligned with the shoulder line within the angle threshold, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4",
"path": "media/fold_clothes/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_09_fold_clothes",
"dataset_instruction": "Fold the clothes neatly.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 5,
"task_index": 10,
"task_key": "hang_mugs",
"task_name": "Hang Mugs",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/",
"fields": {
"Instruction": "Hang all the mugs on the mug rack.",
"Description": "There are three mugs and one mug rack. The robot needs to pick up each mug and hang all of them on the rack.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "No mug is hung on the mug rack."
},
{
"score": "15",
"condition": "Any one mug is hung on the mug rack and the gripper is open."
},
{
"score": "40",
"condition": "Any two mugs are hung on the mug rack."
},
{
"score": "100",
"condition": "All three mugs are hung on the rack and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4",
"path": "media/hang_mugs/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_10_hang_mugs",
"dataset_instruction": "Hang all the mugs on the mug rack.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 6,
"task_index": 34,
"task_key": "sweep_blocks",
"task_name": "Sweep Blocks",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/",
"fields": {
"Instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.",
"Description": "There is a broom and a dustpan on the left side, and the blocks are on the right side. The robot needs to pick up the broom, hand it over to the right hand, grasp the dustpan with the left hand, and sweep the blocks into the dustpan.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "The blocks are not fully swept into the dustpan."
},
{
"score": "100",
"condition": "The dustpan is positioned left of the broom, stably placed upright on the table, all blocks are inside the dustpan, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4",
"path": "media/sweep_blocks/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_34_sweep_blocks",
"dataset_instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 7,
"task_index": 24,
"task_key": "pour_liquid_into_cup",
"task_name": "Pour Liquid Into Cup",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pour-liquid-into-cup/",
"fields": {
"Instruction": "Pour the liquid from the bottle into the cup.",
"Description": "There is a bottle containing liquid and a cup. The robot needs to pick up the bottle and pour the liquid into the cup.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "The liquid is not successfully poured into the cup."
},
{
"score": "100",
"condition": "The cup contains the required amount of liquid and the bottle is upright."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup-random.mp4",
"path": "media/pour_liquid_into_cup/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_24_pour_liquid_into_cup",
"dataset_instruction": "Pour the liquid from the bottle into the cup.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 8,
"task_index": 15,
"task_key": "make_toast",
"task_name": "Make Toast",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/make-toast/",
"fields": {
"Instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.",
"Description": "There is a basket containing multiple slices of bread and a toaster. The robot needs to pick up two slices one by one, place them into the toaster, and then press the lever down to start toasting.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "No bread slice is inserted into a toaster slot."
},
{
"score": "25",
"condition": "One bread slice is inserted into a toaster slot and all bread axes satisfy the required orientation."
},
{
"score": "50",
"condition": "Two bread slices are inserted into the toaster slots and all bread axes satisfy the required orientation."
},
{
"score": "100",
"condition": "Both toaster slots are filled, exactly two bread slices remain on the shelf, the toaster control is pressed down, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/make-toast.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4",
"path": "media/make_toast/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_15_make_toast",
"dataset_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 9,
"task_index": 0,
"task_key": "arrange_largest_number",
"task_name": "Arrange Largest Number",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/",
"fields": {
"Instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
"Description": "There are several number tiles on the table and a pad for placement. The robot needs to determine the order that forms the largest possible number, then place the four numbers on the pad from left to right in that order.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "DateGen / Random eval-only",
"Usage": "Train & Eval / Random Eval",
"Comment": "Each digit must remain within the permitted rotational tolerance relative to its initial pose."
},
"scoring": [
{
"score": "0",
"condition": "No digit is placed correctly."
},
{
"score": "5",
"condition": "Any one digit is placed on its correct pad in descending-number order, with valid orientation and the gripper open."
},
{
"score": "15",
"condition": "Any two digits are correctly placed."
},
{
"score": "25",
"condition": "In a 5-digit layout, any three digits are correctly placed."
},
{
"score": "30",
"condition": "In a 4-digit layout, any three digits are correctly placed."
},
{
"score": "40",
"condition": "In a 5-digit layout, any four digits are correctly placed."
},
{
"score": "100",
"condition": "All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4",
"path": "media/arrange_largest_number/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_00_arrange_largest_number",
"dataset_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 10,
"task_index": 28,
"task_key": "sort_nesting_dolls_by_size",
"task_name": "Sort Nesting Dolls By Size",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/sort-nesting-dolls-by-size/",
"fields": {
"Instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.",
"Description": "There are five nesting dolls of different sizes on the table. The robot needs to sort them by size and arrange them in a straight row from left to right, from smallest to largest.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "DateGen / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "The dolls are not arranged in the required size order."
