| [ | |
| { | |
| "task_index": 0, | |
| "task_name": "Arrange Largest Number", | |
| "category": "Generalization", | |
| "task_key": "arrange_largest_number", | |
| "catalog_number": 9, | |
| "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", | |
| "dataset_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.", | |
| "scoring": "0: No digit is placed correctly.\n5: Any one digit is placed on its correct pad in descending-number order, with valid orientation and the gripper open.\n15: Any two digits are correctly placed.\n25: In a 5-digit layout, any three digits are correctly placed.\n30: In a 4-digit layout, any three digits are correctly placed.\n40: In a 5-digit layout, any four digits are correctly placed.\n100: All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "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.", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 0, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/arrange_largest_number/episode_000000.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/arrange_largest_number/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/arrange_largest_number/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4", | |
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| "fps": 25, | |
| "frame_count": 578, | |
| "duration_seconds": 23.12, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 0, | |
| "task_name": "Arrange Largest Number", | |
| "category": "Generalization", | |
| "task_key": "arrange_largest_number", | |
| "catalog_number": 9, | |
| "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", | |
| "dataset_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.", | |
| "scoring": "0: No digit is placed correctly.\n5: Any one digit is placed on its correct pad in descending-number order, with valid orientation and the gripper open.\n15: Any two digits are correctly placed.\n25: In a 5-digit layout, any three digits are correctly placed.\n30: In a 4-digit layout, any three digits are correctly placed.\n40: In a 5-digit layout, any four digits are correctly placed.\n100: All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "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.", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 49, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/arrange_largest_number/episode_000049.parquet", | |
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| "fps": 25, | |
| "frame_count": 907, | |
| "duration_seconds": 36.28, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 0, | |
| "task_name": "Arrange Largest Number", | |
| "category": "Generalization", | |
| "task_key": "arrange_largest_number", | |
| "catalog_number": 9, | |
| "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", | |
| "dataset_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.", | |
| "scoring": "0: No digit is placed correctly.\n5: Any one digit is placed on its correct pad in descending-number order, with valid orientation and the gripper open.\n15: Any two digits are correctly placed.\n25: In a 5-digit layout, any three digits are correctly placed.\n30: In a 4-digit layout, any three digits are correctly placed.\n40: In a 5-digit layout, any four digits are correctly placed.\n100: All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "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.", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 99, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/arrange_largest_number/episode_000099.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/arrange_largest_number/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/arrange_largest_number/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/arrange_largest_number/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-000/episode_000099.parquet", | |
| "fps": 25, | |
| "frame_count": 563, | |
| "duration_seconds": 22.52, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 0, | |
| "task_name": "Arrange Largest Number", | |
| "category": "Generalization", | |
| "task_key": "arrange_largest_number", | |
| "catalog_number": 9, | |
| "instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", | |
| "dataset_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.", | |
| "scoring": "0: No digit is placed correctly.\n5: Any one digit is placed on its correct pad in descending-number order, with valid orientation and the gripper open.\n15: Any two digits are correctly placed.\n25: In a 5-digit layout, any three digits are correctly placed.\n30: In a 4-digit layout, any three digits are correctly placed.\n40: In a 5-digit layout, any four digits are correctly placed.\n100: All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "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.", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 1, | |
| "task_name": "Build Tower", | |
| "category": "Precision", | |
| "task_key": "build_tower", | |
| "catalog_number": 26, | |
| "instruction": "Build a stable multi-layer tower with the wooden blocks and boards.", | |
| "dataset_instruction": "Build a tower using the wooden blocks and wooden 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.", | |
| "scoring": "0: No tower layer is completed.\n10: The lower board is placed across two upright supports, remains stable and centered on them, and the gripper is open.\n30: The middle board is placed on the completed lower layer, stays centered over it, and all lower and middle pieces remain upright.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/build-tower/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 100, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/build_tower/episode_000100.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/build_tower/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
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| "frame_count": 722, | |
| "duration_seconds": 28.88, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published. Website instruction differs from official v2.1 dataset_instruction; the demo belongs to the dataset version." | |
| }, | |
| { | |
| "task_index": 1, | |
| "task_name": "Build Tower", | |
| "category": "Precision", | |
| "task_key": "build_tower", | |
| "catalog_number": 26, | |
| "instruction": "Build a stable multi-layer tower with the wooden blocks and boards.", | |
| "dataset_instruction": "Build a tower using the wooden blocks and wooden 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.", | |
| "scoring": "0: No tower layer is completed.\n10: The lower board is placed across two upright supports, remains stable and centered on them, and the gripper is open.\n30: The middle board is placed on the completed lower layer, stays centered over it, and all lower and middle pieces remain upright.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/build-tower/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 149, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/build_tower/episode_000149.parquet", | |
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| }, | |
| { | |
| "task_index": 1, | |
| "task_name": "Build Tower", | |
| "category": "Precision", | |
| "task_key": "build_tower", | |
| "catalog_number": 26, | |
| "instruction": "Build a stable multi-layer tower with the wooden blocks and boards.", | |
| "dataset_instruction": "Build a tower using the wooden blocks and wooden 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.", | |
| "scoring": "0: No tower layer is completed.\n10: The lower board is placed across two upright supports, remains stable and centered on them, and the gripper is open.\n30: The middle board is placed on the completed lower layer, stays centered over it, and all lower and middle pieces remain upright.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/build-tower/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 199, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/build_tower/episode_000199.parquet", | |
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| "duration_seconds": 29.16, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published. Website instruction differs from official v2.1 dataset_instruction; the demo belongs to the dataset version." | |
| }, | |
| { | |
| "task_index": 2, | |
| "task_name": "Classify Objects", | |
| "category": "Long-Horizon", | |
| "task_key": "classify_objects", | |
| "catalog_number": 28, | |
| "instruction": "Sort the objects by category into the three baskets.", | |
| "dataset_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.", | |
| "scoring": "0: No category basket is completed.\n15: One basket contains exactly one complete object category, with no objects from other categories, and the gripper is open.\n40: Two baskets each contain exactly one complete category.\n100: All three categories are separated into three baskets, the objects are settled inside the baskets, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/classify-objects/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 200, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/classify_objects/episode_000200.parquet", | |
