diff --git a/LICENSE.md b/LICENSE.md new file mode 100644 index 0000000000000000000000000000000000000000..092b399129f0705bad5c1f403746cc4592041509 --- /dev/null +++ b/LICENSE.md @@ -0,0 +1,31 @@ +# Upstream RoboDojo terms and attribution + +This is an unofficial curated subset, not an ownership or relicensing claim. + +- Official HF dataset metadata at revision 35efbc7dedfdbeeb6e95fb749bd885d73d483e41 declares Apache-2.0: https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo +- The upstream GitHub README describes non-commercial research terms, while its LICENSE file contains MIT. These source statements are inconsistent. Consult the maintainers for usage beyond clearly granted rights. +- Source task text, scoring rules, website demos and dataset previews are credited to RoboDojo-Benchmark and the RoboDojo authors. All upstream rights and notices are retained. + +## Upstream code/documentation LICENSE snapshot + +MIT License + +Copyright (c) 2025 Yue Chen + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..da3cf4abbaa440b2d1f0004743b1f1455c5beae0 --- /dev/null +++ b/README.md @@ -0,0 +1,1386 @@ +--- +language: +- en +- zh +license: other +license_name: upstream-robodojo-terms +license_link: LICENSE.md +pretty_name: RoboDojo Task Examples — official task index / top / right / left +tags: +- robotics +- robodojo +- video +- bimanual +- task-catalog +configs: +- config_name: all + default: true + data_files: + - split: examples + path: data/all.parquet +- config_name: generalization + data_files: + - split: examples + path: data/generalization.parquet +- config_name: memory + data_files: + - split: examples + path: data/memory.parquet +- config_name: precision + data_files: + - split: examples + path: data/precision.parquet +- config_name: long_horizon + data_files: + - split: examples + path: data/long_horizon.parquet +- config_name: open + data_files: + - split: examples + path: data/open.parquet +- config_name: dlc + data_files: + - split: examples + path: data/dlc.parquet +- config_name: task_30_stack_bowls + data_files: + - split: examples + path: data/task_30_stack_bowls.parquet +- config_name: task_26_push_T + data_files: + - split: examples + path: data/task_26_push_T.parquet +- config_name: task_18_pack_objects_into_box + data_files: + - split: examples + path: data/task_18_pack_objects_into_box.parquet +- config_name: task_09_fold_clothes + data_files: + - split: examples + path: data/task_09_fold_clothes.parquet +- config_name: task_10_hang_mugs + data_files: + - split: examples + path: data/task_10_hang_mugs.parquet +- config_name: task_34_sweep_blocks + data_files: + - split: examples + path: data/task_34_sweep_blocks.parquet +- config_name: task_24_pour_liquid_into_cup + data_files: + - split: examples + path: data/task_24_pour_liquid_into_cup.parquet +- config_name: task_15_make_toast + data_files: + - split: examples + path: data/task_15_make_toast.parquet +- config_name: task_00_arrange_largest_number + data_files: + - split: examples + path: data/task_00_arrange_largest_number.parquet +- config_name: task_28_sort_nesting_dolls_by_size + data_files: + - split: examples + path: data/task_28_sort_nesting_dolls_by_size.parquet +- config_name: task_31_store_laptop_and_headphones + data_files: + - split: examples + path: data/task_31_store_laptop_and_headphones.parquet +- config_name: task_29_stack_blocks + data_files: + - split: examples + path: data/task_29_stack_blocks.parquet +- config_name: task_03_cover_blocks + data_files: + - split: examples + path: data/task_03_cover_blocks.parquet +- config_name: task_16_match_and_pick_from_conveyor + data_files: + - split: examples + path: data/task_16_match_and_pick_from_conveyor.parquet +- config_name: task_33_swap_blocks + data_files: + - split: examples + path: data/task_33_swap_blocks.parquet +- config_name: task_32_swap_T + data_files: + - split: examples + path: data/task_32_swap_T.parquet +- config_name: task_25_press_by_number + data_files: + - split: examples + path: data/task_25_press_by_number.parquet +- config_name: task_11_imitate_sorting_sequence + data_files: + - split: examples + path: data/task_11_imitate_sorting_sequence.parquet +- config_name: task_06_fasten_screws + data_files: + - split: examples + path: data/task_06_fasten_screws.parquet +- config_name: task_22_plug_in_charger + data_files: + - split: examples + path: data/task_22_plug_in_charger.parquet +- config_name: task_13_insert_tubes + data_files: + - split: examples + path: data/task_13_insert_tubes.parquet +- config_name: task_23_pour_balls_into_vase + data_files: + - split: examples + path: data/task_23_pour_balls_into_vase.parquet +- config_name: task_19_play_Xylophone + data_files: + - split: examples + path: data/task_19_play_Xylophone.parquet +- config_name: task_04_deposit_coin + data_files: + - split: examples + path: data/task_04_deposit_coin.parquet +- config_name: task_12_insert_key + data_files: + - split: examples + path: data/task_12_insert_key.parquet +- config_name: task_01_build_tower + data_files: + - split: examples + path: data/task_01_build_tower.parquet +- config_name: task_08_fill_pen_holder + data_files: + - split: examples + path: data/task_08_fill_pen_holder.parquet +- config_name: task_02_classify_objects + data_files: + - split: examples + path: data/task_02_classify_objects.parquet +- config_name: task_27_put_bottles_into_dustbin + data_files: + - split: examples + path: data/task_27_put_bottles_into_dustbin.parquet +- config_name: task_21_play_tic_tac_toe + data_files: + - split: examples + path: data/task_21_play_tic_tac_toe.parquet +- config_name: task_07_fill_egg_holder + data_files: + - split: examples + path: data/task_07_fill_egg_holder.parquet +- config_name: task_17_organize_table + data_files: + - split: examples + path: data/task_17_organize_table.parquet +- config_name: task_14_make_kong + data_files: + - split: examples + path: data/task_14_make_kong.parquet +- config_name: task_20_play_stacking_toy + data_files: + - split: examples + path: data/task_20_play_stacking_toy.parquet +- config_name: catalog_35_align_blocks + data_files: + - split: examples + path: data/catalog_35_align_blocks.parquet +- config_name: catalog_36_general_pickup + data_files: + - split: examples + path: data/catalog_36_general_pickup.parquet +- config_name: catalog_37_solve_equation + data_files: + - split: examples + path: data/catalog_37_solve_equation.parquet +- config_name: catalog_38_stack_blocks_by_language + data_files: + - split: examples + path: data/catalog_38_stack_blocks_by_language.parquet +- config_name: catalog_39_classify_objects_by_language + data_files: + - split: examples + path: data/catalog_39_classify_objects_by_language.parquet +- config_name: catalog_40_pick_from_conveyor_by_image + data_files: + - split: examples + path: data/catalog_40_pick_from_conveyor_by_image.parquet +- config_name: catalog_41_store_tools_in_toolbox + data_files: + - split: examples + path: data/catalog_41_store_tools_in_toolbox.parquet +- config_name: catalog_42_pour_by_language + data_files: + - split: examples + path: data/catalog_42_pour_by_language.parquet +- config_name: task_05_dlc + data_files: + - split: examples + path: data/task_05_dlc.parquet +- config_name: reference_tools + data_files: + - split: examples + path: data/reference_tools.parquet +--- +# RoboDojo Task Examples + +**按官方 task_index 找任务，按 top → right wrist → left wrist 看完整示教。** + +43 个官网任务页面 · 35 个有公开示教的任务 · 每任务 3 条完整示教 · 12 个 random-layout 官网演示 · 8 个 Open eval-only 官网演示。 + +这是精选浏览集，不是官方完整训练集。数据源：[官方 HF 数据](https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo) / [官方任务文档](https://robodojo-benchmark.com/doc/sim-tasks/)。 + +## 快速定位任务 + +在上方 Dataset Viewer 选择 `task_30_stack_bowls` 等 subset，或选择六大类。`all` 按官方 task_index 排序。点击表内视频即可播放。 + +- `task_index`：官方 LeRobot v2.1 `meta/tasks.jsonl` 的 **0–34**，没有重新编号。 +- `catalog_number`：本仓库对官网目录顺序的辅助编号 **C01–C43**，不是官方 task_index。 +- `episode_index`：官方 LeRobot 全局 episode ID；`source_local_episode`：原始任务目录的 episode 文件编号。 +- Open 类 8 个任务的 `task_index` / `episode_index` 为 null；只展示官网 eval-only 演示，不伪造示教。 +- `synchronized_views` 把同一 episode 的 **TOP / RIGHT WRIST / LEFT WRIST** 合成一行，同步播放，完整时长、25 FPS。 +- `top` / `right` / `left` 保留官方原始 H.264 预览视频（640×480），逐字节校验 SHA256。TOP 对应官方 `cam_head`（LeRobot 命名 `cam_high`），不是新生成的正交俯视相机。 +- `trajectory_url` 可下载该 episode 的官方动作与状态 Parquet（14 维双臂关节）。这是关节示教数据，不是未提供的笛卡尔腕部位姿。 +- `scoring` 是任务评分规则；官方未给每条示教评分，所以 `actual_episode_score` 为 null。 +- `instruction` 来自当前官网；`dataset_instruction` 来自官方 v2.1 数据。Build Tower / Organize Table 的两者有差异，页面逐项展示；不可把旧版示教当作已完成新版目标。 +- 每任务取原始 episode 0 / 49 / 99。官方没有背景 ID 标签，所以 `background_id` 为 null；多行是实际不同示教场景，不保证覆盖所有背景种类。random-layout 演示单列且标为 eval-only。 + +## World-axis orientation 与分类 + +![World-axis orientation](reference/world_axes.png) + +X 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界坐标系原点。分类沿用该标题下官网列出的六组。 + +| 官方 task_index | 官网目录 | Task | Category | 直接浏览 | +| --- | --- | --- | --- | --- | +| **0** | C09 | [Arrange Largest Number](https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_00_arrange_largest_number/examples) | +| **1** | C26 | [Build Tower](https://robodojo-benchmark.com/doc/sim-tasks/build-tower/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_01_build_tower/examples) | +| **2** | C28 | [Classify Objects](https://robodojo-benchmark.com/doc/sim-tasks/classify-objects/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_02_classify_objects/examples) | +| **3** | C13 | [Cover Blocks](https://robodojo-benchmark.com/doc/sim-tasks/cover-blocks/) | Memory | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_03_cover_blocks/examples) | +| **4** | C24 | [Deposit Coin](https://robodojo-benchmark.com/doc/sim-tasks/deposit-coin/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_04_deposit_coin/examples) | +| **5** | C43 | [DLC](https://robodojo-benchmark.com/doc/sim-tasks/dlc/) | DLC | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_05_dlc/examples) | +| **6** | C19 | [Fasten Screws](https://robodojo-benchmark.com/doc/sim-tasks/fasten-screws/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_06_fasten_screws/examples) | +| **7** | C31 | [Fill Egg Holder](https://robodojo-benchmark.com/doc/sim-tasks/fill-egg-holder/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_07_fill_egg_holder/examples) | +| **8** | C27 | [Fill Pen Holder](https://robodojo-benchmark.com/doc/sim-tasks/fill-pen-holder/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_08_fill_pen_holder/examples) | +| **9** | C04 | [Fold Clothes](https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_09_fold_clothes/examples) | +| **10** | C05 | [Hang Mugs](https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_10_hang_mugs/examples) | +| **11** | C18 | [Imitate Sorting Sequence](https://robodojo-benchmark.com/doc/sim-tasks/imitate-sorting-sequence/) | Memory | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_11_imitate_sorting_sequence/examples) | +| **12** | C25 | [Insert Key](https://robodojo-benchmark.com/doc/sim-tasks/insert-key/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_12_insert_key/examples) | +| **13** | C21 | [Insert Tubes](https://robodojo-benchmark.com/doc/sim-tasks/insert-tubes/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_13_insert_tubes/examples) | +| **14** | C33 | [Make Kong](https://robodojo-benchmark.com/doc/sim-tasks/make-kong/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_14_make_kong/examples) | +| **15** | C08 | [Make Toast](https://robodojo-benchmark.com/doc/sim-tasks/make-toast/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_15_make_toast/examples) | +| **16** | C14 | [Match And Pick From Conveyor](https://robodojo-benchmark.com/doc/sim-tasks/match-and-pick-from-conveyor/) | Memory | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_16_match_and_pick_from_conveyor/examples) | +| **17** | C32 | [Organize Table](https://robodojo-benchmark.com/doc/sim-tasks/organize-table/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_17_organize_table/examples) | +| **18** | C03 | [Pack Objects Into Box](https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_18_pack_objects_into_box/examples) | +| **19** | C23 | [Play Xylophone](https://robodojo-benchmark.com/doc/sim-tasks/play-xylophone/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_19_play_Xylophone/examples) | +| **20** | C34 | [Play Stacking Toy](https://robodojo-benchmark.com/doc/sim-tasks/play-stacking-toy/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_20_play_stacking_toy/examples) | +| **21** | C30 | [Play Tic-Tac-Toe](https://robodojo-benchmark.com/doc/sim-tasks/play-tic-tac-toe/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_21_play_tic_tac_toe/examples) | +| **22** | C20 | [Plug In Charger](https://robodojo-benchmark.com/doc/sim-tasks/plug-in-charger/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_22_plug_in_charger/examples) | +| **23** | C22 | [Pour Balls Into Vase](https://robodojo-benchmark.com/doc/sim-tasks/pour-balls-into-vase/) | Precision | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_23_pour_balls_into_vase/examples) | +| **24** | C07 | [Pour Liquid Into Cup](https://robodojo-benchmark.com/doc/sim-tasks/pour-liquid-into-cup/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_24_pour_liquid_into_cup/examples) | +| **25** | C17 | [Press By Number](https://robodojo-benchmark.com/doc/sim-tasks/press-by-number/) | Memory | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_25_press_by_number/examples) | +| **26** | C02 | [Push T](https://robodojo-benchmark.com/doc/sim-tasks/push-t/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_26_push_T/examples) | +| **27** | C29 | [Put Bottles Into Dustbin](https://robodojo-benchmark.com/doc/sim-tasks/put-bottles-into-dustbin/) | Long-Horizon | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_27_put_bottles_into_dustbin/examples) | +| **28** | C10 | [Sort Nesting Dolls By Size](https://robodojo-benchmark.com/doc/sim-tasks/sort-nesting-dolls-by-size/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_28_sort_nesting_dolls_by_size/examples) | +| **29** | C12 | [Stack Blocks](https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_29_stack_blocks/examples) | +| **30** | C01 | [Stack Bowls](https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_30_stack_bowls/examples) | +| **31** | C11 | [Store Laptop And Headphones](https://robodojo-benchmark.com/doc/sim-tasks/store-laptop-and-headphones/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_31_store_laptop_and_headphones/examples) | +| **32** | C16 | [Swap T](https://robodojo-benchmark.com/doc/sim-tasks/swap-t/) | Memory | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_32_swap_T/examples) | +| **33** | C15 | [Swap Blocks](https://robodojo-benchmark.com/doc/sim-tasks/swap-blocks/) | Memory | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_33_swap_blocks/examples) | +| **34** | C06 | [Sweep Blocks](https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/) | Generalization | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_34_sweep_blocks/examples) | +| **—（eval-only）** | C35 | [Align Blocks](https://robodojo-benchmark.com/doc/sim-tasks/align-blocks/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_35_align_blocks/examples) | +| **—（eval-only）** | C36 | [General Pickup](https://robodojo-benchmark.com/doc/sim-tasks/general-pickup/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_36_general_pickup/examples) | +| **—（eval-only）** | C37 | [Solve Equation](https://robodojo-benchmark.com/doc/sim-tasks/solve-equation/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_37_solve_equation/examples) | +| **—（eval-only）** | C38 | [Stack Blocks By Language](https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks-by-language/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_38_stack_blocks_by_language/examples) | +| **—（eval-only）** | C39 | [Classify Objects By Language](https://robodojo-benchmark.com/doc/sim-tasks/classify-objects-by-language/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_39_classify_objects_by_language/examples) | +| **—（eval-only）** | C40 | [Pick From Conveyor By Image](https://robodojo-benchmark.com/doc/sim-tasks/pick-from-conveyor-by-image/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_40_pick_from_conveyor_by_image/examples) | +| **—（eval-only）** | C41 | [Store Tools In Toolbox](https://robodojo-benchmark.com/doc/sim-tasks/store-tools-in-toolbox/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_41_store_tools_in_toolbox/examples) | +| **—（eval-only）** | C42 | [Pour By Language](https://robodojo-benchmark.com/doc/sim-tasks/pour-by-language/) | Open | [打开](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_42_pour_by_language/examples) | + +## 各任务示例、instruction 与评分 + +每一行是同一 episode 的 top / right / left。