},
{
"score": "100",
"condition": "All five nesting dolls stand in a one horizontal straight row, are ordered from left to right from smallest to largest, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4",
"path": "media/sort_nesting_dolls_by_size/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_28_sort_nesting_dolls_by_size",
"dataset_instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 11,
"task_index": 31,
"task_key": "store_laptop_and_headphones",
"task_name": "Store Laptop And Headphones",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/store-laptop-and-headphones/",
"fields": {
"Instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.",
"Description": "There is an open laptop on a laptop stand, a vertical laptop stand, a pair of headphones, and a headphone stand. The laptop opening angle is random but greater than 30 degrees. The robot needs to first hang the headphones on the headphone stand, then close the laptop, pick it up from the stand, and insert it into the vertical laptop stand.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "Teleop / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "Neither the headphones nor the laptop is stored correctly."
},
{
"score": "20",
"condition": "The headphones are placed on the stand: the headband bridge is close to the support cradle and aligned, with the gripper open."
},
{
"score": "80",
"condition": "The headphones are correctly placed on the stand, and the laptop is closed, vertically inserted into the laptop rack, and within the required range."
},
{
"score": "100",
"condition": "Both the headphones and laptop conditions are satisfied and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4",
"path": "media/store_laptop_and_headphones/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_31_store_laptop_and_headphones",
"dataset_instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 12,
"task_index": 29,
"task_key": "stack_blocks",
"task_name": "Stack Blocks",
"category": "Generalization",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks/",
"fields": {
"Instruction": "Stack the three blocks with different textures.",
"Description": "There are three blocks with different textures on the table. The robot needs to pick them up and stack them into a stable pile.",
"Platform": "Simulation",
"Category": "Generalization",
"Data Source": "DateGen / Random eval-only",
"Usage": "Train & Eval / Random Eval"
},
"scoring": [
{
"score": "0",
"condition": "No two-block stack is completed."
},
{
"score": "15",
"condition": "Any two of the three blocks are stacked, and the gripper is open."
},
{
"score": "100",
"condition": "All three blocks are stacked together and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Standard version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks.mp4"
},
{
"label": "Random version",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4",
"path": "media/stack_blocks/random.mp4",
"available_views": [
"top"
],
"unavailable_views": [
"left",
"right"
],
"camera_note": "公开的官网 Random MP4 只有头部相机视角；对应的左右腕相机录像未在官网及官方 HF 任务数据中找到。画面里的双臂不等于有腕部相机视频。"
}
],
"config": "task_29_stack_blocks",
"dataset_instruction": "Stack the three blocks with different textures.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 13,
"task_index": 3,
"task_key": "cover_blocks",
"task_name": "Cover Blocks",
"category": "Memory",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/cover-blocks/",
"fields": {
"Instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.",
"Description": "There are three covers and three blocks arranged in a random order. The blocks are red, green, and blue. The robot needs to cover the blocks from left to right, remember the color under each cover, and then uncover the blocks in the order of red, green, and blue.",
"Platform": "Simulation",
"Category": "Memory",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No block-covering step is completed."
},
{
"score": "5",
"condition": "All three blocks are covered by cups from left to right."
},
{
"score": "15",
"condition": "After all blocks are covered, the red block is uncovered first while the green and blue blocks remain covered."
},
{
"score": "30",
"condition": "The red and green blocks are uncovered in order while the blue block remains covered."
},
{
"score": "100",
"condition": "All three blocks are first covered from left to right, then uncovered in red, green, and blue order; cup orientation remains valid and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/cover-blocks.mp4"
}
],
"config": "task_03_cover_blocks",
"dataset_instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 14,
"task_index": 16,
"task_key": "match_and_pick_from_conveyor",
"task_name": "Match And Pick From Conveyor",
"category": "Memory",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/match-and-pick-from-conveyor/",
"fields": {
"Instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.",
"Description": "An object first appears on the conveyor and is carried away. The robot needs to remember this object, observe the following objects on the conveyor, and pick the one that matches the first object.",
"Platform": "Simulation",
"Category": "Memory",
"Data Source": "Teleop",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The matching target object is not lifted high enough."