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| "comment": "", | |
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| "category": "Memory", | |
| "task_key": "cover_blocks", | |
| "catalog_number": 13, | |
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| "category": "Precision", | |
| "task_key": "deposit_coin", | |
| "catalog_number": 24, | |
| "instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.", | |
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| { | |
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| "category": "Long-Horizon", | |
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| "comment": "", | |
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| "task_name": "Fill Egg Holder", | |
| "category": "Long-Horizon", | |
| "task_key": "fill_egg_holder", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
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| { | |
| "task_index": 7, | |
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| "task_key": "fill_egg_holder", | |
| "catalog_number": 31, | |
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| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| { | |
| "task_index": 8, | |
| "task_name": "Fill Pen Holder", | |
| "category": "Long-Horizon", | |
| "task_key": "fill_pen_holder", | |
| "catalog_number": 27, | |
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| "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.", | |
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| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| { | |
| "task_index": 8, | |
| "task_name": "Fill Pen Holder", | |
| "category": "Long-Horizon", | |
| "task_key": "fill_pen_holder", | |
| "catalog_number": 27, | |
| "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.", | |
| "dataset_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.", | |
| "scoring": "0: No pen is correctly inserted into the pen holder.\n10: Any one pen is correctly inserted tip-up into the upright pen holder.\n25: Any two pens are correctly inserted into the pen holder.\n40: Any three pens are correctly inserted into the pen holder.\n90: All four pens are inserted into the upright pen holder, but the robot has not returned to origin yet.\n100: All four pens are inserted, the pen holder is upright, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 8, | |
| "task_name": "Fill Pen Holder", | |
| "category": "Long-Horizon", | |
| "task_key": "fill_pen_holder", | |
| "catalog_number": 27, | |
| "instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.", | |
| "dataset_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.", | |
| "scoring": "0: No pen is correctly inserted into the pen holder.\n10: Any one pen is correctly inserted tip-up into the upright pen holder.\n25: Any two pens are correctly inserted into the pen holder.\n40: Any three pens are correctly inserted into the pen holder.\n90: All four pens are inserted into the upright pen holder, but the robot has not returned to origin yet.\n100: All four pens are inserted, the pen holder is upright, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/fill-pen-holder/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
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| { | |
| "task_index": 9, | |
| "task_name": "Fold Clothes", | |
| "category": "Generalization", | |
| "task_key": "fold_clothes", | |
| "catalog_number": 4, | |
| "instruction": "Fold the clothes neatly.", | |
| "dataset_instruction": "Fold the clothes neatly.", | |
| "description": "There is a piece of clothing. The robot needs to fold it neatly.", | |
| "scoring": "0: The sleeve-fold condition is not reached.\n20: When the gripper opens, both sleeves are folded inward close to the opposite chest points.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 9, | |
| "task_name": "Fold Clothes", | |
| "category": "Generalization", | |
| "task_key": "fold_clothes", | |
| "catalog_number": 4, | |
| "instruction": "Fold the clothes neatly.", | |
| "dataset_instruction": "Fold the clothes neatly.", | |
| "description": "There is a piece of clothing. The robot needs to fold it neatly.", | |
| "scoring": "0: The sleeve-fold condition is not reached.\n20: When the gripper opens, both sleeves are folded inward close to the opposite chest points.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/", | |
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| }, | |
| { | |
| "task_index": 9, | |
| "task_name": "Fold Clothes", | |
| "category": "Generalization", | |
| "task_key": "fold_clothes", | |
| "catalog_number": 4, | |
| "instruction": "Fold the clothes neatly.", | |
| "dataset_instruction": "Fold the clothes neatly.", | |
| "description": "There is a piece of clothing. The robot needs to fold it neatly.", | |
| "scoring": "0: The sleeve-fold condition is not reached.\n20: When the gripper opens, both sleeves are folded inward close to the opposite chest points.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/", | |
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| "actual_episode_score": null, | |
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| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/fold_clothes/episode_000999.parquet", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 9, | |
| "task_name": "Fold Clothes", | |
| "category": "Generalization", | |
| "task_key": "fold_clothes", | |
| "catalog_number": 4, | |
| "instruction": "Fold the clothes neatly.", | |
| "dataset_instruction": "Fold the clothes neatly.", | |
| "description": "There is a piece of clothing. The robot needs to fold it neatly.", | |
| "scoring": "0: The sleeve-fold condition is not reached.\n20: When the gripper opens, both sleeves are folded inward close to the opposite chest points.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 10, | |
| "task_name": "Hang Mugs", | |
| "category": "Generalization", | |
| "task_key": "hang_mugs", | |
| "catalog_number": 5, | |
| "instruction": "Hang all the mugs on the mug rack.", | |
| "dataset_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.", | |
| "scoring": "0: No mug is hung on the mug rack.\n15: Any one mug is hung on the mug rack and the gripper is open.\n40: Any two mugs are hung on the mug rack.\n100: All three mugs are hung on the rack and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/", | |
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| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 10, | |
| "task_name": "Hang Mugs", | |
| "category": "Generalization", | |
| "task_key": "hang_mugs", | |
| "catalog_number": 5, | |
| "instruction": "Hang all the mugs on the mug rack.", | |
| "dataset_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.", | |
| "scoring": "0: No mug is hung on the mug rack.\n15: Any one mug is hung on the mug rack and the gripper is open.\n40: Any two mugs are hung on the mug rack.\n100: All three mugs are hung on the rack and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1049, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/hang_mugs/arx_x5/preview_video/episode_0000049_cam_head.mp4", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 10, | |
| "task_name": "Hang Mugs", | |
| "category": "Generalization", | |
| "task_key": "hang_mugs", | |
| "catalog_number": 5, | |
| "instruction": "Hang all the mugs on the mug rack.", | |
| "dataset_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.", | |
| "scoring": "0: No mug is hung on the mug rack.\n15: Any one mug is hung on the mug rack and the gripper is open.\n40: Any two mugs are hung on the mug rack.\n100: All three mugs are hung on the rack and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1099, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/hang_mugs/episode_001099.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/hang_mugs/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
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| "frame_count": 438, | |
| "duration_seconds": 17.52, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 10, | |
| "task_name": "Hang Mugs", | |
| "category": "Generalization", | |
| "task_key": "hang_mugs", | |
| "catalog_number": 5, | |
| "instruction": "Hang all the mugs on the mug rack.", | |
| "dataset_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.", | |
| "scoring": "0: No mug is hung on the mug rack.\n15: Any one mug is hung on the mug rack and the gripper is open.\n40: Any two mugs are hung on the mug rack.\n100: All three mugs are hung on the rack and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
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| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 11, | |
| "task_name": "Imitate Sorting Sequence", | |
| "category": "Memory", | |
| "task_key": "imitate_sorting_sequence", | |
| "catalog_number": 18, | |
| "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", | |
| "dataset_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.", | |