点开同步视频可同时看三个视角；官网演示与正式示教分开标注。 + +## Generalization + +### Stack Bowls · task_index=30 · C01 + +**Instruction:** Stack the three bowls together. + +**Description:** There are three bowls. The robot needs to stack all the bowls together. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_30_stack_bowls/examples) + +| Score | Condition | +| --- | --- | +| 0 | No two bowls are stacked correctly. | +| 15 | Any two bowls are stacked upright and the gripper is open. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **3000** / 0000000 | ![Top / right / left](media/stack_bowls/episode_0000000/top_right_left.jpg) | [同步视频](media/stack_bowls/episode_0000000/top_right_left.mp4) · [top](media/stack_bowls/episode_0000000/top.mp4) · [right](media/stack_bowls/episode_0000000/right.mp4) · [left](media/stack_bowls/episode_0000000/left.mp4) · [动作/状态](trajectories/stack_bowls/episode_003000.parquet) | +| **3049** / 0000049 | ![Top / right / left](media/stack_bowls/episode_0000049/top_right_left.jpg) | [同步视频](media/stack_bowls/episode_0000049/top_right_left.mp4) · [top](media/stack_bowls/episode_0000049/top.mp4) · [right](media/stack_bowls/episode_0000049/right.mp4) · [left](media/stack_bowls/episode_0000049/left.mp4) · [动作/状态](trajectories/stack_bowls/episode_003049.parquet) | +| **3099** / 0000099 | ![Top / right / left](media/stack_bowls/episode_0000099/top_right_left.jpg) | [同步视频](media/stack_bowls/episode_0000099/top_right_left.mp4) · [top](media/stack_bowls/episode_0000099/top.mp4) · [right](media/stack_bowls/episode_0000099/right.mp4) · [left](media/stack_bowls/episode_0000099/left.mp4) · [动作/状态](trajectories/stack_bowls/episode_003099.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/stack_bowls/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls-random.mp4) + +### Push T · task_index=26 · C02 + +**Instruction:** Push the T-shaped block to align it precisely with the gray T-shaped pad. + +**Description:** There is a thin gray T-shaped pad and a T-shaped block. The robot needs to push the T-shaped block until it is precisely aligned with and fitted onto the gray pad. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/push-t/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_26_push_T/examples) + +| Score | Condition | +| --- | --- | +| 0 | The target pose, reset, or no-lift condition is not satisfied. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2600** / 0000000 | ![Top / right / left](media/push_T/episode_0000000/top_right_left.jpg) | [同步视频](media/push_T/episode_0000000/top_right_left.mp4) · [top](media/push_T/episode_0000000/top.mp4) · [right](media/push_T/episode_0000000/right.mp4) · [left](media/push_T/episode_0000000/left.mp4) · [动作/状态](trajectories/push_T/episode_002600.parquet) | +| **2649** / 0000049 | ![Top / right / left](media/push_T/episode_0000049/top_right_left.jpg) | [同步视频](media/push_T/episode_0000049/top_right_left.mp4) · [top](media/push_T/episode_0000049/top.mp4) · [right](media/push_T/episode_0000049/right.mp4) · [left](media/push_T/episode_0000049/left.mp4) · [动作/状态](trajectories/push_T/episode_002649.parquet) | +| **2699** / 0000099 | ![Top / right / left](media/push_T/episode_0000099/top_right_left.jpg) | [同步视频](media/push_T/episode_0000099/top_right_left.mp4) · [top](media/push_T/episode_0000099/top.mp4) · [right](media/push_T/episode_0000099/right.mp4) · [left](media/push_T/episode_0000099/left.mp4) · [动作/状态](trajectories/push_T/episode_002699.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/push-t.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/push_T/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4) + +### Pack Objects Into Box · task_index=18 · C03 + +**Instruction:** Place all the objects into the box with their front sides facing left. + +**Description:** There are several objects on the table and a box. The robot needs to pick up all the objects, place them into the box, and ensure that each object is oriented with its front side facing left. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_18_pack_objects_into_box/examples) + +| Score | Condition | +| --- | --- | +| 0 | No object is placed correctly into the box. | +| 10 | Any one object is inside the box with its front side facing left, the box is aligned, and the gripper is open. | +| 25 | Any two objects are placed correctly into the box. | +| 50 | Any three objects are placed correctly into the box. | +| 100 | All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1800** / 0000000 | ![Top / right / left](media/pack_objects_into_box/episode_0000000/top_right_left.jpg) | [同步视频](media/pack_objects_into_box/episode_0000000/top_right_left.mp4) · [top](media/pack_objects_into_box/episode_0000000/top.mp4) · [right](media/pack_objects_into_box/episode_0000000/right.mp4) · [left](media/pack_objects_into_box/episode_0000000/left.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001800.parquet) | +| **1849** / 0000049 | ![Top / right / left](media/pack_objects_into_box/episode_0000049/top_right_left.jpg) | [同步视频](media/pack_objects_into_box/episode_0000049/top_right_left.mp4) · [top](media/pack_objects_into_box/episode_0000049/top.mp4) · [right](media/pack_objects_into_box/episode_0000049/right.mp4) · [left](media/pack_objects_into_box/episode_0000049/left.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001849.parquet) | +| **1899** / 0000099 | ![Top / right / left](media/pack_objects_into_box/episode_0000099/top_right_left.jpg) | [同步视频](media/pack_objects_into_box/episode_0000099/top_right_left.mp4) · [top](media/pack_objects_into_box/episode_0000099/top.mp4) · [right](media/pack_objects_into_box/episode_0000099/right.mp4) · [left](media/pack_objects_into_box/episode_0000099/left.mp4) · [动作/状态](trajectories/pack_objects_into_box/episode_001899.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/pack_objects_into_box/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4) + +### Fold Clothes · task_index=9 · C04 + +**Instruction:** Fold the clothes neatly. + +**Description:** There is a piece of clothing. The robot needs to fold it neatly. + +**Platform:** Simulation · **Data Source:** DateGen / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_09_fold_clothes/examples) + +| Score | Condition | +| --- | --- | +| 0 | The sleeve-fold condition is not reached. | +| 20 | When the gripper opens, both sleeves are folded inward close to the opposite chest points. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **900** / 0000000 | ![Top / right / left](media/fold_clothes/episode_0000000/top_right_left.jpg) | [同步视频](media/fold_clothes/episode_0000000/top_right_left.mp4) · [top](media/fold_clothes/episode_0000000/top.mp4) · [right](media/fold_clothes/episode_0000000/right.mp4) · [left](media/fold_clothes/episode_0000000/left.mp4) · [动作/状态](trajectories/fold_clothes/episode_000900.parquet) | +| **949** / 0000049 | ![Top / right / left](media/fold_clothes/episode_0000049/top_right_left.jpg) | [同步视频](media/fold_clothes/episode_0000049/top_right_left.mp4) · [top](media/fold_clothes/episode_0000049/top.mp4) · [right](media/fold_clothes/episode_0000049/right.mp4) · [left](media/fold_clothes/episode_0000049/left.mp4) · [动作/状态](trajectories/fold_clothes/episode_000949.parquet) | +| **999** / 0000099 | ![Top / right / left](media/fold_clothes/episode_0000099/top_right_left.jpg) | [同步视频](media/fold_clothes/episode_0000099/top_right_left.mp4) · [top](media/fold_clothes/episode_0000099/top.mp4) · [right](media/fold_clothes/episode_0000099/right.mp4) · [left](media/fold_clothes/episode_0000099/left.mp4) · [动作/状态](trajectories/fold_clothes/episode_000999.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/fold_clothes/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4) + +### Hang Mugs · task_index=10 · C05 + +**Instruction:** Hang all the mugs on the mug rack. + +**Description:** There are three mugs and one mug rack. The robot needs to pick up each mug and hang all of them on the rack. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_10_hang_mugs/examples) + +| Score | Condition | +| --- | --- | +| 0 | No mug is hung on the mug rack. | +| 15 | Any one mug is hung on the mug rack and the gripper is open. | +| 40 | Any two mugs are hung on the mug rack. | +| 100 | All three mugs are hung on the rack and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1000** / 0000000 | ![Top / right / left](media/hang_mugs/episode_0000000/top_right_left.jpg) | [同步视频](media/hang_mugs/episode_0000000/top_right_left.mp4) · [top](media/hang_mugs/episode_0000000/top.mp4) · [right](media/hang_mugs/episode_0000000/right.mp4) · [left](media/hang_mugs/episode_0000000/left.mp4) · [动作/状态](trajectories/hang_mugs/episode_001000.parquet) | +| **1049** / 0000049 | ![Top / right / left](media/hang_mugs/episode_0000049/top_right_left.jpg) | [同步视频](media/hang_mugs/episode_0000049/top_right_left.mp4) · [top](media/hang_mugs/episode_0000049/top.mp4) · [right](media/hang_mugs/episode_0000049/right.mp4) · [left](media/hang_mugs/episode_0000049/left.mp4) · [动作/状态](trajectories/hang_mugs/episode_001049.parquet) | +| **1099** / 0000099 | ![Top / right / left](media/hang_mugs/episode_0000099/top_right_left.jpg) | [同步视频](media/hang_mugs/episode_0000099/top_right_left.mp4) · [top](media/hang_mugs/episode_0000099/top.mp4) · [right](media/hang_mugs/episode_0000099/right.mp4) · [left](media/hang_mugs/episode_0000099/left.mp4) · [动作/状态](trajectories/hang_mugs/episode_001099.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/hang_mugs/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4) + +### Sweep Blocks · task_index=34 · C06 + +**Instruction:** Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks. + +**Description:** There is a broom and a dustpan on the left side, and the blocks are on the right side. The robot needs to pick up the broom, hand it over to the right hand, grasp the dustpan with the left hand, and sweep the blocks into the dustpan. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_34_sweep_blocks/examples) + +| Score | Condition | +| --- | --- | +| 0 | The blocks are not fully swept into the dustpan. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **3400** / 0000000 | ![Top / right / left](media/sweep_blocks/episode_0000000/top_right_left.jpg) | [同步视频](media/sweep_blocks/episode_0000000/top_right_left.mp4) · [top](media/sweep_blocks/episode_0000000/top.mp4) · [right](media/sweep_blocks/episode_0000000/right.mp4) · [left](media/sweep_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003400.parquet) | +| **3449** / 0000049 | ![Top / right / left](media/sweep_blocks/episode_0000049/top_right_left.jpg) | [同步视频](media/sweep_blocks/episode_0000049/top_right_left.mp4) · [top](media/sweep_blocks/episode_0000049/top.mp4) · [right](media/sweep_blocks/episode_0000049/right.mp4) · [left](media/sweep_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003449.parquet) | +| **3499** / 0000099 | ![Top / right / left](media/sweep_blocks/episode_0000099/top_right_left.jpg) | [同步视频](media/sweep_blocks/episode_0000099/top_right_left.mp4) · [top](media/sweep_blocks/episode_0000099/top.mp4) · [right](media/sweep_blocks/episode_0000099/right.mp4) · [left](media/sweep_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/sweep_blocks/episode_003499.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/sweep_blocks/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4) + +### Pour Liquid Into Cup · task_index=24 · C07 + +**Instruction:** Pour the liquid from the bottle into the cup. + +**Description:** There is a bottle containing liquid and a cup. The robot needs to pick up the bottle and pour the liquid into the cup. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/pour-liquid-into-cup/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_24_pour_liquid_into_cup/examples) + +| Score | Condition | +| --- | --- | +| 0 | The liquid is not successfully poured into the cup. | +| 100 | The cup contains the required amount of liquid and the bottle is upright. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2400** / 0000000 | ![Top / right / left](media/pour_liquid_into_cup/episode_0000000/top_right_left.jpg) | [同步视频](media/pour_liquid_into_cup/episode_0000000/top_right_left.mp4) · [top](media/pour_liquid_into_cup/episode_0000000/top.mp4) · [right](media/pour_liquid_into_cup/episode_0000000/right.mp4) · [left](media/pour_liquid_into_cup/episode_0000000/left.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002400.parquet) | +| **2449** / 0000049 | ![Top / right / left](media/pour_liquid_into_cup/episode_0000049/top_right_left.jpg) | [同步视频](media/pour_liquid_into_cup/episode_0000049/top_right_left.mp4) · [top](media/pour_liquid_into_cup/episode_0000049/top.mp4) · [right](media/pour_liquid_into_cup/episode_0000049/right.mp4) · [left](media/pour_liquid_into_cup/episode_0000049/left.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002449.parquet) | +| **2499** / 0000099 | ![Top / right / left](media/pour_liquid_into_cup/episode_0000099/top_right_left.jpg) | [同步视频](media/pour_liquid_into_cup/episode_0000099/top_right_left.mp4) · [top](media/pour_liquid_into_cup/episode_0000099/top.mp4) · [right](media/pour_liquid_into_cup/episode_0000099/right.mp4) · [left](media/pour_liquid_into_cup/episode_0000099/left.mp4) · [动作/状态](trajectories/pour_liquid_into_cup/episode_002499.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/pour_liquid_into_cup/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup-random.mp4) + +### Make Toast · task_index=15 · C08 + +**Instruction:** Pick up two slices of bread, place them into the toaster, and press the lever down. + +**Description:** There is a basket containing multiple slices of bread and a toaster. The robot needs to pick up two slices one by one, place them into the toaster, and then press the lever down to start toasting. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/make-toast/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_15_make_toast/examples) + +| Score | Condition | +| --- | --- | +| 0 | No bread slice is inserted into a toaster slot. | +| 25 | One bread slice is inserted into a toaster slot and all bread axes satisfy the required orientation. | +| 50 | Two bread slices are inserted into the toaster slots and all bread axes satisfy the required orientation. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1500** / 0000000 | ![Top / right / left](media/make_toast/episode_0000000/top_right_left.jpg) | [同步视频](media/make_toast/episode_0000000/top_right_left.mp4) · [top](media/make_toast/episode_0000000/top.mp4) · [right](media/make_toast/episode_0000000/right.mp4) · [left](media/make_toast/episode_0000000/left.mp4) · [动作/状态](trajectories/make_toast/episode_001500.parquet) | +| **1549** / 0000049 | ![Top / right / left](media/make_toast/episode_0000049/top_right_left.jpg) | [同步视频](media/make_toast/episode_0000049/top_right_left.mp4) · [top](media/make_toast/episode_0000049/top.mp4) · [right](media/make_toast/episode_0000049/right.mp4) · [left](media/make_toast/episode_0000049/left.mp4) · [动作/状态](trajectories/make_toast/episode_001549.parquet) | +| **1599** / 0000099 | ![Top / right / left](media/make_toast/episode_0000099/top_right_left.jpg) | [同步视频](media/make_toast/episode_0000099/top_right_left.mp4) · [top](media/make_toast/episode_0000099/top.mp4) · [right](media/make_toast/episode_0000099/right.mp4) · [left](media/make_toast/episode_0000099/left.mp4) · [动作/状态](trajectories/make_toast/episode_001599.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/make-toast.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/make_toast/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4) + +### Arrange Largest Number · task_index=0 · C09 + +**Instruction:** Arrange the numbers from left to right to form the largest possible number, and place them on the pad. + +**Description:** There are several number tiles on the table and a pad for placement. The robot needs to determine the order that forms the largest possible number, then place the four numbers on the pad from left to right in that order. + +**Platform:** Simulation · **Data Source:** DateGen / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_00_arrange_largest_number/examples) + +**Comment:** Each digit must remain within the permitted rotational tolerance relative to its initial pose. + +| Score | Condition | +| --- | --- | +| 0 | No digit is placed correctly. | +| 5 | Any one digit is placed on its correct pad in descending-number order, with valid orientation and the gripper open. | +| 15 | Any two digits are correctly placed. | +| 25 | In a 5-digit layout, any three digits are correctly placed. | +| 30 | In a 4-digit layout, any three digits are correctly placed. | +| 40 | In a 5-digit layout, any four digits are correctly placed. | +| 100 | All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **0** / 0000000 | ![Top / right / left](media/arrange_largest_number/episode_0000000/top_right_left.jpg) | [同步视频](media/arrange_largest_number/episode_0000000/top_right_left.mp4) · [top](media/arrange_largest_number/episode_0000000/top.mp4) · [right](media/arrange_largest_number/episode_0000000/right.mp4) · [left](media/arrange_largest_number/episode_0000000/left.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000000.parquet) | +| **49** / 0000049 | ![Top / right / left](media/arrange_largest_number/episode_0000049/top_right_left.jpg) | [同步视频](media/arrange_largest_number/episode_0000049/top_right_left.mp4) · [top](media/arrange_largest_number/episode_0000049/top.mp4) · [right](media/arrange_largest_number/episode_0000049/right.mp4) · [left](media/arrange_largest_number/episode_0000049/left.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000049.parquet) | +| **99** / 0000099 | ![Top / right / left](media/arrange_largest_number/episode_0000099/top_right_left.jpg) | [同步视频](media/arrange_largest_number/episode_0000099/top_right_left.mp4) · [top](media/arrange_largest_number/episode_0000099/top.mp4) · [right](media/arrange_largest_number/episode_0000099/right.mp4) · [left](media/arrange_largest_number/episode_0000099/left.mp4) · [动作/状态](trajectories/arrange_largest_number/episode_000099.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/arrange_largest_number/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4) + +### Sort Nesting Dolls By Size · task_index=28 · C10 + +**Instruction:** Arrange the five nesting dolls in a row from left to right, from smallest to largest. + +**Description:** There are five nesting dolls of different sizes on the table. The robot needs to sort them by size and arrange them in a straight row from left to right, from smallest to largest. + +**Platform:** Simulation · **Data Source:** DateGen / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/sort-nesting-dolls-by-size/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_28_sort_nesting_dolls_by_size/examples) + +| Score | Condition | +| --- | --- | +| 0 | The dolls are not arranged in the required size order. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2800** / 0000000 | ![Top / right / left](media/sort_nesting_dolls_by_size/episode_0000000/top_right_left.jpg) | [同步视频](media/sort_nesting_dolls_by_size/episode_0000000/top_right_left.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000000/top.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000000/right.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000000/left.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002800.parquet) | +| **2849** / 0000049 | ![Top / right / left](media/sort_nesting_dolls_by_size/episode_0000049/top_right_left.jpg) | [同步视频](media/sort_nesting_dolls_by_size/episode_0000049/top_right_left.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000049/top.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000049/right.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000049/left.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002849.parquet) | +| **2899** / 0000099 | ![Top / right / left](media/sort_nesting_dolls_by_size/episode_0000099/top_right_left.jpg) | [同步视频](media/sort_nesting_dolls_by_size/episode_0000099/top_right_left.mp4) · [top](media/sort_nesting_dolls_by_size/episode_0000099/top.mp4) · [right](media/sort_nesting_dolls_by_size/episode_0000099/right.mp4) · [left](media/sort_nesting_dolls_by_size/episode_0000099/left.mp4) · [动作/状态](trajectories/sort_nesting_dolls_by_size/episode_002899.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/sort_nesting_dolls_by_size/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4) + +### Store Laptop And Headphones · task_index=31 · C11 + +**Instruction:** Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand. + +**Description:** There is an open laptop on a laptop stand, a vertical laptop stand, a pair of headphones, and a headphone stand. The laptop opening angle is random but greater than 30 degrees. The robot needs to first hang the headphones on the headphone stand, then close the laptop, pick it up from the stand, and insert it into the vertical laptop stand. + +**Platform:** Simulation · **Data Source:** Teleop / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/store-laptop-and-headphones/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_31_store_laptop_and_headphones/examples) + +| Score | Condition | +| --- | --- | +| 0 | Neither the headphones nor the laptop is stored correctly. | +| 20 | The headphones are placed on the stand: the headband bridge is close to the support cradle and aligned, with the gripper open. | +| 80 | The headphones are correctly placed on the stand, and the laptop is closed, vertically inserted into the laptop rack, and within the required range. | +| 100 | Both the headphones and laptop conditions are satisfied and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **3100** / 0000000 | ![Top / right / left](media/store_laptop_and_headphones/episode_0000000/top_right_left.jpg) | [同步视频](media/store_laptop_and_headphones/episode_0000000/top_right_left.mp4) · [top](media/store_laptop_and_headphones/episode_0000000/top.mp4) · [right](media/store_laptop_and_headphones/episode_0000000/right.mp4) · [left](media/store_laptop_and_headphones/episode_0000000/left.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003100.parquet) | +| **3149** / 0000049 | ![Top / right / left](media/store_laptop_and_headphones/episode_0000049/top_right_left.jpg) | [同步视频](media/store_laptop_and_headphones/episode_0000049/top_right_left.mp4) · [top](media/store_laptop_and_headphones/episode_0000049/top.mp4) · [right](media/store_laptop_and_headphones/episode_0000049/right.mp4) · [left](media/store_laptop_and_headphones/episode_0000049/left.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003149.parquet) | +| **3199** / 0000099 | ![Top / right / left](media/store_laptop_and_headphones/episode_0000099/top_right_left.jpg) | [同步视频](media/store_laptop_and_headphones/episode_0000099/top_right_left.mp4) · [top](media/store_laptop_and_headphones/episode_0000099/top.mp4) · [right](media/store_laptop_and_headphones/episode_0000099/right.mp4) · [left](media/store_laptop_and_headphones/episode_0000099/left.mp4) · [动作/状态](trajectories/store_laptop_and_headphones/episode_003199.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/store_laptop_and_headphones/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4) + +### Stack Blocks · task_index=29 · C12 + +**Instruction:** Stack the three blocks with different textures. + +**Description:** There are three blocks with different textures on the table. The robot needs to pick them up and stack them into a stable pile. + +**Platform:** Simulation · **Data Source:** DateGen / Random eval-only · **Usage:** Train & Eval / Random Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_29_stack_blocks/examples) + +| Score | Condition | +| --- | --- | +| 0 | No two-block stack is completed. | +| 15 | Any two of the three blocks are stacked, and the gripper is open. | +| 100 | All three blocks are stacked together and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2900** / 0000000 | ![Top / right / left](media/stack_blocks/episode_0000000/top_right_left.jpg) | [同步视频](media/stack_blocks/episode_0000000/top_right_left.mp4) · [top](media/stack_blocks/episode_0000000/top.mp4) · [right](media/stack_blocks/episode_0000000/right.mp4) · [left](media/stack_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/stack_blocks/episode_002900.parquet) | +| **2949** / 0000049 | ![Top / right / left](media/stack_blocks/episode_0000049/top_right_left.jpg) | [同步视频](media/stack_blocks/episode_0000049/top_right_left.mp4) · [top](media/stack_blocks/episode_0000049/top.mp4) · [right](media/stack_blocks/episode_0000049/right.mp4) · [left](media/stack_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/stack_blocks/episode_002949.parquet) | +| **2999** / 0000099 | ![Top / right / left](media/stack_blocks/episode_0000099/top_right_left.jpg) | [同步视频](media/stack_blocks/episode_0000099/top_right_left.mp4) · [top](media/stack_blocks/episode_0000099/top.mp4) · [right](media/stack_blocks/episode_0000099/right.mp4) · [left](media/stack_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/stack_blocks/episode_002999.parquet) | + +[官网 Standard version](https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks.mp4) + +**Random version · 官网演示（非训练示教）:** [视频](media/stack_blocks/random.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4) + +## Memory + +### Cover Blocks · task_index=3 · C13 + +**Instruction:** Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue. + +**Description:** There are three covers and three blocks arranged in a random order. The blocks are red, green, and blue. The robot needs to cover the blocks from left to right, remember the color under each cover, and then uncover the blocks in the order of red, green, and blue. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/cover-blocks/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_03_cover_blocks/examples) + +| Score | Condition | +| --- | --- | +| 0 | No block-covering step is completed. | +| 5 | All three blocks are covered by cups from left to right. | +| 15 | After all blocks are covered, the red block is uncovered first while the green and blue blocks remain covered. | +| 30 | The red and green blocks are uncovered in order while the blue block remains covered. | +| 100 | All three blocks are first covered from left to right, then uncovered in red, green, and blue order; cup orientation remains valid and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **300** / 0000000 | ![Top / right / left](media/cover_blocks/episode_0000000/top_right_left.jpg) | [同步视频](media/cover_blocks/episode_0000000/top_right_left.mp4) · [top](media/cover_blocks/episode_0000000/top.mp4) · [right](media/cover_blocks/episode_0000000/right.mp4) · [left](media/cover_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/cover_blocks/episode_000300.parquet) | +| **349** / 0000049 | ![Top / right / left](media/cover_blocks/episode_0000049/top_right_left.jpg) | [同步视频](media/cover_blocks/episode_0000049/top_right_left.mp4) · [top](media/cover_blocks/episode_0000049/top.mp4) · [right](media/cover_blocks/episode_0000049/right.mp4) · [left](media/cover_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/cover_blocks/episode_000349.parquet) | +| **399** / 0000099 | ![Top / right / left](media/cover_blocks/episode_0000099/top_right_left.jpg) | [同步视频](media/cover_blocks/episode_0000099/top_right_left.mp4) · [top](media/cover_blocks/episode_0000099/top.mp4) · [right](media/cover_blocks/episode_0000099/right.mp4) · [left](media/cover_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/cover_blocks/episode_000399.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/cover-blocks.mp4) + +### Match And Pick From Conveyor · task_index=16 · C14 + +**Instruction:** Remember the first object on the conveyor, then pick the matching object when it appears again. + +**Description:** An object first appears on the conveyor and is carried away. The robot needs to remember this object, observe the following objects on the conveyor, and pick the one that matches the first object. + +**Platform:** Simulation · **Data Source:** Teleop · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/match-and-pick-from-conveyor/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_16_match_and_pick_from_conveyor/examples) + +| Score | Condition | +| --- | --- | +| 0 | The matching target object is not lifted high enough. | +| 100 | The matching target object is lifted at least 10 cm. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1600** / 0000000 | ![Top / right / left](media/match_and_pick_from_conveyor/episode_0000000/top_right_left.jpg) | [同步视频](media/match_and_pick_from_conveyor/episode_0000000/top_right_left.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000000/top.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000000/right.