},
{
"score": "100",
"condition": "The matching target object is lifted at least 10 cm."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/match-and-pick-from-conveyor.mp4"
}
],
"config": "task_16_match_and_pick_from_conveyor",
"dataset_instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 15,
"task_index": 33,
"task_key": "swap_blocks",
"task_name": "Swap Blocks",
"category": "Memory",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/swap-blocks/",
"fields": {
"Instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
"Description": "There are three mats, two blocks placed on two of the mats, and one button. The robot needs to swap the positions of the two blocks by using the empty mat as a temporary place. After each move, the robot must press the button.",
"Platform": "Simulation",
"Category": "Memory",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The swap sequence is not completed, or the button is not pressed after each move."
},
{
"score": "100",
"condition": "The two target blocks are swapped using the empty mat, the button is pressed once after each of the three moves, the blocks finish on each other's original mats, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/swap-blocks.mp4"
}
],
"config": "task_33_swap_blocks",
"dataset_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 16,
"task_index": 32,
"task_key": "swap_T",
"task_name": "Swap T",
"category": "Memory",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/swap-t/",
"fields": {
"Instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.",
"Description": "There are two T-shaped blocks on the table. The robot needs to grasp them with both hands, swap their positions, and place them back so that each block matches the original pose of the other one, including both position and orientation. This is a memory-based task.",
"Platform": "Simulation",
"Category": "Memory",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The two T blocks are not swapped with the required pose accuracy."
},
{
"score": "100",
"condition": "The two T-shaped blocks swap their original xy positions, their orientations match the swapped targets, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/swap-t.mp4"
}
],
"config": "task_32_swap_T",
"dataset_instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 17,
"task_index": 25,
"task_key": "press_by_number",
"task_name": "Press By Number",
"category": "Memory",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/press-by-number/",
"fields": {
"Instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"Description": "There are two number cards, two red buttons, and one blue confirmation button. The robot needs to read the numbers, press each red button the corresponding number of times, and then press the blue button to confirm. Pressing the blue button ends the task immediately.",
"Platform": "Simulation",
"Category": "Memory",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The required press counts or confirm sequence is not completed exactly."
},
{
"score": "100",
"condition": "Button `0` is pressed exactly the number shown by `num0`, the blue confirm button is pressed, button `1` is pressed exactly the number shown by `num1`, the blue confirm button is pressed again, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/press-by-number.mp4"
}
],
"config": "task_25_press_by_number",
"dataset_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 18,
"task_index": 11,
"task_key": "imitate_sorting_sequence",
"task_name": "Imitate Sorting Sequence",
"category": "Memory",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/imitate-sorting-sequence/",
"fields": {
"Instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.",
"Description": "There are five categories of objects, with five objects on each side. The opposite robot places its objects into the basket on the right side in a certain order. The robot needs to observe and remember this sequence, then place its corresponding objects into the basket in the same order. This is a memory-based imitation task.",
"Platform": "Simulation",
"Category": "Memory",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The first sequence step is not completed, or the policy robot moves before the opposite robot arm finishes."
},
{
"score": "5",
"condition": "The first target object is placed into the policy basket, later target objects are still outside it, all demonstration objects remain in the demo basket, and the gripper is open."
},
{
"score": "15",
"condition": "The first two target objects are placed in the correct sequence."
},
{
"score": "30",
"condition": "The first three target objects are placed in the correct sequence."
},
{
"score": "50",
"condition": "The first four target objects are placed in the correct sequence."
},
{
"score": "100",
"condition": "All five target objects are placed in sequence, all demonstration objects remain in the demo basket, the gripper is open, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/imitate-sorting-sequence.mp4"
}
],
"config": "task_11_imitate_sorting_sequence",
"dataset_instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 19,
"task_index": 6,
"task_key": "fasten_screws",
"task_name": "Fasten Screws",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fasten-screws/",
"fields": {
"Instruction": "Insert and tighten each screw into the nut of the same color.",
"Description": "There are three screws and three nuts on the table. The screws and nuts come from five possible colors: red, blue, gray, yellow, and purple. In each episode, three different colors are selected, and the robot needs to match each screw with the nut of the same color, insert it, and tighten it. The screw positions vary within a small range, while the nut positions vary within a larger range. If a handover is needed, the robot can first place the screw in the middle and then let the other arm pick it up and fasten it.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No nut is fastened onto its matching bolt."
},
{
"score": "20",
"condition": "Any one nut is upright, aligned with its matching bolt, rotated onto the bolt to the required depth, and the gripper is open."