| "scoring": "0: The first sequence step is not completed, or the policy robot moves before the opposite robot arm finishes.\n5: 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.\n15: The first two target objects are placed in the correct sequence.\n30: The first three target objects are placed in the correct sequence.\n50: The first four target objects are placed in the correct sequence.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/imitate-sorting-sequence/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1100, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/imitate_sorting_sequence/episode_001100.parquet", | |
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| "duration_seconds": 47.48, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 11, | |
| "task_name": "Imitate Sorting Sequence", | |
| "category": "Memory", | |
| "task_key": "imitate_sorting_sequence", | |
| "catalog_number": 18, | |
| "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", | |
| "dataset_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.", | |
| "scoring": "0: The first sequence step is not completed, or the policy robot moves before the opposite robot arm finishes.\n5: 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.\n15: The first two target objects are placed in the correct sequence.\n30: The first three target objects are placed in the correct sequence.\n50: The first four target objects are placed in the correct sequence.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/imitate-sorting-sequence/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1149, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/imitate_sorting_sequence/episode_001149.parquet", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 11, | |
| "task_name": "Imitate Sorting Sequence", | |
| "category": "Memory", | |
| "task_key": "imitate_sorting_sequence", | |
| "catalog_number": 18, | |
| "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", | |
| "dataset_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.", | |
| "scoring": "0: The first sequence step is not completed, or the policy robot moves before the opposite robot arm finishes.\n5: 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.\n15: The first two target objects are placed in the correct sequence.\n30: The first three target objects are placed in the correct sequence.\n50: The first four target objects are placed in the correct sequence.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/imitate-sorting-sequence/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
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| "background_id": null, | |
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| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/imitate_sorting_sequence/episode_001199.parquet", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 12, | |
| "task_name": "Insert Key", | |
| "category": "Precision", | |
| "task_key": "insert_key", | |
| "catalog_number": 25, | |
| "instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.", | |
| "dataset_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.", | |
| "scoring": "0: The key is not lifted.\n15: The key is lifted at least 5 cm.\n100: The key is inserted deep enough into the slot, aligned closely in x/y, kept upright, and successfully turned after insertion.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/insert-key/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1200, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/insert_key/episode_001200.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/insert_key/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
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| "duration_seconds": 7.0, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 12, | |
| "task_name": "Insert Key", | |
| "category": "Precision", | |
| "task_key": "insert_key", | |
| "catalog_number": 25, | |
| "instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.", | |
| "dataset_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.", | |
| "scoring": "0: The key is not lifted.\n15: The key is lifted at least 5 cm.\n100: The key is inserted deep enough into the slot, aligned closely in x/y, kept upright, and successfully turned after insertion.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/insert-key/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1249, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
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| "task_key": "insert_key", | |
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| "task_index": 13, | |
| "task_name": "Insert Tubes", | |
| "category": "Precision", | |
| "task_key": "insert_tubes", | |
| "catalog_number": 21, | |
| "instruction": "Insert the three tubes into the rack one by one.", | |
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| "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.", | |
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| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| "task_key": "insert_tubes", | |
| "catalog_number": 21, | |
| "instruction": "Insert the three tubes into the rack one by one.", | |
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| "category": "Precision", | |
| "task_key": "insert_tubes", | |
| "catalog_number": 21, | |
| "instruction": "Insert the three tubes into the rack one by one.", | |
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| "task_name": "Make Kong", | |
| "category": "Long-Horizon", | |
| "task_key": "make_kong", | |
| "catalog_number": 33, | |
| "instruction": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles.", | |
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| "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.", | |
| "scoring": "0: The kong declaration state is not completed.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| "usage": "Train & Eval", | |
| "comment": "", | |
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| { | |
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| "task_name": "Make Toast", | |
| "category": "Generalization", | |
| "task_key": "make_toast", | |
| "catalog_number": 8, | |
| "instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", | |
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| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/make_toast/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4", | |
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| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001500.parquet", | |
| "fps": 25, | |
| "frame_count": 583, | |
| "duration_seconds": 23.32, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 15, | |
| "task_name": "Make Toast", | |
| "category": "Generalization", | |
| "task_key": "make_toast", | |
| "catalog_number": 8, | |
| "instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", | |
| "dataset_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.", | |
| "scoring": "0: No bread slice is inserted into a toaster slot.\n25: One bread slice is inserted into a toaster slot and all bread axes satisfy the required orientation.\n50: Two bread slices are inserted into the toaster slots and all bread axes satisfy the required orientation.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/make-toast/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1549, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/make_toast/episode_001549.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/make_toast/arx_x5/preview_video/episode_0000049_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/make_toast/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/make_toast/arx_x5/preview_video/episode_0000049_cam_left_wrist.mp4", | |
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| "fps": 25, | |
| "frame_count": 720, | |
| "duration_seconds": 28.8, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 15, | |
| "task_name": "Make Toast", | |
| "category": "Generalization", | |
| "task_key": "make_toast", | |
| "catalog_number": 8, | |
| "instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", | |
| "dataset_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.", | |
| "scoring": "0: No bread slice is inserted into a toaster slot.\n25: One bread slice is inserted into a toaster slot and all bread axes satisfy the required orientation.\n50: Two bread slices are inserted into the toaster slots and all bread axes satisfy the required orientation.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/make-toast/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1599, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/make_toast/episode_001599.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/make_toast/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/make_toast/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/make_toast/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001599.parquet", | |
| "fps": 25, | |
| "frame_count": 731, | |
| "duration_seconds": 29.24, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 15, | |