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000000/left.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001600.parquet) | +| **1649** / 0000049 | ![Top / right / left](media/match_and_pick_from_conveyor/episode_0000049/top_right_left.jpg) | [同步视频](media/match_and_pick_from_conveyor/episode_0000049/top_right_left.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000049/top.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000049/right.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000049/left.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001649.parquet) | +| **1699** / 0000099 | ![Top / right / left](media/match_and_pick_from_conveyor/episode_0000099/top_right_left.jpg) | [同步视频](media/match_and_pick_from_conveyor/episode_0000099/top_right_left.mp4) · [top](media/match_and_pick_from_conveyor/episode_0000099/top.mp4) · [right](media/match_and_pick_from_conveyor/episode_0000099/right.mp4) · [left](media/match_and_pick_from_conveyor/episode_0000099/left.mp4) · [动作/状态](trajectories/match_and_pick_from_conveyor/episode_001699.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/match-and-pick-from-conveyor.mp4) + +### Swap Blocks · task_index=33 · C15 + +**Instruction:** Swap the two blocks using the empty mat, pressing the button after each move. + +**Description:** There are three mats, two blocks placed on two of the mats, and one button. The robot needs to swap the positions of the two blocks by using the empty mat as a temporary place. After each move, the robot must press the button. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/swap-blocks/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_33_swap_blocks/examples) + +| Score | Condition | +| --- | --- | +| 0 | The swap sequence is not completed, or the button is not pressed after each move. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **3300** / 0000000 | ![Top / right / left](media/swap_blocks/episode_0000000/top_right_left.jpg) | [同步视频](media/swap_blocks/episode_0000000/top_right_left.mp4) · [top](media/swap_blocks/episode_0000000/top.mp4) · [right](media/swap_blocks/episode_0000000/right.mp4) · [left](media/swap_blocks/episode_0000000/left.mp4) · [动作/状态](trajectories/swap_blocks/episode_003300.parquet) | +| **3349** / 0000049 | ![Top / right / left](media/swap_blocks/episode_0000049/top_right_left.jpg) | [同步视频](media/swap_blocks/episode_0000049/top_right_left.mp4) · [top](media/swap_blocks/episode_0000049/top.mp4) · [right](media/swap_blocks/episode_0000049/right.mp4) · [left](media/swap_blocks/episode_0000049/left.mp4) · [动作/状态](trajectories/swap_blocks/episode_003349.parquet) | +| **3399** / 0000099 | ![Top / right / left](media/swap_blocks/episode_0000099/top_right_left.jpg) | [同步视频](media/swap_blocks/episode_0000099/top_right_left.mp4) · [top](media/swap_blocks/episode_0000099/top.mp4) · [right](media/swap_blocks/episode_0000099/right.mp4) · [left](media/swap_blocks/episode_0000099/left.mp4) · [动作/状态](trajectories/swap_blocks/episode_003399.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/swap-blocks.mp4) + +### Swap T · task_index=32 · C16 + +**Instruction:** Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations. + +**Description:** There are two T-shaped blocks on the table. The robot needs to grasp them with both hands, swap their positions, and place them back so that each block matches the original pose of the other one, including both position and orientation. This is a memory-based task. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/swap-t/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_32_swap_T/examples) + +| Score | Condition | +| --- | --- | +| 0 | The two T blocks are not swapped with the required pose accuracy. | +| 100 | The two T-shaped blocks swap their original xy positions, their orientations match the swapped targets, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **3200** / 0000000 | ![Top / right / left](media/swap_T/episode_0000000/top_right_left.jpg) | [同步视频](media/swap_T/episode_0000000/top_right_left.mp4) · [top](media/swap_T/episode_0000000/top.mp4) · [right](media/swap_T/episode_0000000/right.mp4) · [left](media/swap_T/episode_0000000/left.mp4) · [动作/状态](trajectories/swap_T/episode_003200.parquet) | +| **3249** / 0000049 | ![Top / right / left](media/swap_T/episode_0000049/top_right_left.jpg) | [同步视频](media/swap_T/episode_0000049/top_right_left.mp4) · [top](media/swap_T/episode_0000049/top.mp4) · [right](media/swap_T/episode_0000049/right.mp4) · [left](media/swap_T/episode_0000049/left.mp4) · [动作/状态](trajectories/swap_T/episode_003249.parquet) | +| **3299** / 0000099 | ![Top / right / left](media/swap_T/episode_0000099/top_right_left.jpg) | [同步视频](media/swap_T/episode_0000099/top_right_left.mp4) · [top](media/swap_T/episode_0000099/top.mp4) · [right](media/swap_T/episode_0000099/right.mp4) · [left](media/swap_T/episode_0000099/left.mp4) · [动作/状态](trajectories/swap_T/episode_003299.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/swap-t.mp4) + +### Press By Number · task_index=25 · C17 + +**Instruction:** Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm. + +**Description:** There are two number cards, two red buttons, and one blue confirmation button. The robot needs to read the numbers, press each red button the corresponding number of times, and then press the blue button to confirm. Pressing the blue button ends the task immediately. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/press-by-number/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_25_press_by_number/examples) + +| Score | Condition | +| --- | --- | +| 0 | The required press counts or confirm sequence is not completed exactly. | +| 100 | Button `0` is pressed exactly the number shown by `num0`, the blue confirm button is pressed, button `1` is pressed exactly the number shown by `num1`, the blue confirm button is pressed again, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2500** / 0000000 | ![Top / right / left](media/press_by_number/episode_0000000/top_right_left.jpg) | [同步视频](media/press_by_number/episode_0000000/top_right_left.mp4) · [top](media/press_by_number/episode_0000000/top.mp4) · [right](media/press_by_number/episode_0000000/right.mp4) · [left](media/press_by_number/episode_0000000/left.mp4) · [动作/状态](trajectories/press_by_number/episode_002500.parquet) | +| **2549** / 0000049 | ![Top / right / left](media/press_by_number/episode_0000049/top_right_left.jpg) | [同步视频](media/press_by_number/episode_0000049/top_right_left.mp4) · [top](media/press_by_number/episode_0000049/top.mp4) · [right](media/press_by_number/episode_0000049/right.mp4) · [left](media/press_by_number/episode_0000049/left.mp4) · [动作/状态](trajectories/press_by_number/episode_002549.parquet) | +| **2599** / 0000099 | ![Top / right / left](media/press_by_number/episode_0000099/top_right_left.jpg) | [同步视频](media/press_by_number/episode_0000099/top_right_left.mp4) · [top](media/press_by_number/episode_0000099/top.mp4) · [right](media/press_by_number/episode_0000099/right.mp4) · [left](media/press_by_number/episode_0000099/left.mp4) · [动作/状态](trajectories/press_by_number/episode_002599.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/press-by-number.mp4) + +### Imitate Sorting Sequence · task_index=11 · C18 + +**Instruction:** Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. + +**Description:** There are five categories of objects, with five objects on each side. The opposite robot places its objects into the basket on the right side in a certain order. The robot needs to observe and remember this sequence, then place its corresponding objects into the basket in the same order. This is a memory-based imitation task. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/imitate-sorting-sequence/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_11_imitate_sorting_sequence/examples) + +| Score | Condition | +| --- | --- | +| 0 | The first sequence step is not completed, or the policy robot moves before the opposite robot arm finishes. | +| 5 | 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. | +| 15 | The first two target objects are placed in the correct sequence. | +| 30 | The first three target objects are placed in the correct sequence. | +| 50 | The first four target objects are placed in the correct sequence. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1100** / 0000000 | ![Top / right / left](media/imitate_sorting_sequence/episode_0000000/top_right_left.jpg) | [同步视频](media/imitate_sorting_sequence/episode_0000000/top_right_left.mp4) · [top](media/imitate_sorting_sequence/episode_0000000/top.mp4) · [right](media/imitate_sorting_sequence/episode_0000000/right.mp4) · [left](media/imitate_sorting_sequence/episode_0000000/left.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001100.parquet) | +| **1149** / 0000049 | ![Top / right / left](media/imitate_sorting_sequence/episode_0000049/top_right_left.jpg) | [同步视频](media/imitate_sorting_sequence/episode_0000049/top_right_left.mp4) · [top](media/imitate_sorting_sequence/episode_0000049/top.mp4) · [right](media/imitate_sorting_sequence/episode_0000049/right.mp4) · [left](media/imitate_sorting_sequence/episode_0000049/left.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001149.parquet) | +| **1199** / 0000099 | ![Top / right / left](media/imitate_sorting_sequence/episode_0000099/top_right_left.jpg) | [同步视频](media/imitate_sorting_sequence/episode_0000099/top_right_left.mp4) · [top](media/imitate_sorting_sequence/episode_0000099/top.mp4) · [right](media/imitate_sorting_sequence/episode_0000099/right.mp4) · [left](media/imitate_sorting_sequence/episode_0000099/left.mp4) · [动作/状态](trajectories/imitate_sorting_sequence/episode_001199.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/imitate-sorting-sequence.mp4) + +## Precision + +### Fasten Screws · task_index=6 · C19 + +**Instruction:** Insert and tighten each screw into the nut of the same color. + +**Description:** There are three screws and three nuts on the table. The screws and nuts come from five possible colors: red, blue, gray, yellow, and purple. In each episode, three different colors are selected, and the robot needs to match each screw with the nut of the same color, insert it, and tighten it. The screw positions vary within a small range, while the nut positions vary within a larger range. If a handover is needed, the robot can first place the screw in the middle and then let the other arm pick it up and fasten it. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/fasten-screws/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_06_fasten_screws/examples) + +| Score | Condition | +| --- | --- | +| 0 | No nut is fastened onto its matching bolt. | +| 20 | Any one nut is upright, aligned with its matching bolt, rotated onto the bolt to the required depth, and the gripper is open. | +| 50 | Any two matching nut-bolt pairs are fastened correctly. | +| 100 | All three nut-bolt pairs are fastened, the gripper is open, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **600** / 0000000 | ![Top / right / left](media/fasten_screws/episode_0000000/top_right_left.jpg) | [同步视频](media/fasten_screws/episode_0000000/top_right_left.mp4) · [top](media/fasten_screws/episode_0000000/top.mp4) · [right](media/fasten_screws/episode_0000000/right.mp4) · [left](media/fasten_screws/episode_0000000/left.mp4) · [动作/状态](trajectories/fasten_screws/episode_000600.parquet) | +| **649** / 0000049 | ![Top / right / left](media/fasten_screws/episode_0000049/top_right_left.jpg) | [同步视频](media/fasten_screws/episode_0000049/top_right_left.mp4) · [top](media/fasten_screws/episode_0000049/top.mp4) · [right](media/fasten_screws/episode_0000049/right.mp4) · [left](media/fasten_screws/episode_0000049/left.mp4) · [动作/状态](trajectories/fasten_screws/episode_000649.parquet) | +| **699** / 0000099 | ![Top / right / left](media/fasten_screws/episode_0000099/top_right_left.jpg) | [同步视频](media/fasten_screws/episode_0000099/top_right_left.mp4) · [top](media/fasten_screws/episode_0000099/top.mp4) · [right](media/fasten_screws/episode_0000099/right.mp4) · [left](media/fasten_screws/episode_0000099/left.mp4) · [动作/状态](trajectories/fasten_screws/episode_000699.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/fasten-screws.mp4) + +### Plug In Charger · task_index=22 · C20 + +**Instruction:** Plug the charger into the power strip. + +**Description:** There is a charger plug and a power strip. The robot needs to pick up the charger plug and insert it into the power strip. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/plug-in-charger/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_22_plug_in_charger/examples) + +| Score | Condition | +| --- | --- | +| 0 | The charger is not fully plugged into the socket. | +| 100 | The charger is inside the socket, inserted to the required depth, upright, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2200** / 0000000 | ![Top / right / left](media/plug_in_charger/episode_0000000/top_right_left.jpg) | [同步视频](media/plug_in_charger/episode_0000000/top_right_left.mp4) · [top](media/plug_in_charger/episode_0000000/top.mp4) · [right](media/plug_in_charger/episode_0000000/right.mp4) · [left](media/plug_in_charger/episode_0000000/left.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002200.parquet) | +| **2249** / 0000049 | ![Top / right / left](media/plug_in_charger/episode_0000049/top_right_left.jpg) | [同步视频](media/plug_in_charger/episode_0000049/top_right_left.mp4) · [top](media/plug_in_charger/episode_0000049/top.mp4) · [right](media/plug_in_charger/episode_0000049/right.mp4) · [left](media/plug_in_charger/episode_0000049/left.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002249.parquet) | +| **2299** / 0000099 | ![Top / right / left](media/plug_in_charger/episode_0000099/top_right_left.jpg) | [同步视频](media/plug_in_charger/episode_0000099/top_right_left.mp4) · [top](media/plug_in_charger/episode_0000099/top.mp4) · [right](media/plug_in_charger/episode_0000099/right.mp4) · [left](media/plug_in_charger/episode_0000099/left.mp4) · [动作/状态](trajectories/plug_in_charger/episode_002299.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/plug-in-charger.mp4) + +### Insert Tubes · task_index=13 · C21 + +**Instruction:** Insert the three tubes into the rack one by one. + +**Description:** There is a tube rack and three tubes. The robot needs to pick up each tube in sequence and insert all tubes into the rack. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/insert-tubes/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_13_insert_tubes/examples) + +| Score | Condition | +| --- | --- | +| 0 | No tube is inserted into a slot. | +| 20 | Any one tube is inside the slot, inserted to the required depth, upright, and the gripper is open. | +| 40 | Any two tubes are inserted correctly. | +| 100 | All three tubes are inserted correctly and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1300** / 0000000 | ![Top / right / left](media/insert_tubes/episode_0000000/top_right_left.jpg) | [同步视频](media/insert_tubes/episode_0000000/top_right_left.mp4) · [top](media/insert_tubes/episode_0000000/top.mp4) · [right](media/insert_tubes/episode_0000000/right.mp4) · [left](media/insert_tubes/episode_0000000/left.mp4) · [动作/状态](trajectories/insert_tubes/episode_001300.parquet) | +| **1349** / 0000049 | ![Top / right / left](media/insert_tubes/episode_0000049/top_right_left.jpg) | [同步视频](media/insert_tubes/episode_0000049/top_right_left.mp4) · [top](media/insert_tubes/episode_0000049/top.mp4) · [right](media/insert_tubes/episode_0000049/right.mp4) · [left](media/insert_tubes/episode_0000049/left.mp4) · [动作/状态](trajectories/insert_tubes/episode_001349.parquet) | +| **1399** / 0000099 | ![Top / right / left](media/insert_tubes/episode_0000099/top_right_left.jpg) | [同步视频](media/insert_tubes/episode_0000099/top_right_left.mp4) · [top](media/insert_tubes/episode_0000099/top.mp4) · [right](media/insert_tubes/episode_0000099/right.mp4) · [left](media/insert_tubes/episode_0000099/left.mp4) · [动作/状态](trajectories/insert_tubes/episode_001399.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/insert-tubes.mp4) + +### Pour Balls Into Vase · task_index=23 · C22 + +**Instruction:** Pour all the balls from the cup into the vase. + +**Description:** There is a cup containing many small balls and a vase. The robot needs to pick up the cup and pour all the balls into the vase. + +**Platform:** Simulation · **Data Source:** Teleop · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/pour-balls-into-vase/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_23_pour_balls_into_vase/examples) + +| Score | Condition | +| --- | --- | +| 0 | Not all balls are transferred into the vase. | +| 100 | All seven balls are inside the vase, the cup is upright, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2300** / 0000000 | ![Top / right / left](media/pour_balls_into_vase/episode_0000000/top_right_left.jpg) | [同步视频](media/pour_balls_into_vase/episode_0000000/top_right_left.mp4) · [top](media/pour_balls_into_vase/episode_0000000/top.mp4) · [right](media/pour_balls_into_vase/episode_0000000/right.mp4) · [left](media/pour_balls_into_vase/episode_0000000/left.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002300.parquet) | +| **2349** / 0000049 | ![Top / right / left](media/pour_balls_into_vase/episode_0000049/top_right_left.jpg) | [同步视频](media/pour_balls_into_vase/episode_0000049/top_right_left.mp4) · [top](media/pour_balls_into_vase/episode_0000049/top.mp4) · [right](media/pour_balls_into_vase/episode_0000049/right.mp4) · [left](media/pour_balls_into_vase/episode_0000049/left.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002349.parquet) | +| **2399** / 0000099 | ![Top / right / left](media/pour_balls_into_vase/episode_0000099/top_right_left.jpg) | [同步视频](media/pour_balls_into_vase/episode_0000099/top_right_left.mp4) · [top](media/pour_balls_into_vase/episode_0000099/top.mp4) · [right](media/pour_balls_into_vase/episode_0000099/right.mp4) · [left](media/pour_balls_into_vase/episode_0000099/left.mp4) · [动作/状态](trajectories/pour_balls_into_vase/episode_002399.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/pour-balls-into-vase.mp4) + +### Play Xylophone · task_index=19 · C23 + +**Instruction:** Pick up the mallet and strike all xylophone keys from left to right. + +**Description:** There is a xylophone and a mallet. The robot needs to pick up the mallet with one hand and strike all the xylophone keys from left to right. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/play-xylophone/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_19_play_Xylophone/examples) + +| Score | Condition | +| --- | --- | +| 0 | The full left-to-right strike sequence is not completed. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1900** / 0000000 | ![Top / right / left](media/play_Xylophone/episode_0000000/top_right_left.jpg) | [同步视频](media/play_Xylophone/episode_0000000/top_right_left.mp4) · [top](media/play_Xylophone/episode_0000000/top.mp4) · [right](media/play_Xylophone/episode_0000000/right.mp4) · [left](media/play_Xylophone/episode_0000000/left.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001900.parquet) | +| **1949** / 0000049 | ![Top / right / left](media/play_Xylophone/episode_0000049/top_right_left.jpg) | [同步视频](media/play_Xylophone/episode_0000049/top_right_left.mp4) · [top](media/play_Xylophone/episode_0000049/top.mp4) · [right](media/play_Xylophone/episode_0000049/right.mp4) · [left](media/play_Xylophone/episode_0000049/left.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001949.parquet) | +| **1999** / 0000099 | ![Top / right / left](media/play_Xylophone/episode_0000099/top_right_left.jpg) | [同步视频](media/play_Xylophone/episode_0000099/top_right_left.mp4) · [top](media/play_Xylophone/episode_0000099/top.mp4) · [right](media/play_Xylophone/episode_0000099/right.mp4) · [left](media/play_Xylophone/episode_0000099/left.mp4) · [动作/状态](trajectories/play_Xylophone/episode_001999.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/play-xylophone.mp4) + +### Deposit Coin · task_index=4 · C24 + +**Instruction:** Pick up the coin from the holder and insert it precisely into the coin bank. + +**Description:** There is a coin placed on a holder and a coin bank. The robot needs to pick up the coin and accurately insert it into the slot of the coin bank. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/deposit-coin/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_04_deposit_coin/examples) + +| Score | Condition | +| --- | --- | +| 0 | The coin is not lifted. | +| 20 | The coin is lifted at least 8 cm. | +| 100 | The coin bounding box is inside the coin bank slot region, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **400** / 0000000 | ![Top / right / left](media/deposit_coin/episode_0000000/top_right_left.jpg) | [同步视频](media/deposit_coin/episode_0000000/top_right_left.mp4) · [top](media/deposit_coin/episode_0000000/top.mp4) · [right](media/deposit_coin/episode_0000000/right.mp4) · [left](media/deposit_coin/episode_0000000/left.mp4) · [动作/状态](trajectories/deposit_coin/episode_000400.parquet) | +| **449** / 0000049 | ![Top / right / left](media/deposit_coin/episode_0000049/top_right_left.jpg) | [同步视频](media/deposit_coin/episode_0000049/top_right_left.mp4) · [top](media/deposit_coin/episode_0000049/top.mp4) · [right](media/deposit_coin/episode_0000049/right.mp4) · [left](media/deposit_coin/episode_0000049/left.mp4) · [动作/状态](trajectories/deposit_coin/episode_000449.parquet) | +| **499** / 0000099 | ![Top / right / left](media/deposit_coin/episode_0000099/top_right_left.jpg) | [同步视频](media/deposit_coin/episode_0000099/top_right_left.mp4) · [top](media/deposit_coin/episode_0000099/top.mp4) · [right](media/deposit_coin/episode_0000099/right.mp4) · [left](media/deposit_coin/episode_0000099/left.mp4) · [动作/状态](trajectories/deposit_coin/episode_000499.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/deposit-coin.mp4) + +### Insert Key · task_index=12 · C25 + +**Instruction:** Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it. + +**Description:** There is a key and a keyhole on the table. The robot needs to pick up the key, hand it over to the other hand for pose adjustment, insert it accurately into the keyhole, and then turn it. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/insert-key/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_12_insert_key/examples) + +| Score | Condition | +| --- | --- | +| 0 | The key is not lifted. | +| 15 | The key is lifted at least 5 cm. | +| 100 | The key is inserted deep enough into the slot, aligned closely in x/y, kept upright, and successfully turned after insertion. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1200** / 0000000 | ![Top / right / left](media/insert_key/episode_0000000/top_right_left.jpg) | [同步视频](media/insert_key/episode_0000000/top_right_left.mp4) · [top](media/insert_key/episode_0000000/top.mp4) · [right](media/insert_key/episode_0000000/right.mp4) · [left](media/insert_key/episode_0000000/left.mp4) · [动作/状态](trajectories/insert_key/episode_001200.parquet) | +| **1249** / 0000049 | ![Top / right / left](media/insert_key/episode_0000049/top_right_left.jpg) | [同步视频](media/insert_key/episode_0000049/top_right_left.mp4) · [top](media/insert_key/episode_0000049/top.mp4) · [right](media/insert_key/episode_0000049/right.mp4) · [left](media/insert_key/episode_0000049/left.mp4) · [动作/状态](trajectories/insert_key/episode_001249.parquet) | +| **1299** / 0000099 | ![Top / right / left](media/insert_key/episode_0000099/top_right_left.jpg) | [同步视频](media/insert_key/episode_0000099/top_right_left.mp4) · [top](media/insert_key/episode_0000099/top.mp4) · [right](media/insert_key/episode_0000099/right.mp4) · [left](media/insert_key/episode_0000099/left.mp4) · [动作/状态](trajectories/insert_key/episode_001299.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/insert-key.mp4) + +### Build Tower · task_index=1 · C26 + +**Instruction:** Build a stable multi-layer tower with the wooden blocks and boards. + +**Description:** There are wooden blocks and wooden boards on the table. The robot needs to place each board or block on the supports below it, keep each layer centered over the layer beneath it, and keep all pieces upright. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/build-tower/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_01_build_tower/examples) + +**官方数据版本的 instruction（与当前官网不同）:** Build a tower using the wooden blocks and wooden boards. + +| Score | Condition | +| --- | --- | +| 0 | No tower layer is completed. | +| 10 | The lower board is placed across two upright supports, remains stable and centered on them, and the gripper is open. | +| 30 | The middle board is placed on the completed lower layer, stays centered over it, and all lower and middle pieces remain upright. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **100** / 0000000 | ![Top / right / left](media/build_tower/episode_0000000/top_right_left.jpg) | [同步视频](media/build_tower/episode_0000000/top_right_left.mp4) · [top](media/build_tower/episode_0000000/top.mp4) · [right](media/build_tower/episode_0000000/right.mp4) · [left](media/build_tower/episode_0000000/left.mp4) · [动作/状态](trajectories/build_tower/episode_000100.parquet) | +| **149** / 0000049 | ![Top / right / left](media/build_tower/episode_0000049/top_right_left.jpg) | [同步视频](media/build_tower/episode_0000049/top_right_left.mp4) · [top](media/build_tower/episode_0000049/top.mp4) · [right](media/build_tower/episode_0000049/right.mp4) · [left](media/build_tower/episode_0000049/left.mp4) · [动作/状态](trajectories/build_tower/episode_000149.parquet) | +| **199** / 0000099 | ![Top / right / left](media/build_tower/episode_0000099/top_right_left.jpg) | [同步视频](media/build_tower/episode_0000099/top_right_left.mp4) · [top](media/build_tower/episode_0000099/top.mp4) · [right](media/build_tower/episode_0000099/right.mp4) · [left](media/build_tower/episode_0000099/left.mp4) · [动作/状态](trajectories/build_tower/episode_000199.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/build-tower.mp4) + +## Long-Horizon + +### Fill Pen Holder · task_index=8 · C27 + +**Instruction:** Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down. + +**Description:** There is a pen holder and several pens. The robot needs to grasp the pen holder with one hand, use the other hand to place the pens into the holder one by one, and finally put the filled pen holder back on the table. + +**Platform:** Simulation · **Data Source:** Teleop · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/fill-pen-holder/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_08_fill_pen_holder/examples) + +| Score | Condition | +| --- | --- | +| 0 | No pen is correctly inserted into the pen holder. | +| 10 | Any one pen is correctly inserted tip-up into the upright pen holder. | +| 25 | Any two pens are correctly inserted into the pen holder. | +| 40 | Any three pens are correctly inserted into the pen holder. | +| 90 | All four pens are inserted into the upright pen holder, but the robot has not returned to origin yet. | +| 100 | All four pens are inserted, the pen holder is upright, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **800** / 0000000 | ![Top / right / left](media/fill_pen_holder/episode_0000000/top_right_left.jpg) | [同步视频](media/fill_pen_holder/episode_0000000/top_right_left.mp4) · [top](media/fill_pen_holder/episode_0000000/top.mp4) · [right](media/fill_pen_holder/episode_0000000/right.mp4) · [left](media/fill_pen_holder/episode_0000000/left.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000800.parquet) | +| **849** / 0000049 | ![Top / right / left](media/fill_pen_holder/episode_0000049/top_right_left.jpg) | [同步视频](media/fill_pen_holder/episode_0000049/top_right_left.mp4) · [top](media/fill_pen_holder/episode_0000049/top.mp4) · [right](media/fill_pen_holder/episode_0000049/right.mp4) · [left](media/fill_pen_holder/episode_0000049/left.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000849.parquet) | +| **899** / 0000099 | ![Top / right / left](media/fill_pen_holder/episode_0000099/top_right_left.jpg) | [同步视频](media/fill_pen_holder/episode_0000099/top_right_left.mp4) · [top](media/fill_pen_holder/episode_0000099/top.mp4) · [right](media/fill_pen_holder/episode_0000099/right.mp4) · [left](media/fill_pen_holder/episode_0000099/left.mp4) · [动作/状态](trajectories/fill_pen_holder/episode_000899.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/fill-pen-holder.mp4) + +### Classify Objects · task_index=2 · C28 + +**Instruction:** Sort the objects by category into the three baskets. + +**Description:** There are three categories of objects and three baskets. The robot needs to group the objects by category and place each category into a separate basket. Any basket can be used for any category, as long as objects of the same category are placed together. + +**Platform:** Simulation · **Data Source:** Teleop · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/classify-objects/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_02_classify_objects/examples) + +| Score | Condition | +| --- | --- | +| 0 | No category basket is completed. | +| 15 | One basket contains exactly one complete object category, with no objects from other categories, and the gripper is open. | +| 40 | Two baskets each contain exactly one complete category. | +| 100 | All three categories are separated into three baskets, the objects are settled inside the baskets, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **200** / 0000000 | ![Top / right / left](media/classify_objects/episode_0000000/top_right_left.jpg) | [同步视频](media/classify_objects/episode_0000000/top_right_left.mp4) · [top](media/classify_objects/episode_0000000/top.mp4) · [right](media/classify_objects/episode_0000000/right.mp4) · [left](media/classify_objects/episode_0000000/left.mp4) · [动作/状态](trajectories/classify_objects/episode_000200.parquet) | +| **249** / 0000049 | ![Top / right / left](media/classify_objects/episode_0000049/top_right_left.jpg) | [同步视频](media/classify_objects/episode_0000049/top_right_left.mp4) · [top](media/classify_objects/episode_0000049/top.mp4) · [right](media/classify_objects/episode_0000049/right.mp4) · [left](media/classify_objects/episode_0000049/left.mp4) · [动作/状态](trajectories/classify_objects/episode_000249.parquet) | +| **299** / 0000099 | ![Top / right / left](media/classify_objects/episode_0000099/top_right_left.jpg) | [同步视频](media/classify_objects/episode_0000099/top_right_left.mp4) · [top](media/classify_objects/episode_0000099/top.mp4) · [right](media/classify_objects/episode_0000099/right.mp4) · [left](media/classify_objects/episode_0000099/left.mp4) · [动作/状态](trajectories/classify_objects/episode_000299.