},
{
"score": "50",
"condition": "Any two matching nut-bolt pairs are fastened correctly."
},
{
"score": "100",
"condition": "All three nut-bolt pairs are fastened, the gripper is open, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/fasten-screws.mp4"
}
],
"config": "task_06_fasten_screws",
"dataset_instruction": "Insert and tighten each screw into the nut of the same color.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 20,
"task_index": 22,
"task_key": "plug_in_charger",
"task_name": "Plug In Charger",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/plug-in-charger/",
"fields": {
"Instruction": "Plug the charger into the power strip.",
"Description": "There is a charger plug and a power strip. The robot needs to pick up the charger plug and insert it into the power strip.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The charger is not fully plugged into the socket."
},
{
"score": "100",
"condition": "The charger is inside the socket, inserted to the required depth, upright, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/plug-in-charger.mp4"
}
],
"config": "task_22_plug_in_charger",
"dataset_instruction": "Plug the charger into the power strip.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 21,
"task_index": 13,
"task_key": "insert_tubes",
"task_name": "Insert Tubes",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/insert-tubes/",
"fields": {
"Instruction": "Insert the three tubes into the rack one by one.",
"Description": "There is a tube rack and three tubes. The robot needs to pick up each tube in sequence and insert all tubes into the rack.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No tube is inserted into a slot."
},
{
"score": "20",
"condition": "Any one tube is inside the slot, inserted to the required depth, upright, and the gripper is open."
},
{
"score": "40",
"condition": "Any two tubes are inserted correctly."
},
{
"score": "100",
"condition": "All three tubes are inserted correctly and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/insert-tubes.mp4"
}
],
"config": "task_13_insert_tubes",
"dataset_instruction": "Insert the three tubes into the rack one by one.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 22,
"task_index": 23,
"task_key": "pour_balls_into_vase",
"task_name": "Pour Balls Into Vase",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pour-balls-into-vase/",
"fields": {
"Instruction": "Pour all the balls from the cup into the vase.",
"Description": "There is a cup containing many small balls and a vase. The robot needs to pick up the cup and pour all the balls into the vase.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "Teleop",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "Not all balls are transferred into the vase."
},
{
"score": "100",
"condition": "All seven balls are inside the vase, the cup is upright, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-balls-into-vase.mp4"
}
],
"config": "task_23_pour_balls_into_vase",
"dataset_instruction": "Pour all the balls from the cup into the vase.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 23,
"task_index": 19,
"task_key": "play_Xylophone",
"task_name": "Play Xylophone",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/play-xylophone/",
"fields": {
"Instruction": "Pick up the mallet and strike all xylophone keys from left to right.",
"Description": "There is a xylophone and a mallet. The robot needs to pick up the mallet with one hand and strike all the xylophone keys from left to right.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The full left-to-right strike sequence is not completed."
},
{
"score": "100",
"condition": "The mallet tip hits all xylophone keys from left to right, and after each hit the mallet is lifted by at least 0.025 m."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/play-xylophone.mp4"
}
],
"config": "task_19_play_Xylophone",
"dataset_instruction": "Pick up the mallet and strike all xylophone keys from left to right.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 24,
"task_index": 4,
"task_key": "deposit_coin",
"task_name": "Deposit Coin",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/deposit-coin/",
"fields": {
"Instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.",
"Description": "There is a coin placed on a holder and a coin bank. The robot needs to pick up the coin and accurately insert it into the slot of the coin bank.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The coin is not lifted."
},
{
"score": "20",
"condition": "The coin is lifted at least 8 cm."
},
{
"score": "100",
"condition": "The coin bounding box is inside the coin bank slot region, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/deposit-coin.mp4"
}
],
"config": "task_04_deposit_coin",
"dataset_instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 25,
"task_index": 12,
"task_key": "insert_key",
"task_name": "Insert Key",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/insert-key/",
"fields": {
"Instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.",
"Description": "There is a key and a keyhole on the table. The robot needs to pick up the key, hand it over to the other hand for pose adjustment, insert it accurately into the keyhole, and then turn it.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The key is not lifted."
},
{
"score": "15",
"condition": "The key is lifted at least 5 cm."
},
{
"score": "100",
"condition": "The key is inserted deep enough into the slot, aligned closely in x/y, kept upright, and successfully turned after insertion."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/insert-key.mp4"
}
],
"config": "task_12_insert_key",
"dataset_instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 26,
"task_index": 1,
"task_key": "build_tower",
"task_name": "Build Tower",
"category": "Precision",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/build-tower/",
"fields": {
"Instruction": "Build a stable multi-layer tower with the wooden blocks and boards.",
"Description": "There are wooden blocks and wooden boards on the table. The robot needs to place each board or block on the supports below it, keep each layer centered over the layer beneath it, and keep all pieces upright.",
"Platform": "Simulation",
"Category": "Precision",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No tower layer is completed."