| "task_name": "Make Toast", | |
| "category": "Generalization", | |
| "task_key": "make_toast", | |
| "catalog_number": 8, | |
| "instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", | |
| "dataset_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.", | |
| "scoring": "0: No bread slice is inserted into a toaster slot.\n25: One bread slice is inserted into a toaster slot and all bread axes satisfy the required orientation.\n50: Two bread slices are inserted into the toaster slots and all bread axes satisfy the required orientation.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/make-toast/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 16, | |
| "task_name": "Match And Pick From Conveyor", | |
| "category": "Memory", | |
| "task_key": "match_and_pick_from_conveyor", | |
| "catalog_number": 14, | |
| "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.", | |
| "dataset_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.", | |
| "scoring": "0: The matching target object is not lifted high enough.\n100: The matching target object is lifted at least 10 cm.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/match-and-pick-from-conveyor/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1600, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/match_and_pick_from_conveyor/episode_001600.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000000_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001600.parquet", | |
| "fps": 25, | |
| "frame_count": 474, | |
| "duration_seconds": 18.96, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 16, | |
| "task_name": "Match And Pick From Conveyor", | |
| "category": "Memory", | |
| "task_key": "match_and_pick_from_conveyor", | |
| "catalog_number": 14, | |
| "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.", | |
| "dataset_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.", | |
| "scoring": "0: The matching target object is not lifted high enough.\n100: The matching target object is lifted at least 10 cm.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/match-and-pick-from-conveyor/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1649, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/match_and_pick_from_conveyor/episode_001649.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000049_cam_head.mp4", | |
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| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000049_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001649.parquet", | |
| "fps": 25, | |
| "frame_count": 329, | |
| "duration_seconds": 13.16, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 16, | |
| "task_name": "Match And Pick From Conveyor", | |
| "category": "Memory", | |
| "task_key": "match_and_pick_from_conveyor", | |
| "catalog_number": 14, | |
| "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.", | |
| "dataset_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.", | |
| "scoring": "0: The matching target object is not lifted high enough.\n100: The matching target object is lifted at least 10 cm.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/match-and-pick-from-conveyor/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1699, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/match_and_pick_from_conveyor/episode_001699.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/match_and_pick_from_conveyor/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001699.parquet", | |
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| "duration_seconds": 18.6, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 17, | |
| "task_name": "Organize Table", | |
| "category": "Long-Horizon", | |
| "task_key": "organize_table", | |
| "catalog_number": 32, | |
| "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.", | |
| "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.", | |
| "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.", | |
| "scoring": "0: No target item is organized correctly.\n25: 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.\n50: Any two target items are organized correctly.\n75: Any three target items are organized correctly.\n100: All four target items are organized correctly and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/organize-table/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1700, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/organize_table/episode_001700.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/organize_table/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/organize_table/arx_x5/preview_video/episode_0000000_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/organize_table/arx_x5/preview_video/episode_0000000_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001700.parquet", | |
| "fps": 25, | |
| "frame_count": 838, | |
| "duration_seconds": 33.52, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published. Website instruction differs from official v2.1 dataset_instruction; the demo belongs to the dataset version." | |
| }, | |
| { | |
| "task_index": 17, | |
| "task_name": "Organize Table", | |
| "category": "Long-Horizon", | |
| "task_key": "organize_table", | |
| "catalog_number": 32, | |
| "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.", | |
| "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.", | |
| "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.", | |
| "scoring": "0: No target item is organized correctly.\n25: 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.\n50: Any two target items are organized correctly.\n75: Any three target items are organized correctly.\n100: All four target items are organized correctly and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/organize-table/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1749, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/organize_table/episode_001749.parquet", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published. Website instruction differs from official v2.1 dataset_instruction; the demo belongs to the dataset version." | |
| }, | |
| { | |
| "task_index": 17, | |
| "task_name": "Organize Table", | |
| "category": "Long-Horizon", | |
| "task_key": "organize_table", | |
| "catalog_number": 32, | |
| "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.", | |
| "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.", | |
| "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.", | |
| "scoring": "0: No target item is organized correctly.\n25: 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.\n50: Any two target items are organized correctly.\n75: Any three target items are organized correctly.\n100: All four target items are organized correctly and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/organize-table/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1799, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/organize_table/episode_001799.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/organize_table/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
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| "fps": 25, | |
| "frame_count": 897, | |
| "duration_seconds": 35.88, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published. Website instruction differs from official v2.1 dataset_instruction; the demo belongs to the dataset version." | |
| }, | |
| { | |
| "task_index": 18, | |
| "task_name": "Pack Objects Into Box", | |
| "category": "Generalization", | |
| "task_key": "pack_objects_into_box", | |
| "catalog_number": 3, | |
| "instruction": "Place all the objects into the box with their front sides facing left.", | |
| "dataset_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.", | |
| "scoring": "0: No object is placed correctly into the box.\n10: Any one object is inside the box with its front side facing left, the box is aligned, and the gripper is open.\n25: Any two objects are placed correctly into the box.\n50: Any three objects are placed correctly into the box.\n100: All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1800, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/pack_objects_into_box/episode_001800.parquet", | |
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| "frame_count": 1156, | |
| "duration_seconds": 46.24, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 18, | |
| "task_name": "Pack Objects Into Box", | |
| "category": "Generalization", | |
| "task_key": "pack_objects_into_box", | |
| "catalog_number": 3, | |
| "instruction": "Place all the objects into the box with their front sides facing left.", | |
| "dataset_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.", | |
| "scoring": "0: No object is placed correctly into the box.\n10: Any one object is inside the box with its front side facing left, the box is aligned, and the gripper is open.\n25: Any two objects are placed correctly into the box.\n50: Any three objects are placed correctly into the box.\n100: All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1849, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/pack_objects_into_box/episode_001849.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/pack_objects_into_box/arx_x5/preview_video/episode_0000049_cam_head.mp4", | |