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/classify-objects.mp4) + +### Put Bottles Into Dustbin · task_index=27 · C29 + +**Instruction:** Pick up the bottles and throw them into the dustbin, using handover when needed. + +**Description:** There are four bottles on the table, and they may be either standing or lying down. A dustbin is placed beside the table. The robot needs to pick up the bottles and throw them into the dustbin. Because of the shifted table layout, bottles on the right side require a handover between the two hands before being discarded. + +**Platform:** Simulation · **Data Source:** Teleop · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/put-bottles-into-dustbin/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_27_put_bottles_into_dustbin/examples) + +| Score | Condition | +| --- | --- | +| 0 | No bottle is placed into the dustbin. | +| 10 | Any one bottle is inside the dustbin, and the gripper is open. | +| 25 | Any two bottles are inside the dustbin. | +| 40 | Any three bottles are inside the dustbin. | +| 100 | All four bottles are inside the dustbin and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2700** / 0000000 | ![Top / right / left](media/put_bottles_into_dustbin/episode_0000000/top_right_left.jpg) | [同步视频](media/put_bottles_into_dustbin/episode_0000000/top_right_left.mp4) · [top](media/put_bottles_into_dustbin/episode_0000000/top.mp4) · [right](media/put_bottles_into_dustbin/episode_0000000/right.mp4) · [left](media/put_bottles_into_dustbin/episode_0000000/left.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002700.parquet) | +| **2749** / 0000049 | ![Top / right / left](media/put_bottles_into_dustbin/episode_0000049/top_right_left.jpg) | [同步视频](media/put_bottles_into_dustbin/episode_0000049/top_right_left.mp4) · [top](media/put_bottles_into_dustbin/episode_0000049/top.mp4) · [right](media/put_bottles_into_dustbin/episode_0000049/right.mp4) · [left](media/put_bottles_into_dustbin/episode_0000049/left.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002749.parquet) | +| **2799** / 0000099 | ![Top / right / left](media/put_bottles_into_dustbin/episode_0000099/top_right_left.jpg) | [同步视频](media/put_bottles_into_dustbin/episode_0000099/top_right_left.mp4) · [top](media/put_bottles_into_dustbin/episode_0000099/top.mp4) · [right](media/put_bottles_into_dustbin/episode_0000099/right.mp4) · [left](media/put_bottles_into_dustbin/episode_0000099/left.mp4) · [动作/状态](trajectories/put_bottles_into_dustbin/episode_002799.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/put-bottles-into-dustbin.mp4) + +### Play Tic-Tac-Toe · task_index=21 · C30 + +**Instruction:** Play tic-tac-toe as the first player and fill the board with the opponent. + +**Description:** There is a 3-by-3 tic-tac-toe board. The robot plays as the first player, while the opponent follows a random strategy. The robot and the opponent take turns placing their marks until the board is filled. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/play-tic-tac-toe/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_21_play_tic_tac_toe/examples) + +| Score | Condition | +| --- | --- | +| 0 | No player piece reaches a board cell, or the policy robot moves while the opponent robot arm is moving. | +| 10 | Any one player piece is placed on a board cell and the gripper is open. | +| 30 | Any two player pieces are placed on board cells. | +| 50 | Any three player pieces are placed on board cells. | +| 75 | Any four player pieces are placed on board cells. | +| 100 | All five player pieces are on board cells at the correct height and the gripper is open. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2100** / 0000000 | ![Top / right / left](media/play_tic_tac_toe/episode_0000000/top_right_left.jpg) | [同步视频](media/play_tic_tac_toe/episode_0000000/top_right_left.mp4) · [top](media/play_tic_tac_toe/episode_0000000/top.mp4) · [right](media/play_tic_tac_toe/episode_0000000/right.mp4) · [left](media/play_tic_tac_toe/episode_0000000/left.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002100.parquet) | +| **2149** / 0000049 | ![Top / right / left](media/play_tic_tac_toe/episode_0000049/top_right_left.jpg) | [同步视频](media/play_tic_tac_toe/episode_0000049/top_right_left.mp4) · [top](media/play_tic_tac_toe/episode_0000049/top.mp4) · [right](media/play_tic_tac_toe/episode_0000049/right.mp4) · [left](media/play_tic_tac_toe/episode_0000049/left.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002149.parquet) | +| **2199** / 0000099 | ![Top / right / left](media/play_tic_tac_toe/episode_0000099/top_right_left.jpg) | [同步视频](media/play_tic_tac_toe/episode_0000099/top_right_left.mp4) · [top](media/play_tic_tac_toe/episode_0000099/top.mp4) · [right](media/play_tic_tac_toe/episode_0000099/right.mp4) · [left](media/play_tic_tac_toe/episode_0000099/left.mp4) · [动作/状态](trajectories/play_tic_tac_toe/episode_002199.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/play-tic-tac-toe.mp4) + +### Fill Egg Holder · task_index=7 · C31 + +**Instruction:** Place the four eggs from the basket into the egg holder, then close the lid. + +**Description:** There is a woven basket containing four eggs and an egg holder. The robot needs to pick up the eggs one by one, place all four into the egg holder, and then close the lid. + +**Platform:** Simulation · **Data Source:** Teleop · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/fill-egg-holder/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_07_fill_egg_holder/examples) + +| Score | Condition | +| --- | --- | +| 0 | No egg is placed into the egg holder. | +| 10 | Any one egg is inside the egg holder and close to the holder bottom, with the gripper open. | +| 25 | Any two eggs are placed correctly into the egg holder. | +| 40 | Any three eggs are placed correctly into the egg holder. | +| 90 | All four eggs are placed in the holder, but the lid is not fully closed yet. | +| 100 | All four eggs are in the holder, the holder lid is correctly and fully closed, and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **700** / 0000000 | ![Top / right / left](media/fill_egg_holder/episode_0000000/top_right_left.jpg) | [同步视频](media/fill_egg_holder/episode_0000000/top_right_left.mp4) · [top](media/fill_egg_holder/episode_0000000/top.mp4) · [right](media/fill_egg_holder/episode_0000000/right.mp4) · [left](media/fill_egg_holder/episode_0000000/left.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000700.parquet) | +| **749** / 0000049 | ![Top / right / left](media/fill_egg_holder/episode_0000049/top_right_left.jpg) | [同步视频](media/fill_egg_holder/episode_0000049/top_right_left.mp4) · [top](media/fill_egg_holder/episode_0000049/top.mp4) · [right](media/fill_egg_holder/episode_0000049/right.mp4) · [left](media/fill_egg_holder/episode_0000049/left.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000749.parquet) | +| **799** / 0000099 | ![Top / right / left](media/fill_egg_holder/episode_0000099/top_right_left.jpg) | [同步视频](media/fill_egg_holder/episode_0000099/top_right_left.mp4) · [top](media/fill_egg_holder/episode_0000099/top.mp4) · [right](media/fill_egg_holder/episode_0000099/right.mp4) · [left](media/fill_egg_holder/episode_0000099/left.mp4) · [动作/状态](trajectories/fill_egg_holder/episode_000799.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/fill-egg-holder.mp4) + +### Organize Table · task_index=17 · C32 + +**Instruction:** Place the mouse on the mouse pad, push the keyboard into the frame, put the figurine on the stand, place the alarm clock on the drawer, then open the drawer and put all remaining miscellaneous items inside. + +**Description:** There are a computer, a keyboard, a mouse, an alarm clock, a cartoon figurine, three miscellaneous items, and a drawer. The robot needs to organize the table by placing the mouse on the mouse pad, pushing the keyboard into the frame, putting the figurine on the stand, placing the alarm clock on top of the drawer, opening the drawer, and putting all remaining miscellaneous items into it. + +**Platform:** Simulation · **Data Source:** Teleop · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/organize-table/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_17_organize_table/examples) + +**官方数据版本的 instruction（与当前官网不同）:** 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. + +| Score | Condition | +| --- | --- | +| 0 | No target item is organized correctly. | +| 25 | 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. | +| 50 | Any two target items are organized correctly. | +| 75 | Any three target items are organized correctly. | +| 100 | All four target items are organized correctly and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1700** / 0000000 | ![Top / right / left](media/organize_table/episode_0000000/top_right_left.jpg) | [同步视频](media/organize_table/episode_0000000/top_right_left.mp4) · [top](media/organize_table/episode_0000000/top.mp4) · [right](media/organize_table/episode_0000000/right.mp4) · [left](media/organize_table/episode_0000000/left.mp4) · [动作/状态](trajectories/organize_table/episode_001700.parquet) | +| **1749** / 0000049 | ![Top / right / left](media/organize_table/episode_0000049/top_right_left.jpg) | [同步视频](media/organize_table/episode_0000049/top_right_left.mp4) · [top](media/organize_table/episode_0000049/top.mp4) · [right](media/organize_table/episode_0000049/right.mp4) · [left](media/organize_table/episode_0000049/left.mp4) · [动作/状态](trajectories/organize_table/episode_001749.parquet) | +| **1799** / 0000099 | ![Top / right / left](media/organize_table/episode_0000099/top_right_left.jpg) | [同步视频](media/organize_table/episode_0000099/top_right_left.mp4) · [top](media/organize_table/episode_0000099/top.mp4) · [right](media/organize_table/episode_0000099/right.mp4) · [left](media/organize_table/episode_0000099/left.mp4) · [动作/状态](trajectories/organize_table/episode_001799.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/organize-table.mp4) + +### Make Kong · task_index=14 · C33 + +**Instruction:** Wait for the opponent to discard a tile, then declare a kong with the matching tiles. + +**Description:** There is a Mahjong setup. The opponent first pushes out a tile. The robot needs to observe the discarded tile, identify the matching tiles on its side, and perform a valid kong action. The setup guarantees that a kong is possible. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/make-kong/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_14_make_kong/examples) + +| Score | Condition | +| --- | --- | +| 0 | The kong declaration state is not completed. | +| 100 | 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. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **1400** / 0000000 | ![Top / right / left](media/make_kong/episode_0000000/top_right_left.jpg) | [同步视频](media/make_kong/episode_0000000/top_right_left.mp4) · [top](media/make_kong/episode_0000000/top.mp4) · [right](media/make_kong/episode_0000000/right.mp4) · [left](media/make_kong/episode_0000000/left.mp4) · [动作/状态](trajectories/make_kong/episode_001400.parquet) | +| **1449** / 0000049 | ![Top / right / left](media/make_kong/episode_0000049/top_right_left.jpg) | [同步视频](media/make_kong/episode_0000049/top_right_left.mp4) · [top](media/make_kong/episode_0000049/top.mp4) · [right](media/make_kong/episode_0000049/right.mp4) · [left](media/make_kong/episode_0000049/left.mp4) · [动作/状态](trajectories/make_kong/episode_001449.parquet) | +| **1499** / 0000099 | ![Top / right / left](media/make_kong/episode_0000099/top_right_left.jpg) | [同步视频](media/make_kong/episode_0000099/top_right_left.mp4) · [top](media/make_kong/episode_0000099/top.mp4) · [right](media/make_kong/episode_0000099/right.mp4) · [left](media/make_kong/episode_0000099/left.mp4) · [动作/状态](trajectories/make_kong/episode_001499.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/make-kong.mp4) + +### Play Stacking Toy · task_index=20 · C34 + +**Instruction:** Place all stacking toy pieces onto the correct pegs. + +**Description:** There is a stacking toy with four pegs and four types of pieces. The numbers of pieces in the four types are 4, 3, 2, and 1, and each peg matches one type. The robot needs to place all pieces onto their corresponding pegs correctly. + +**Platform:** Simulation · **Data Source:** DateGen · **Usage:** Train & Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/play-stacking-toy/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_20_play_stacking_toy/examples) + +| Score | Condition | +| --- | --- | +| 0 | No peg group is completed. | +| 10 | One peg group is completed with its pieces aligned on the correct peg and inserted into the base, with the gripper open. | +| 30 | Two peg groups are completed. | +| 60 | Three peg groups are completed. | +| 100 | All four peg groups are completed and the robot returns to origin. | + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **2000** / 0000000 | ![Top / right / left](media/play_stacking_toy/episode_0000000/top_right_left.jpg) | [同步视频](media/play_stacking_toy/episode_0000000/top_right_left.mp4) · [top](media/play_stacking_toy/episode_0000000/top.mp4) · [right](media/play_stacking_toy/episode_0000000/right.mp4) · [left](media/play_stacking_toy/episode_0000000/left.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002000.parquet) | +| **2049** / 0000049 | ![Top / right / left](media/play_stacking_toy/episode_0000049/top_right_left.jpg) | [同步视频](media/play_stacking_toy/episode_0000049/top_right_left.mp4) · [top](media/play_stacking_toy/episode_0000049/top.mp4) · [right](media/play_stacking_toy/episode_0000049/right.mp4) · [left](media/play_stacking_toy/episode_0000049/left.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002049.parquet) | +| **2099** / 0000099 | ![Top / right / left](media/play_stacking_toy/episode_0000099/top_right_left.jpg) | [同步视频](media/play_stacking_toy/episode_0000099/top_right_left.mp4) · [top](media/play_stacking_toy/episode_0000099/top.mp4) · [right](media/play_stacking_toy/episode_0000099/right.mp4) · [left](media/play_stacking_toy/episode_0000099/left.mp4) · [动作/状态](trajectories/play_stacking_toy/episode_002099.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/play-stacking-toy.mp4) + +## Open + +### Align Blocks · task_index=null · eval-only · C35 + +**Instruction:** Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm. + +**Description:** There is a set square and three blocks. The robot needs to use the set square to push the blocks until they are aligned in parallel in a straight row. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/align-blocks/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_35_align_blocks/examples) + +| Score | Condition | +| --- | --- | +| 0 | The alignment, reset, or no-lift condition is not satisfied. | +| 100 | 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. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/align_blocks/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/align-blocks.mp4) + +### General Pickup · task_index=null · eval-only · C36 + +**Instruction:** Pick up the target object by 10 cm. + +**Description:** There are multiple objects. The robot needs to understand the language instruction, identify the target object, and pick it up. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/general-pickup/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_36_general_pickup/examples) + +| Score | Condition | +| --- | --- | +| 0 | The target object is not lifted high enough. | +| 100 | The target object is lifted at least 10 cm. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/general_pickup/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/general-pickup.mp4) + +### Solve Equation · task_index=null · eval-only · C37 + +**Instruction:** Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm. + +**Description:** There is an arithmetic equation on the table and a pad for the answer. The equation is missing either a number or an operator. The robot needs to choose the correct missing item from the randomly arranged numbers and operators on the table and place it on the pad to complete the equation. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/solve-equation/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_37_solve_equation/examples) + +**Comment:** Each digit must remain within the permitted rotational tolerance relative to its initial pose. + +| Score | Condition | +| --- | --- | +| 0 | The missing equation piece is not placed correctly. | +| 100 | The correct missing number/operator piece is placed on the missing mat and the robot returns to origin. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/solve_equation/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/solve-equation.mp4) + +### Stack Blocks By Language · task_index=null · eval-only · C38 + +**Instruction:** Stack the three blocks on top of each other in the order of color₁, color₂, and color₃, then reset the robot arm. + +**Description:** There are several colored blocks. The robot needs to understand the language instruction and stack the blocks in the specified color order. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks-by-language/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_38_stack_blocks_by_language/examples) + +| Score | Condition | +| --- | --- | +| 0 | The first ordered stack is not completed. | +| 20 | The first two specified blocks are stacked in the instructed order, the bottom block remains on the table, and the gripper is open. | +| 100 | All three specified blocks are stacked in order and the robot returns to origin. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/stack_blocks_by_language/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-by-language.mp4) + +### Classify Objects By Language · task_index=null · eval-only · C39 + +**Instruction:** Put category₁ objects into the left basket, category₂ objects into the middle basket, and category₃ objects into the right basket, then reset the robot arm. + +**Description:** There are three baskets and three categories of unseen objects. The robot needs to understand the language instruction, identify the category of each object, and place the objects into the specified baskets from left to right. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/classify-objects-by-language/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_39_classify_objects_by_language/examples) + +| Score | Condition | +| --- | --- | +| 0 | No specified category is placed into its assigned basket. | +| 10 | One specified category is placed into its assigned basket, no other objects are in that basket, and the gripper is open. | +| 40 | Two specified categories are placed into their assigned baskets, with no extra objects in those baskets. | +| 100 | 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. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/classify_objects_by_language/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/classify-objects-by-language.mp4) + +### Pick From Conveyor By Image · task_index=null · eval-only · C40 + +**Instruction:** Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. + +**Description:** There is a board displaying an image of the target object, a basket, and a conveyor carrying multiple objects. The robot needs to first lift the basket more than 8 cm, identify the target object on the conveyor based on the image shown on the board, pick up the target object, and place it into the basket. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/pick-from-conveyor-by-image/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_40_pick_from_conveyor_by_image/examples) + +| Score | Condition | +| --- | --- | +| 0 | The target object is not placed into the lifted basket. | +| 100 | The image-specified target object is in the basket and lifted at least 8 cm. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/pick_from_conveyor_by_image/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/pick-from-conveyor-by-image.mp4) + +### Store Tools In Toolbox · task_index=null · eval-only · C41 + +**Instruction:** Place each tool into its matching position in the toolbox, then reset the robot arm. + +**Description:** There are several tools and a toolbox with designated slots. The robot needs to pick up each tool and place it into the corresponding position in the toolbox. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/store-tools-in-toolbox/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_41_store_tools_in_toolbox/examples) + +| Score | Condition | +| --- | --- | +| 0 | No tool is placed into its matching toolbox slot. | +| 25 | Any one tool is placed in its matching toolbox slot with the gripper open. | +| 50 | Any two tools are placed into their matching toolbox slots. | +| 75 | Any three tools are placed into their matching toolbox slots. | +| 100 | All four tools are placed in their matching slots, covered by the toolbox, and the robot returns to origin. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/store_tools_in_toolbox/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/store-tools-in-toolbox.mp4) + +### Pour By Language · task_index=null · eval-only · C42 + +**Instruction:** Pour the liquid from the first color₁ bottle into the first color₂ bowl, from the second color₃ bottle into the second color₄ bowl, and from the third color₅ bottle into the third color₆ bowl. Then reset the robot arm. + +**Description:** There are three colored bottles and three colored bowls on the table. The robot needs to follow the language instruction and pour the liquid from each specified bottle into the corresponding specified bowl. + +**Platform:** Simulation · **Data Source:** null (eval-only) · **Usage:** Eval + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/pour-by-language/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/catalog_42_pour_by_language/examples) + +| Score | Condition | +| --- | --- | +| 0 | The first target pour is not completed. | +| 20 | 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. | +| 50 | The first two specified liquids are poured into their bowls, and the third liquid has not yet been poured. | +| 100 | All three specified liquids are poured into their corresponding bowls. | + +**公开示教数据：无（官方标记 eval-only）。** 官网演示如下： + +**Simulation demo · 官网演示（非训练示教）:** [视频](media/pour_by_language/documentation.mp4) · [官网原文件](https://robodojo-benchmark.com/doc/videos/tasks/pour-by-language.mp4) + +## DLC + +### DLC · task_index=5 · C43 + +**Instruction:** Arrange the letters to spell "RoboDojo" in a row. + +**Description:** There are multiple separated letters on a cluttered tabletop with a complex background. The robot needs to identify the letters that form "RoboDojo" and arrange them in the correct order in a straight row. + +**Platform:** Simulation · **Data Source:** DataGen · **Usage:** Train + +[官方任务页](https://robodojo-benchmark.com/doc/sim-tasks/dlc/) · [HF Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/task_05_dlc/examples) + +**Scoring:** 官网未提供该任务的评分标准。 + +| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 | +| --- | --- | --- | +| **500** / 0000000 | ![Top / right / left](media/dlc/episode_0000000/top_right_left.jpg) | [同步视频](media/dlc/episode_0000000/top_right_left.mp4) · [top](media/dlc/episode_0000000/top.mp4) · [right](media/dlc/episode_0000000/right.mp4) · [left](media/dlc/episode_0000000/left.mp4) · [动作/状态](trajectories/dlc/episode_000500.parquet) | +| **549** / 0000049 | ![Top / right / left](media/dlc/episode_0000049/top_right_left.jpg) | [同步视频](media/dlc/episode_0000049/top_right_left.mp4) · [top](media/dlc/episode_0000049/top.mp4) · [right](media/dlc/episode_0000049/right.mp4) · [left](media/dlc/episode_0000049/left.mp4) · [动作/状态](trajectories/dlc/episode_000549.parquet) | +| **599** / 0000099 | ![Top / right / left](media/dlc/episode_0000099/top_right_left.jpg) | [同步视频](media/dlc/episode_0000099/top_right_left.mp4) · [top](media/dlc/episode_0000099/top.mp4) · [right](media/dlc/episode_0000099/right.mp4) · [left](media/dlc/episode_0000099/left.mp4) · [动作/状态](trajectories/dlc/episode_000599.parquet) | + +[官网 Simulation demo](https://robodojo-benchmark.com/doc/videos/tasks/dlc.mp4) + +## 更多官网可展示内容 + +[Domain Randomization](https://robodojo-benchmark.com/doc/sim-tasks/domain-randomization/)：布局、材质、照明和背景随机化；[说明快照](reference/domain-randomization.txt)。 + +[Parallel Environments](https://robodojo-benchmark.com/doc/sim-tasks/parallel-environments/)：同一进程的并行模拟环境；[说明快照](reference/parallel-environments.txt)。 + +两段官网工具演示已保存，可在 [reference_tools Viewer](https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples/viewer/reference_tools/examples) 直接播放。 + +## 来源与复现 + +官方 HF 固定 revision：`35efbc7dedfdbeeb6e95fb749bd885d73d483e41`。官网内容抓取日期：2026-10-03。 + +完整对应表、每个相机文件的原始路径 / SHA256 / 大小、选取 episode、下载统计均在 `provenance/`。视频未下载 HDF5、深度图、assets 或 checkpoint。 + +`python scripts/build_dataset.py prepare` → `download` → `render` → `package` → `validate` → `publish`。 + +```python +from datasets import load_dataset +ds = load_dataset("Travor278/RoboDojo-Task-Examples", "task_30_stack_bowls", split="examples") +# official task_index=30; episode_index=3000, 3049, 3099 +``` + +## 许可与署名 + +本仓库为非官方精选整理；数据与演示归 RoboDojo 作者所有。HF 仓库标记 Apache-2.0，而当前代码仓库 README 另有非商业条款描述、LICENSE 文件为 MIT。来源声明存在差异，详见 [LICENSE.md](LICENSE.md)；保留来源，不扩大原作者授予的使用权。 diff --git a/data/all.parquet b/data/all.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b1682c85449eebaa3548b3b1a21abdbcaf94b0bf --- /dev/null +++ b/data/all.parquet @@ -0,0 +1,3 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mode 100644 index 0000000000000000000000000000000000000000..a0a16c3a36b6ac7be347f1efc10183d24ce2fad3 --- /dev/null +++ b/provenance/source.json @@ -0,0 +1,23 @@ +{ + "repo_id": "RoboDojo-Benchmark/RoboDojo", + "revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41", + "source_format": "RoboDojo raw H.264 previews + LeRobot v2.1 trajectories", + "task_index_source": "data/RoboDojo_lerobot_v21_video/meta/tasks.jsonl", + "retrieved_date": "2026-10-03", + "episode_selection": [ + 0, + 49, + 99 + ], + "source_catalog_task_count": 43, + "official_dataset_task_count": 35, + "background_annotation": "The upstream metadata does not label background IDs. Three spaced episode IDs are sampled per task; distinct background coverage is not guaranteed.", + "camera_mapping": { + "top": "cam_head (raw preview); cam_high (LeRobot)", + "right": "cam_right_wrist", + "left": "cam_left_wrist" + }, + "upstream_code_repository": "https://github.com/RoboDojo-Benchmark/RoboDojo", + "upstream_code_revision": "726e9aabfaa642203722eb126f5eaf0f37f3e1ad", + "axis_image_url": "https://robodojo-benchmark.com/doc/images/axes.png" +} \ No newline at end of file diff --git a/provenance/task_catalog.json b/provenance/task_catalog.json new file mode 100644 index 0000000000000000000000000000000000000000..96be0daafeab5d91330b28ca70663e9ca9330b0f --- /dev/null +++ b/provenance/task_catalog.json @@ -0,0 +1,1863 @@ +[ + { + "catalog_number": 1, + "task_index": 30, + "task_key": "stack_bowls", + "task_name": "Stack Bowls", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-bowls/", + "fields": { + "Instruction": "Stack the three bowls together.", + "Description": "There are three bowls. The robot needs to stack all the bowls together.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No two bowls are stacked correctly." + }, + { + "score": "15", + "condition": "Any two bowls are stacked upright and the gripper is open." + }, + { + "score": "100", + "condition": "All three bowls are stacked together, all bowls are upright, the bottom bowl is strictly and stably placed on the table, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-bowls-random.mp4", + "path": "media/stack_bowls/random.mp4" + } + ], + "config": "task_30_stack_bowls", + "dataset_instruction": "Stack the three bowls together.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 2, + "task_index": 26, + "task_key": "push_T", + "task_name": "Push T", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/push-t/", + "fields": { + "Instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", + "Description": "There is a thin gray T-shaped pad and a T-shaped block. The robot needs to push the T-shaped block until it is precisely aligned with and fitted onto the gray pad.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The target pose, reset, or no-lift condition is not satisfied." + }, + { + "score": "100", + "condition": "The T-shaped block is within the target xy threshold, its orientation matches the target, the robot returns to origin, and the block is never lifted above the allowed height." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/push-t.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/push-t-random.mp4", + "path": "media/push_T/random.mp4" + } + ], + "config": "task_26_push_T", + "dataset_instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 3, + "task_index": 18, + "task_key": "pack_objects_into_box", + "task_name": "Pack Objects Into Box", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pack-objects-into-box/", + "fields": { + "Instruction": "Place all the objects into the box with their front sides facing left.", + "Description": "There are several objects on the table and a box. The robot needs to pick up all the objects, place them into the box, and ensure that each object is oriented with its front side facing left.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No object is placed correctly into the box." + }, + { + "score": "10", + "condition": "Any one object is inside the box with its front side facing left, the box is aligned, and the gripper is open." + }, + { + "score": "25", + "condition": "Any two objects are placed correctly into the box." + }, + { + "score": "50", + "condition": "Any three objects are placed correctly into the box." + }, + { + "score": "100", + "condition": "All four objects are placed in the aligned box with correct facing direction, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/pack-objects-into-box-random.mp4", + "path": "media/pack_objects_into_box/random.mp4" + } + ], + "config": "task_18_pack_objects_into_box", + "dataset_instruction": "Place all the objects into the box with their front sides facing left.