},
{
"score": "10",
"condition": "The lower board is placed across two upright supports, remains stable and centered on them, and the gripper is open."
},
{
"score": "30",
"condition": "The middle board is placed on the completed lower layer, stays centered over it, and all lower and middle pieces remain upright."
},
{
"score": "100",
"condition": "The full tower is completed with the top pieces, all eight pieces remain upright, each layer stays centered over the layer below it, the gripper is open, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/build-tower.mp4"
}
],
"config": "task_01_build_tower",
"dataset_instruction": "Build a tower using the wooden blocks and wooden boards.",
"instruction_match": false,
"data_status": "official_demonstrations"
},
{
"catalog_number": 27,
"task_index": 8,
"task_key": "fill_pen_holder",
"task_name": "Fill Pen Holder",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fill-pen-holder/",
"fields": {
"Instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.",
"Description": "There is a pen holder and several pens. The robot needs to grasp the pen holder with one hand, use the other hand to place the pens into the holder one by one, and finally put the filled pen holder back on the table.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "Teleop",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No pen is correctly inserted into the pen holder."
},
{
"score": "10",
"condition": "Any one pen is correctly inserted tip-up into the upright pen holder."
},
{
"score": "25",
"condition": "Any two pens are correctly inserted into the pen holder."
},
{
"score": "40",
"condition": "Any three pens are correctly inserted into the pen holder."
},
{
"score": "90",
"condition": "All four pens are inserted into the upright pen holder, but the robot has not returned to origin yet."
},
{
"score": "100",
"condition": "All four pens are inserted, the pen holder is upright, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/fill-pen-holder.mp4"
}
],
"config": "task_08_fill_pen_holder",
"dataset_instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 28,
"task_index": 2,
"task_key": "classify_objects",
"task_name": "Classify Objects",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/classify-objects/",
"fields": {
"Instruction": "Sort the objects by category into the three baskets.",
"Description": "There are three categories of objects and three baskets. The robot needs to group the objects by category and place each category into a separate basket. Any basket can be used for any category, as long as objects of the same category are placed together.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "Teleop",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No category basket is completed."
},
{
"score": "15",
"condition": "One basket contains exactly one complete object category, with no objects from other categories, and the gripper is open."
},
{
"score": "40",
"condition": "Two baskets each contain exactly one complete category."
},
{
"score": "100",
"condition": "All three categories are separated into three baskets, the objects are settled inside the baskets, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/classify-objects.mp4"
}
],
"config": "task_02_classify_objects",
"dataset_instruction": "Sort the objects by category into the three baskets.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 29,
"task_index": 27,
"task_key": "put_bottles_into_dustbin",
"task_name": "Put Bottles Into Dustbin",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/put-bottles-into-dustbin/",
"fields": {
"Instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.",
"Description": "There are four bottles on the table, and they may be either standing or lying down. A dustbin is placed beside the table. The robot needs to pick up the bottles and throw them into the dustbin. Because of the shifted table layout, bottles on the right side require a handover between the two hands before being discarded.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "Teleop",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No bottle is placed into the dustbin."
},
{
"score": "10",
"condition": "Any one bottle is inside the dustbin, and the gripper is open."
},
{
"score": "25",
"condition": "Any two bottles are inside the dustbin."
},
{
"score": "40",
"condition": "Any three bottles are inside the dustbin."
},
{
"score": "100",
"condition": "All four bottles are inside the dustbin and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/put-bottles-into-dustbin.mp4"
}
],
"config": "task_27_put_bottles_into_dustbin",
"dataset_instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 30,
"task_index": 21,
"task_key": "play_tic_tac_toe",
"task_name": "Play Tic-Tac-Toe",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/play-tic-tac-toe/",
"fields": {
"Instruction": "Play tic-tac-toe as the first player and fill the board with the opponent.",
"Description": "There is a 3-by-3 tic-tac-toe board. The robot plays as the first player, while the opponent follows a random strategy. The robot and the opponent take turns placing their marks until the board is filled.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No player piece reaches a board cell, or the policy robot moves while the opponent robot arm is moving."