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| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001849.parquet", | |
| "fps": 25, | |
| "frame_count": 636, | |
| "duration_seconds": 25.44, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 18, | |
| "task_name": "Pack Objects Into Box", | |
| "category": "Generalization", | |
| "task_key": "pack_objects_into_box", | |
| "catalog_number": 3, | |
| "instruction": "Place all the objects into the box with their front sides facing left.", | |
| "dataset_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.", | |
| "scoring": "0: No object is placed correctly into the box.\n10: Any one object is inside the box with its front side facing left, the box is aligned, and the gripper is open.\n25: Any two objects are placed correctly into the box.\n50: Any three objects are placed correctly into the box.\n100: All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1899, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/pack_objects_into_box/episode_001899.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/pack_objects_into_box/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/pack_objects_into_box/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/pack_objects_into_box/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-001/episode_001899.parquet", | |
| "fps": 25, | |
| "frame_count": 618, | |
| "duration_seconds": 24.72, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 18, | |
| "task_name": "Pack Objects Into Box", | |
| "category": "Generalization", | |
| "task_key": "pack_objects_into_box", | |
| "catalog_number": 3, | |
| "instruction": "Place all the objects into the box with their front sides facing left.", | |
| "dataset_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.", | |
| "scoring": "0: No object is placed correctly into the box.\n10: Any one object is inside the box with its front side facing left, the box is aligned, and the gripper is open.\n25: Any two objects are placed correctly into the box.\n50: Any three objects are placed correctly into the box.\n100: All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 19, | |
| "task_name": "Play Xylophone", | |
| "category": "Precision", | |
| "task_key": "play_Xylophone", | |
| "catalog_number": 23, | |
| "instruction": "Pick up the mallet and strike all xylophone keys from left to right.", | |
| "dataset_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.", | |
| "scoring": "0: The full left-to-right strike sequence is not completed.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/play-xylophone/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1900, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/play_Xylophone/episode_001900.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/play_Xylophone/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
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| "fps": 25, | |
| "frame_count": 310, | |
| "duration_seconds": 12.4, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 19, | |
| "task_name": "Play Xylophone", | |
| "category": "Precision", | |
| "task_key": "play_Xylophone", | |
| "catalog_number": 23, | |
| "instruction": "Pick up the mallet and strike all xylophone keys from left to right.", | |
| "dataset_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.", | |
| "scoring": "0: The full left-to-right strike sequence is not completed.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/play-xylophone/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1949, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/play_Xylophone/episode_001949.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/play_Xylophone/arx_x5/preview_video/episode_0000049_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/play_Xylophone/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/play_Xylophone/arx_x5/preview_video/episode_0000049_cam_left_wrist.mp4", | |
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| "duration_seconds": 12.64, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 19, | |
| "task_name": "Play Xylophone", | |
| "category": "Precision", | |
| "task_key": "play_Xylophone", | |
| "catalog_number": 23, | |
| "instruction": "Pick up the mallet and strike all xylophone keys from left to right.", | |
| "dataset_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.", | |
| "scoring": "0: The full left-to-right strike sequence is not completed.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/play-xylophone/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 1999, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| { | |
| "task_index": 21, | |
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| "task_key": "play_tic_tac_toe", | |
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| "comment": "", | |
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| "task_name": "Play Tic-Tac-Toe", | |
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| { | |
| "task_index": 22, | |
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| "category": "Precision", | |
| "task_key": "plug_in_charger", | |
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| "instruction": "Plug the charger into the power strip.", | |
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| "category": "Precision", | |
| "task_key": "plug_in_charger", | |
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| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| }, | |
| { | |
| "task_index": 25, | |
| "task_name": "Press By Number", | |
| "category": "Memory", | |
| "task_key": "press_by_number", | |
| "catalog_number": 17, | |
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| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
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| { | |
| "task_index": 25, | |
| "task_name": "Press By Number", | |
| "category": "Memory", | |
| "task_key": "press_by_number", | |
| "catalog_number": 17, | |
| "instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.", | |
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| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/press-by-number/", | |
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| "row_kind": "official_demonstration", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
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| { | |
| "task_index": 26, | |
| "task_name": "Push T", | |
| "category": "Generalization", | |
| "task_key": "push_T", | |
| "catalog_number": 2, | |
| "instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", | |
| "dataset_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.", | |
| "scoring": "0: The target pose, reset, or no-lift condition is not satisfied.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 26, | |
| "task_name": "Push T", | |
| "category": "Generalization", | |
| "task_key": "push_T", | |
| "catalog_number": 2, | |
| "instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", | |
| "dataset_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.", | |
| "scoring": "0: The target pose, reset, or no-lift condition is not satisfied.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/push-t/", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
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| "task_name": "Push T", | |
| "category": "Generalization", | |
| "task_key": "push_T", | |
| "catalog_number": 2, | |
| "instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", | |
| "dataset_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.", | |
| "scoring": "0: The target pose, reset, or no-lift condition is not satisfied.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/push-t/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
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| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/push_T/episode_002699.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/push_T/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 26, | |
| "task_name": "Push T", | |
| "category": "Generalization", | |
| "task_key": "push_T", | |
| "catalog_number": 2, | |
| "instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", | |
| "dataset_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.", | |
| "scoring": "0: The target pose, reset, or no-lift condition is not satisfied.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/push-t/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 27, | |
| "task_name": "Put Bottles Into Dustbin", | |
| "category": "Long-Horizon", | |
| "task_key": "put_bottles_into_dustbin", | |
| "catalog_number": 29, | |
| "instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.", | |
| "dataset_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.", | |