},
{
"score": "10",
"condition": "Any one player piece is placed on a board cell and the gripper is open."
},
{
"score": "30",
"condition": "Any two player pieces are placed on board cells."
},
{
"score": "50",
"condition": "Any three player pieces are placed on board cells."
},
{
"score": "75",
"condition": "Any four player pieces are placed on board cells."
},
{
"score": "100",
"condition": "All five player pieces are on board cells at the correct height and the gripper is open."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/play-tic-tac-toe.mp4"
}
],
"config": "task_21_play_tic_tac_toe",
"dataset_instruction": "Play tic-tac-toe as the first player and fill the board with the opponent.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 31,
"task_index": 7,
"task_key": "fill_egg_holder",
"task_name": "Fill Egg Holder",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fill-egg-holder/",
"fields": {
"Instruction": "Place the four eggs from the basket into the egg holder, then close the lid.",
"Description": "There is a woven basket containing four eggs and an egg holder. The robot needs to pick up the eggs one by one, place all four into the egg holder, and then close the lid.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "Teleop",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No egg is placed into the egg holder."
},
{
"score": "10",
"condition": "Any one egg is inside the egg holder and close to the holder bottom, with the gripper open."
},
{
"score": "25",
"condition": "Any two eggs are placed correctly into the egg holder."
},
{
"score": "40",
"condition": "Any three eggs are placed correctly into the egg holder."
},
{
"score": "90",
"condition": "All four eggs are placed in the holder, but the lid is not fully closed yet."
},
{
"score": "100",
"condition": "All four eggs are in the holder, the holder lid is correctly and fully closed, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/fill-egg-holder.mp4"
}
],
"config": "task_07_fill_egg_holder",
"dataset_instruction": "Place the four eggs from the basket into the egg holder, then close the lid.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 32,
"task_index": 17,
"task_key": "organize_table",
"task_name": "Organize Table",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/organize-table/",
"fields": {
"Instruction": "Place the mouse on the mouse pad, push the keyboard into the frame, put the figurine on the stand, place the alarm clock on the drawer, then open the drawer and put all remaining miscellaneous items inside.",
"Description": "There are a computer, a keyboard, a mouse, an alarm clock, a cartoon figurine, three miscellaneous items, and a drawer. The robot needs to organize the table by placing the mouse on the mouse pad, pushing the keyboard into the frame, putting the figurine on the stand, placing the alarm clock on top of the drawer, opening the drawer, and putting all remaining miscellaneous items into it.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "Teleop",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No target item is organized correctly."
},
{
"score": "25",
"condition": "Any one target item is organized correctly: mouse on mouse pad, keyboard in the frame, figurine on its stand, or alarm clock on the drawer, with the gripper open."
},
{
"score": "50",
"condition": "Any two target items are organized correctly."
},
{
"score": "75",
"condition": "Any three target items are organized correctly."
},
{
"score": "100",
"condition": "All four target items are organized correctly and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/organize-table.mp4"
}
],
"config": "task_17_organize_table",
"dataset_instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame.",
"instruction_match": false,
"data_status": "official_demonstrations"
},
{
"catalog_number": 33,
"task_index": 14,
"task_key": "make_kong",
"task_name": "Make Kong",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/make-kong/",
"fields": {
"Instruction": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles.",
"Description": "There is a Mahjong setup. The opponent first pushes out a tile. The robot needs to observe the discarded tile, identify the matching tiles on its side, and perform a valid kong action. The setup guarantees that a kong is possible.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "The kong declaration state is not completed."
},
{
"score": "100",
"condition": "The three matching Mahjong tiles are pushed down, the non-matching tiles remain upright on the table, the target tile is correctly grasped and placed at the required position, the gripper is open, and no invalid robot motion is detected."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/make-kong.mp4"
}
],
"config": "task_14_make_kong",
"dataset_instruction": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 34,
"task_index": 20,
"task_key": "play_stacking_toy",
"task_name": "Play Stacking Toy",
"category": "Long-Horizon",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/play-stacking-toy/",
"fields": {
"Instruction": "Place all stacking toy pieces onto the correct pegs.",
"Description": "There is a stacking toy with four pegs and four types of pieces. The numbers of pieces in the four types are 4, 3, 2, and 1, and each peg matches one type. The robot needs to place all pieces onto their corresponding pegs correctly.",
"Platform": "Simulation",
"Category": "Long-Horizon",
"Data Source": "DateGen",
"Usage": "Train & Eval"
},
"scoring": [
{
"score": "0",
"condition": "No peg group is completed."
},
{
"score": "10",
"condition": "One peg group is completed with its pieces aligned on the correct peg and inserted into the base, with the gripper open."
},
{
"score": "30",
"condition": "Two peg groups are completed."
},
{
"score": "60",
"condition": "Three peg groups are completed."
},
{
"score": "100",
"condition": "All four peg groups are completed and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/play-stacking-toy.mp4"
}
],
"config": "task_20_play_stacking_toy",
"dataset_instruction": "Place all stacking toy pieces onto the correct pegs.",
"instruction_match": true,
"data_status": "official_demonstrations"
},
{
"catalog_number": 35,
"task_index": null,
"task_key": "align_blocks",
"task_name": "Align Blocks",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/align-blocks/",
"fields": {
"Instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.",
"Description": "There is a set square and three blocks. The robot needs to use the set square to push the blocks until they are aligned in parallel in a straight row.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval"
},
"scoring": [
{
"score": "0",
"condition": "The alignment, reset, or no-lift condition is not satisfied."
},
{
"score": "100",
"condition": "The three cubes are in one straight aligned row, the robot returns to origin, and no cube has been lifted above the allowed height during the episode."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/align-blocks.mp4",
"path": "media/align_blocks/documentation.mp4"
}
],
"config": "catalog_35_align_blocks",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 36,
"task_index": null,
"task_key": "general_pickup",
"task_name": "General Pickup",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/general-pickup/",
"fields": {
"Instruction": "Pick up the target object by 10 cm.",
"Description": "There are multiple objects. The robot needs to understand the language instruction, identify the target object, and pick it up.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval"
},
"scoring": [
{
"score": "0",
"condition": "The target object is not lifted high enough."
},
{
"score": "100",
"condition": "The target object is lifted at least 10 cm."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/general-pickup.mp4",
"path": "media/general_pickup/documentation.mp4"
}
],
"config": "catalog_36_general_pickup",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 37,
"task_index": null,
"task_key": "solve_equation",
"task_name": "Solve Equation",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/solve-equation/",
"fields": {
"Instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
"Description": "There is an arithmetic equation on the table and a pad for the answer. The equation is missing either a number or an operator. The robot needs to choose the correct missing item from the randomly arranged numbers and operators on the table and place it on the pad to complete the equation.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval",
"Comment": "Each digit must remain within the permitted rotational tolerance relative to its initial pose."
},
"scoring": [
{
"score": "0",
"condition": "The missing equation piece is not placed correctly."
},
{
"score": "100",
"condition": "The correct missing number/operator piece is placed on the missing mat and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/solve-equation.mp4",
"path": "media/solve_equation/documentation.mp4"
}
],
"config": "catalog_37_solve_equation",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 38,
"task_index": null,
"task_key": "stack_blocks_by_language",
"task_name": "Stack Blocks By Language",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks-by-language/",
"fields": {
"Instruction": "Stack the three blocks on top of each other in the order of color₁, color₂, and color₃, then reset the robot arm.",
"Description": "There are several colored blocks. The robot needs to understand the language instruction and stack the blocks in the specified color order.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval"
},
"scoring": [
{
"score": "0",
"condition": "The first ordered stack is not completed."
},
{
"score": "20",
"condition": "The first two specified blocks are stacked in the instructed order, the bottom block remains on the table, and the gripper is open."
},
{
"score": "100",
"condition": "All three specified blocks are stacked in order and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-by-language.mp4",
"path": "media/stack_blocks_by_language/documentation.mp4"
}
],
"config": "catalog_38_stack_blocks_by_language",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 39,
"task_index": null,
"task_key": "classify_objects_by_language",
"task_name": "Classify Objects By Language",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/classify-objects-by-language/",
"fields": {
"Instruction": "Put category₁ objects into the left basket, category₂ objects into the middle basket, and category₃ objects into the right basket, then reset the robot arm.",
"Description": "There are three baskets and three categories of unseen objects. The robot needs to understand the language instruction, identify the category of each object, and place the objects into the specified baskets from left to right.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval"
},
"scoring": [
{
"score": "0",
"condition": "No specified category is placed into its assigned basket."
},
{
"score": "10",
"condition": "One specified category is placed into its assigned basket, no other objects are in that basket, and the gripper is open."
},
{
"score": "40",
"condition": "Two specified categories are placed into their assigned baskets, with no extra objects in those baskets."