| "scoring": "0: No bottle is placed into the dustbin.\n10: Any one bottle is inside the dustbin, and the gripper is open.\n25: Any two bottles are inside the dustbin.\n40: Any three bottles are inside the dustbin.\n100: All four bottles are inside the dustbin and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/put-bottles-into-dustbin/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 2700, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/put_bottles_into_dustbin/episode_002700.parquet", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 27, | |
| "task_name": "Put Bottles Into Dustbin", | |
| "category": "Long-Horizon", | |
| "task_key": "put_bottles_into_dustbin", | |
| "catalog_number": 29, | |
| "instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.", | |
| "dataset_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.", | |
| "scoring": "0: No bottle is placed into the dustbin.\n10: Any one bottle is inside the dustbin, and the gripper is open.\n25: Any two bottles are inside the dustbin.\n40: Any three bottles are inside the dustbin.\n100: All four bottles are inside the dustbin and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/put-bottles-into-dustbin/", | |
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| "category": "Long-Horizon", | |
| "task_key": "put_bottles_into_dustbin", | |
| "catalog_number": 29, | |
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| "scoring": "0: No bottle is placed into the dustbin.\n10: Any one bottle is inside the dustbin, and the gripper is open.\n25: Any two bottles are inside the dustbin.\n40: Any three bottles are inside the dustbin.\n100: All four bottles are inside the dustbin and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
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| { | |
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| "category": "Generalization", | |
| "task_key": "sort_nesting_dolls_by_size", | |
| "catalog_number": 10, | |
| "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.", | |
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| "scoring": "0: The dolls are not arranged in the required size order.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "category": "Generalization", | |
| "task_key": "sort_nesting_dolls_by_size", | |
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| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| { | |
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| "task_name": "Sort Nesting Dolls By Size", | |
| "category": "Generalization", | |
| "task_key": "sort_nesting_dolls_by_size", | |
| "catalog_number": 10, | |
| "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.", | |
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| "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.", | |
| "scoring": "0: The dolls are not arranged in the required size order.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 28, | |
| "task_name": "Sort Nesting Dolls By Size", | |
| "category": "Generalization", | |
| "task_key": "sort_nesting_dolls_by_size", | |
| "catalog_number": 10, | |
| "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.", | |
| "dataset_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.", | |
| "scoring": "0: The dolls are not arranged in the required size order.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/sort-nesting-dolls-by-size/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
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| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
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| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 29, | |
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| "category": "Generalization", | |
| "task_key": "stack_blocks", | |
| "catalog_number": 12, | |
| "instruction": "Stack the three blocks with different textures.", | |
| "dataset_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.", | |
| "scoring": "0: No two-block stack is completed.\n15: Any two of the three blocks are stacked, and the gripper is open.\n100: All three blocks are stacked together and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "scoring": "0: No two-block stack is completed.\n15: Any two of the three blocks are stacked, and the gripper is open.\n100: All three blocks are stacked together and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "data_source": "DateGen / Random eval-only", | |
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| "comment": "", | |
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| { | |
| "task_index": 29, | |
| "task_name": "Stack Blocks", | |
| "category": "Generalization", | |
| "task_key": "stack_blocks", | |
| "catalog_number": 12, | |
| "instruction": "Stack the three blocks with different textures.", | |
| "dataset_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.", | |
| "scoring": "0: No two-block stack is completed.\n15: Any two of the three blocks are stacked, and the gripper is open.\n100: All three blocks are stacked together and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks/", | |
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| "actual_episode_score": null, | |
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| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 30, | |
| "task_name": "Stack Bowls", | |
| "category": "Generalization", | |
| "task_key": "stack_bowls", | |
| "catalog_number": 1, | |
| "instruction": "Stack the three bowls together.", | |
| "dataset_instruction": "Stack the three bowls together.", | |
| "description": "There are three bowls. The robot needs to stack all the bowls together.", | |
| "scoring": "0: No two bowls are stacked correctly.\n15: Any two bowls are stacked upright and the gripper is open.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3000, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| "duration_seconds": 9.6, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 30, | |
| "task_name": "Stack Bowls", | |
| "category": "Generalization", | |
| "task_key": "stack_bowls", | |
| "catalog_number": 1, | |
| "instruction": "Stack the three bowls together.", | |
| "dataset_instruction": "Stack the three bowls together.", | |
| "description": "There are three bowls. The robot needs to stack all the bowls together.", | |
| "scoring": "0: No two bowls are stacked correctly.\n15: Any two bowls are stacked upright and the gripper is open.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/", | |
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| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| "task_index": 30, | |
| "task_name": "Stack Bowls", | |
| "category": "Generalization", | |
| "task_key": "stack_bowls", | |
| "catalog_number": 1, | |
| "instruction": "Stack the three bowls together.", | |
| "dataset_instruction": "Stack the three bowls together.", | |
| "description": "There are three bowls. The robot needs to stack all the bowls together.", | |
| "scoring": "0: No two bowls are stacked correctly.\n15: Any two bowls are stacked upright and the gripper is open.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/", | |
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| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3099, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/stack_bowls/episode_003099.parquet", | |
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| "frame_count": 265, | |
| "duration_seconds": 10.6, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
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| { | |
| "task_index": 30, | |
| "task_name": "Stack Bowls", | |
| "category": "Generalization", | |
| "task_key": "stack_bowls", | |
| "catalog_number": 1, | |
| "instruction": "Stack the three bowls together.", | |
| "dataset_instruction": "Stack the three bowls together.", | |
| "description": "There are three bowls. The robot needs to stack all the bowls together.", | |
| "scoring": "0: No two bowls are stacked correctly.\n15: Any two bowls are stacked upright and the gripper is open.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/", | |
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| "background_id": null, | |
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| { | |
| "task_index": 31, | |
| "task_name": "Store Laptop And Headphones", | |
| "category": "Generalization", | |
| "task_key": "store_laptop_and_headphones", | |
| "catalog_number": 11, | |
| "instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", | |
| "dataset_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.", | |
| "scoring": "0: Neither the headphones nor the laptop is stored correctly.\n20: The headphones are placed on the stand: the headband bridge is close to the support cradle and aligned, with the gripper open.\n80: The headphones are correctly placed on the stand, and the laptop is closed, vertically inserted into the laptop rack, and within the required range.\n100: Both the headphones and laptop conditions are satisfied and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/store-laptop-and-headphones/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3100, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| { | |