},
{
"score": "100",
"condition": "All three specified categories are placed into the left, middle, and right baskets as instructed, no basket contains objects from another category, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/classify-objects-by-language.mp4",
"path": "media/classify_objects_by_language/documentation.mp4"
}
],
"config": "catalog_39_classify_objects_by_language",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 40,
"task_index": null,
"task_key": "pick_from_conveyor_by_image",
"task_name": "Pick From Conveyor By Image",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pick-from-conveyor-by-image/",
"fields": {
"Instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket.",
"Description": "There is a board displaying an image of the target object, a basket, and a conveyor carrying multiple objects. The robot needs to first lift the basket more than 8 cm, identify the target object on the conveyor based on the image shown on the board, pick up the target object, and place it into the basket.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval"
},
"scoring": [
{
"score": "0",
"condition": "The target object is not placed into the lifted basket."
},
{
"score": "100",
"condition": "The image-specified target object is in the basket and lifted at least 8 cm."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pick-from-conveyor-by-image.mp4",
"path": "media/pick_from_conveyor_by_image/documentation.mp4"
}
],
"config": "catalog_40_pick_from_conveyor_by_image",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 41,
"task_index": null,
"task_key": "store_tools_in_toolbox",
"task_name": "Store Tools In Toolbox",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/store-tools-in-toolbox/",
"fields": {
"Instruction": "Place each tool into its matching position in the toolbox, then reset the robot arm.",
"Description": "There are several tools and a toolbox with designated slots. The robot needs to pick up each tool and place it into the corresponding position in the toolbox.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval"
},
"scoring": [
{
"score": "0",
"condition": "No tool is placed into its matching toolbox slot."
},
{
"score": "25",
"condition": "Any one tool is placed in its matching toolbox slot with the gripper open."
},
{
"score": "50",
"condition": "Any two tools are placed into their matching toolbox slots."
},
{
"score": "75",
"condition": "Any three tools are placed into their matching toolbox slots."
},
{
"score": "100",
"condition": "All four tools are placed in their matching slots, covered by the toolbox, and the robot returns to origin."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/store-tools-in-toolbox.mp4",
"path": "media/store_tools_in_toolbox/documentation.mp4"
}
],
"config": "catalog_41_store_tools_in_toolbox",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 42,
"task_index": null,
"task_key": "pour_by_language",
"task_name": "Pour By Language",
"category": "Open",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pour-by-language/",
"fields": {
"Instruction": "Pour the liquid from the first color₁ bottle into the first color₂ bowl, from the second color₃ bottle into the second color₄ bowl, and from the third color₅ bottle into the third color₆ bowl. Then reset the robot arm.",
"Description": "There are three colored bottles and three colored bowls on the table. The robot needs to follow the language instruction and pour the liquid from each specified bottle into the corresponding specified bowl.",
"Platform": "Simulation",
"Category": "Open",
"Data Source": "null (eval-only)",
"Usage": "Eval"
},
"scoring": [
{
"score": "0",
"condition": "The first target pour is not completed."
},
{
"score": "20",
"condition": "The liquid from the first specified bottle is poured into its specified bowl, and the other two liquids have not been poured into their bowls."
},
{
"score": "50",
"condition": "The first two specified liquids are poured into their bowls, and the third liquid has not yet been poured."
},
{
"score": "100",
"condition": "All three specified liquids are poured into their corresponding bowls."
}
],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-by-language.mp4",
"path": "media/pour_by_language/documentation.mp4"
}
],
"config": "catalog_42_pour_by_language",
"dataset_instruction": null,
"instruction_match": null,
"data_status": "eval_only_no_published_demonstrations"
},
{
"catalog_number": 43,
"task_index": 5,
"task_key": "dlc",
"task_name": "DLC",
"category": "DLC",
"doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/dlc/",
"fields": {
"Instruction": "Arrange the letters to spell \"RoboDojo\" in a row.",
"Description": "There are multiple separated letters on a cluttered tabletop with a complex background. The robot needs to identify the letters that form \"RoboDojo\" and arrange them in the correct order in a straight row.",
"Platform": "Simulation",
"Category": "Other",
"Data Source": "DataGen",
"Usage": "Train"
},
"scoring": [],
"documentation_videos": [
{
"label": "Simulation demo",
"url": "https://robodojo-benchmark.com/doc/videos/tasks/dlc.mp4"
}
],
"config": "task_05_dlc",
"dataset_instruction": "Arrange the letters to spell \"RoboDojo\" in a row.",
"instruction_match": true,
"data_status": "official_demonstrations"
}
] |