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| "task_name": "Store Laptop And Headphones", | |
| "category": "Generalization", | |
| "task_key": "store_laptop_and_headphones", | |
| "catalog_number": 11, | |
| "instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", | |
| "dataset_instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", | |
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| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| { | |
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| "task_name": "Store Laptop And Headphones", | |
| "category": "Generalization", | |
| "task_key": "store_laptop_and_headphones", | |
| "catalog_number": 11, | |
| "instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", | |
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| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
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| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| { | |
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| "task_name": "Store Laptop And Headphones", | |
| "category": "Generalization", | |
| "task_key": "store_laptop_and_headphones", | |
| "catalog_number": 11, | |
| "instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", | |
| "dataset_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.", | |
| "scoring": "0: Neither the headphones nor the laptop is stored correctly.\n20: The headphones are placed on the stand: the headband bridge is close to the support cradle and aligned, with the gripper open.\n80: The headphones are correctly placed on the stand, and the laptop is closed, vertically inserted into the laptop rack, and within the required range.\n100: Both the headphones and laptop conditions are satisfied and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/store-laptop-and-headphones/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": 32, | |
| "task_name": "Swap T", | |
| "category": "Memory", | |
| "task_key": "swap_T", | |
| "catalog_number": 16, | |
| "instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", | |
| "dataset_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.", | |
| "scoring": "0: The two T blocks are not swapped with the required pose accuracy.\n100: The two T-shaped blocks swap their original xy positions, their orientations match the swapped targets, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/swap-t/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3200, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/swap_T/episode_003200.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/swap_T/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
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| "frame_count": 272, | |
| "duration_seconds": 10.88, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 32, | |
| "task_name": "Swap T", | |
| "category": "Memory", | |
| "task_key": "swap_T", | |
| "catalog_number": 16, | |
| "instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", | |
| "dataset_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.", | |
| "scoring": "0: The two T blocks are not swapped with the required pose accuracy.\n100: The two T-shaped blocks swap their original xy positions, their orientations match the swapped targets, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/swap-t/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3249, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
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| "frame_count": 281, | |
| "duration_seconds": 11.24, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 32, | |
| "task_name": "Swap T", | |
| "category": "Memory", | |
| "task_key": "swap_T", | |
| "catalog_number": 16, | |
| "instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", | |
| "dataset_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.", | |
| "scoring": "0: The two T blocks are not swapped with the required pose accuracy.\n100: The two T-shaped blocks swap their original xy positions, their orientations match the swapped targets, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/swap-t/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3299, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/swap_T/episode_003299.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/swap_T/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
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| "fps": 25, | |
| "frame_count": 274, | |
| "duration_seconds": 10.96, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 33, | |
| "task_name": "Swap Blocks", | |
| "category": "Memory", | |
| "task_key": "swap_blocks", | |
| "catalog_number": 15, | |
| "instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", | |
| "dataset_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.", | |
| "scoring": "0: The swap sequence is not completed, or the button is not pressed after each move.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/swap-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3300, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/swap_blocks/episode_003300.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/swap_blocks/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
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| "duration_seconds": 17.76, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 33, | |
| "task_name": "Swap Blocks", | |
| "category": "Memory", | |
| "task_key": "swap_blocks", | |
| "catalog_number": 15, | |
| "instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", | |
| "dataset_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.", | |
| "scoring": "0: The swap sequence is not completed, or the button is not pressed after each move.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/swap-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3349, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/swap_blocks/episode_003349.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/swap_blocks/arx_x5/preview_video/episode_0000049_cam_head.mp4", | |
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| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 33, | |
| "task_name": "Swap Blocks", | |
| "category": "Memory", | |
| "task_key": "swap_blocks", | |
| "catalog_number": 15, | |
| "instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", | |
| "dataset_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.", | |
| "scoring": "0: The swap sequence is not completed, or the button is not pressed after each move.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "DateGen", | |
| "usage": "Train & Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/swap-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
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| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/swap_blocks/episode_003399.parquet", | |
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| "duration_seconds": 17.2, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 34, | |
| "task_name": "Sweep Blocks", | |
| "category": "Generalization", | |
| "task_key": "sweep_blocks", | |
| "catalog_number": 6, | |
| "instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.", | |
| "dataset_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.", | |
| "scoring": "0: The blocks are not fully swept into the dustpan.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3400, | |
| "source_local_episode": 0, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/sweep_blocks/episode_003400.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/sweep_blocks/arx_x5/preview_video/episode_0000000_cam_head.mp4", | |
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| "frame_count": 702, | |
| "duration_seconds": 28.08, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 34, | |
| "task_name": "Sweep Blocks", | |
| "category": "Generalization", | |
| "task_key": "sweep_blocks", | |
| "catalog_number": 6, | |
| "instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.", | |
| "dataset_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.", | |
| "scoring": "0: The blocks are not fully swept into the dustpan.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3449, | |
| "source_local_episode": 49, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/sweep_blocks/episode_003449.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/sweep_blocks/arx_x5/preview_video/episode_0000049_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/sweep_blocks/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/sweep_blocks/arx_x5/preview_video/episode_0000049_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-003/episode_003449.parquet", | |
| "fps": 25, | |
| "frame_count": 740, | |
| "duration_seconds": 29.6, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 34, | |
| "task_name": "Sweep Blocks", | |
| "category": "Generalization", | |
| "task_key": "sweep_blocks", | |
| "catalog_number": 6, | |
| "instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.", | |
| "dataset_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.", | |
| "scoring": "0: The blocks are not fully swept into the dustpan.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": 3499, | |
| "source_local_episode": 99, | |
| "row_kind": "official_demonstration", | |
| "variant": "standard / sampled scene", | |
| "trajectory_url": "https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/resolve/main/trajectories/sweep_blocks/episode_003499.parquet", | |
| "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/sweep_blocks/arx_x5/preview_video/episode_0000099_cam_head.mp4", | |
| "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/sweep_blocks/arx_x5/preview_video/episode_0000099_cam_right_wrist.mp4", | |
| "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/sweep_blocks/arx_x5/preview_video/episode_0000099_cam_left_wrist.mp4", | |
| "source_trajectory_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo_lerobot_v21_video/data/chunk-003/episode_003499.parquet", | |
| "fps": 25, | |
| "frame_count": 527, | |
| "duration_seconds": 21.08, | |
| "notes": "Official full three-camera preview; no frames sampled out. Synchronized view is a resized composite. Background ID and episode score are not published." | |
| }, | |
| { | |
| "task_index": 34, | |
| "task_name": "Sweep Blocks", | |
| "category": "Generalization", | |
| "task_key": "sweep_blocks", | |
| "catalog_number": 6, | |
| "instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.", | |
| "dataset_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.", | |
| "scoring": "0: The blocks are not fully swept into the dustpan.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "Teleop / Random eval-only", | |
| "usage": "Train & Eval / Random Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_random_eval", | |
| "variant": "Random version", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page. Only the head-camera MP4 is publicly provided; corresponding left/right wrist videos were not found in audited official sources." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "Align Blocks", | |
| "category": "Open", | |
| "task_key": "align_blocks", | |
| "catalog_number": 35, | |
| "instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.", | |
| "dataset_instruction": null, | |
| "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.", | |
| "scoring": "0: The alignment, reset, or no-lift condition is not satisfied.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/align-blocks/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/align-blocks.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "General Pickup", | |
| "category": "Open", | |
| "task_key": "general_pickup", | |
| "catalog_number": 36, | |
| "instruction": "Pick up the target object by 10 cm.", | |
| "dataset_instruction": null, | |
| "description": "There are multiple objects. The robot needs to understand the language instruction, identify the target object, and pick it up.", | |
| "scoring": "0: The target object is not lifted high enough.\n100: The target object is lifted at least 10 cm.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/general-pickup/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/general-pickup.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "Solve Equation", | |
| "category": "Open", | |
| "task_key": "solve_equation", | |
| "catalog_number": 37, | |
| "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.", | |
| "dataset_instruction": null, | |
| "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.", | |
| "scoring": "0: The missing equation piece is not placed correctly.\n100: The correct missing number/operator piece is placed on the missing mat and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "Each digit must remain within the permitted rotational tolerance relative to its initial pose.", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/solve-equation/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/solve-equation.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "Stack Blocks By Language", | |
| "category": "Open", | |
| "task_key": "stack_blocks_by_language", | |
| "catalog_number": 38, | |
| "instruction": "Stack the three blocks on top of each other in the order of color₁, color₂, and color₃, then reset the robot arm.", | |
| "dataset_instruction": null, | |
| "description": "There are several colored blocks. The robot needs to understand the language instruction and stack the blocks in the specified color order.", | |
| "scoring": "0: The first ordered stack is not completed.\n20: The first two specified blocks are stacked in the instructed order, the bottom block remains on the table, and the gripper is open.\n100: All three specified blocks are stacked in order and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks-by-language/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-by-language.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "Classify Objects By Language", | |
| "category": "Open", | |
| "task_key": "classify_objects_by_language", | |
| "catalog_number": 39, | |
| "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.", | |
| "dataset_instruction": null, | |
| "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.", | |
| "scoring": "0: No specified category is placed into its assigned basket.\n10: One specified category is placed into its assigned basket, no other objects are in that basket, and the gripper is open.\n40: Two specified categories are placed into their assigned baskets, with no extra objects in those baskets.\n100: 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.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/classify-objects-by-language/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/classify-objects-by-language.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "Pick From Conveyor By Image", | |
| "category": "Open", | |
| "task_key": "pick_from_conveyor_by_image", | |
| "catalog_number": 40, | |
| "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.", | |
| "dataset_instruction": null, | |
| "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.", | |
| "scoring": "0: The target object is not placed into the lifted basket.\n100: The image-specified target object is in the basket and lifted at least 8 cm.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/pick-from-conveyor-by-image/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/pick-from-conveyor-by-image.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "Store Tools In Toolbox", | |
| "category": "Open", | |
| "task_key": "store_tools_in_toolbox", | |
| "catalog_number": 41, | |
| "instruction": "Place each tool into its matching position in the toolbox, then reset the robot arm.", | |
| "dataset_instruction": null, | |
| "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.", | |
| "scoring": "0: No tool is placed into its matching toolbox slot.\n25: Any one tool is placed in its matching toolbox slot with the gripper open.\n50: Any two tools are placed into their matching toolbox slots.\n75: Any three tools are placed into their matching toolbox slots.\n100: All four tools are placed in their matching slots, covered by the toolbox, and the robot returns to origin.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/store-tools-in-toolbox/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/store-tools-in-toolbox.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| }, | |
| { | |
| "task_index": null, | |
| "task_name": "Pour By Language", | |
| "category": "Open", | |
| "task_key": "pour_by_language", | |
| "catalog_number": 42, | |
| "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.", | |
| "dataset_instruction": null, | |
| "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.", | |
| "scoring": "0: The first target pour is not completed.\n20: 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.\n50: The first two specified liquids are poured into their bowls, and the third liquid has not yet been poured.\n100: All three specified liquids are poured into their corresponding bowls.", | |
| "platform": "Simulation", | |
| "data_source": "null (eval-only)", | |
| "usage": "Eval", | |
| "comment": "", | |
| "official_task_page": "https://robodojo-benchmark.com/doc/sim-tasks/pour-by-language/", | |
| "source_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", | |
| "actual_episode_score": null, | |
| "background_id": null, | |
| "episode_index": null, | |
| "source_local_episode": null, | |
| "row_kind": "documentation_eval_only", | |
| "variant": "Simulation demo", | |
| "trajectory_url": "", | |
| "source_top_url": "", | |
| "source_right_url": "", | |
| "source_left_url": "", | |
| "source_trajectory_url": "", | |
| "fps": null, | |
| "frame_count": null, | |
| "duration_seconds": null, | |
| "notes": "Official website demo: https://robodojo-benchmark.com/doc/videos/tasks/pour-by-language.mp4. No published three-camera training demonstration for this variant. Scoring is from the base task page." | |
| } | |
| ] |