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 4, + "task_index": 9, + "task_key": "fold_clothes", + "task_name": "Fold Clothes", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fold-clothes/", + "fields": { + "Instruction": "Fold the clothes neatly.", + "Description": "There is a piece of clothing. The robot needs to fold it neatly.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "DateGen / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The sleeve-fold condition is not reached." + }, + { + "score": "20", + "condition": "When the gripper opens, both sleeves are folded inward close to the opposite chest points." + }, + { + "score": "100", + "condition": "Both sleeves are folded inward, the hems are close to the shoulder points in x/y, the hem line is aligned with the shoulder line within the angle threshold, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/fold-clothes-random.mp4", + "path": "media/fold_clothes/random.mp4" + } + ], + "config": "task_09_fold_clothes", + "dataset_instruction": "Fold the clothes neatly.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 5, + "task_index": 10, + "task_key": "hang_mugs", + "task_name": "Hang Mugs", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/hang-mugs/", + "fields": { + "Instruction": "Hang all the mugs on the mug rack.", + "Description": "There are three mugs and one mug rack. The robot needs to pick up each mug and hang all of them on the rack.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No mug is hung on the mug rack." + }, + { + "score": "15", + "condition": "Any one mug is hung on the mug rack and the gripper is open." + }, + { + "score": "40", + "condition": "Any two mugs are hung on the mug rack." + }, + { + "score": "100", + "condition": "All three mugs are hung on the rack and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/hang-mugs-random.mp4", + "path": "media/hang_mugs/random.mp4" + } + ], + "config": "task_10_hang_mugs", + "dataset_instruction": "Hang all the mugs on the mug rack.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 6, + "task_index": 34, + "task_key": "sweep_blocks", + "task_name": "Sweep Blocks", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/sweep-blocks/", + "fields": { + "Instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.", + "Description": "There is a broom and a dustpan on the left side, and the blocks are on the right side. The robot needs to pick up the broom, hand it over to the right hand, grasp the dustpan with the left hand, and sweep the blocks into the dustpan.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The blocks are not fully swept into the dustpan." + }, + { + "score": "100", + "condition": "The dustpan is positioned left of the broom, stably placed upright on the table, all blocks are inside the dustpan, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/sweep-blocks-random.mp4", + "path": "media/sweep_blocks/random.mp4" + } + ], + "config": "task_34_sweep_blocks", + "dataset_instruction": "Pick up the broom, hand it over to the right hand, then use the dustpan to sweep the blocks.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 7, + "task_index": 24, + "task_key": "pour_liquid_into_cup", + "task_name": "Pour Liquid Into Cup", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pour-liquid-into-cup/", + "fields": { + "Instruction": "Pour the liquid from the bottle into the cup.", + "Description": "There is a bottle containing liquid and a cup. The robot needs to pick up the bottle and pour the liquid into the cup.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The liquid is not successfully poured into the cup." + }, + { + "score": "100", + "condition": "The cup contains the required amount of liquid and the bottle is upright." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-liquid-into-cup-random.mp4", + "path": "media/pour_liquid_into_cup/random.mp4" + } + ], + "config": "task_24_pour_liquid_into_cup", + "dataset_instruction": "Pour the liquid from the bottle into the cup.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 8, + "task_index": 15, + "task_key": "make_toast", + "task_name": "Make Toast", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/make-toast/", + "fields": { + "Instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", + "Description": "There is a basket containing multiple slices of bread and a toaster. The robot needs to pick up two slices one by one, place them into the toaster, and then press the lever down to start toasting.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No bread slice is inserted into a toaster slot." + }, + { + "score": "25", + "condition": "One bread slice is inserted into a toaster slot and all bread axes satisfy the required orientation." + }, + { + "score": "50", + "condition": "Two bread slices are inserted into the toaster slots and all bread axes satisfy the required orientation." + }, + { + "score": "100", + "condition": "Both toaster slots are filled, exactly two bread slices remain on the shelf, the toaster control is pressed down, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/make-toast.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/make-toast-random.mp4", + "path": "media/make_toast/random.mp4" + } + ], + "config": "task_15_make_toast", + "dataset_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 9, + "task_index": 0, + "task_key": "arrange_largest_number", + "task_name": "Arrange Largest Number", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/arrange-largest-number/", + "fields": { + "Instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", + "Description": "There are several number tiles on the table and a pad for placement. The robot needs to determine the order that forms the largest possible number, then place the four numbers on the pad from left to right in that order.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "DateGen / Random eval-only", + "Usage": "Train & Eval / Random Eval", + "Comment": "Each digit must remain within the permitted rotational tolerance relative to its initial pose." + }, + "scoring": [ + { + "score": "0", + "condition": "No digit is placed correctly." + }, + { + "score": "5", + "condition": "Any one digit is placed on its correct pad in descending-number order, with valid orientation and the gripper open." + }, + { + "score": "15", + "condition": "Any two digits are correctly placed." + }, + { + "score": "25", + "condition": "In a 5-digit layout, any three digits are correctly placed." + }, + { + "score": "30", + "condition": "In a 4-digit layout, any three digits are correctly placed." + }, + { + "score": "40", + "condition": "In a 5-digit layout, any four digits are correctly placed." + }, + { + "score": "100", + "condition": "All digits are correctly ordered on the pads, have valid orientation, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/arrange-largest-number-random.mp4", + "path": "media/arrange_largest_number/random.mp4" + } + ], + "config": "task_00_arrange_largest_number", + "dataset_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 10, + "task_index": 28, + "task_key": "sort_nesting_dolls_by_size", + "task_name": "Sort Nesting Dolls By Size", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/sort-nesting-dolls-by-size/", + "fields": { + "Instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.", + "Description": "There are five nesting dolls of different sizes on the table. The robot needs to sort them by size and arrange them in a straight row from left to right, from smallest to largest.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "DateGen / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The dolls are not arranged in the required size order." + }, + { + "score": "100", + "condition": "All five nesting dolls stand in a one horizontal straight row, are ordered from left to right from smallest to largest, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/sort-nesting-dolls-by-size-random.mp4", + "path": "media/sort_nesting_dolls_by_size/random.mp4" + } + ], + "config": "task_28_sort_nesting_dolls_by_size", + "dataset_instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 11, + "task_index": 31, + "task_key": "store_laptop_and_headphones", + "task_name": "Store Laptop And Headphones", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/store-laptop-and-headphones/", + "fields": { + "Instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", + "Description": "There is an open laptop on a laptop stand, a vertical laptop stand, a pair of headphones, and a headphone stand. The laptop opening angle is random but greater than 30 degrees. The robot needs to first hang the headphones on the headphone stand, then close the laptop, pick it up from the stand, and insert it into the vertical laptop stand.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "Teleop / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "Neither the headphones nor the laptop is stored correctly." + }, + { + "score": "20", + "condition": "The headphones are placed on the stand: the headband bridge is close to the support cradle and aligned, with the gripper open." + }, + { + "score": "80", + "condition": "The headphones are correctly placed on the stand, and the laptop is closed, vertically inserted into the laptop rack, and within the required range." + }, + { + "score": "100", + "condition": "Both the headphones and laptop conditions are satisfied and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/store-laptop-and-headphones-random.mp4", + "path": "media/store_laptop_and_headphones/random.mp4" + } + ], + "config": "task_31_store_laptop_and_headphones", + "dataset_instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 12, + "task_index": 29, + "task_key": "stack_blocks", + "task_name": "Stack Blocks", + "category": "Generalization", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks/", + "fields": { + "Instruction": "Stack the three blocks with different textures.", + "Description": "There are three blocks with different textures on the table. The robot needs to pick them up and stack them into a stable pile.", + "Platform": "Simulation", + "Category": "Generalization", + "Data Source": "DateGen / Random eval-only", + "Usage": "Train & Eval / Random Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No two-block stack is completed." + }, + { + "score": "15", + "condition": "Any two of the three blocks are stacked, and the gripper is open." + }, + { + "score": "100", + "condition": "All three blocks are stacked together and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Standard version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks.mp4" + }, + { + "label": "Random version", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-random.mp4", + "path": "media/stack_blocks/random.mp4" + } + ], + "config": "task_29_stack_blocks", + "dataset_instruction": "Stack the three blocks with different textures.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 13, + "task_index": 3, + "task_key": "cover_blocks", + "task_name": "Cover Blocks", + "category": "Memory", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/cover-blocks/", + "fields": { + "Instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.", + "Description": "There are three covers and three blocks arranged in a random order. The blocks are red, green, and blue. The robot needs to cover the blocks from left to right, remember the color under each cover, and then uncover the blocks in the order of red, green, and blue.", + "Platform": "Simulation", + "Category": "Memory", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No block-covering step is completed." + }, + { + "score": "5", + "condition": "All three blocks are covered by cups from left to right." + }, + { + "score": "15", + "condition": "After all blocks are covered, the red block is uncovered first while the green and blue blocks remain covered." + }, + { + "score": "30", + "condition": "The red and green blocks are uncovered in order while the blue block remains covered." + }, + { + "score": "100", + "condition": "All three blocks are first covered from left to right, then uncovered in red, green, and blue order; cup orientation remains valid and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/cover-blocks.mp4" + } + ], + "config": "task_03_cover_blocks", + "dataset_instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 14, + "task_index": 16, + "task_key": "match_and_pick_from_conveyor", + "task_name": "Match And Pick From Conveyor", + "category": "Memory", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/match-and-pick-from-conveyor/", + "fields": { + "Instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.", + "Description": "An object first appears on the conveyor and is carried away. The robot needs to remember this object, observe the following objects on the conveyor, and pick the one that matches the first object.", + "Platform": "Simulation", + "Category": "Memory", + "Data Source": "Teleop", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The matching target object is not lifted high enough." + }, + { + "score": "100", + "condition": "The matching target object is lifted at least 10 cm." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/match-and-pick-from-conveyor.mp4" + } + ], + "config": "task_16_match_and_pick_from_conveyor", + "dataset_instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 15, + "task_index": 33, + "task_key": "swap_blocks", + "task_name": "Swap Blocks", + "category": "Memory", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/swap-blocks/", + "fields": { + "Instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", + "Description": "There are three mats, two blocks placed on two of the mats, and one button. The robot needs to swap the positions of the two blocks by using the empty mat as a temporary place. After each move, the robot must press the button.", + "Platform": "Simulation", + "Category": "Memory", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The swap sequence is not completed, or the button is not pressed after each move." + }, + { + "score": "100", + "condition": "The two target blocks are swapped using the empty mat, the button is pressed once after each of the three moves, the blocks finish on each other's original mats, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/swap-blocks.mp4" + } + ], + "config": "task_33_swap_blocks", + "dataset_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 16, + "task_index": 32, + "task_key": "swap_T", + "task_name": "Swap T", + "category": "Memory", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/swap-t/", + "fields": { + "Instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", + "Description": "There are two T-shaped blocks on the table. The robot needs to grasp them with both hands, swap their positions, and place them back so that each block matches the original pose of the other one, including both position and orientation. This is a memory-based task.", + "Platform": "Simulation", + "Category": "Memory", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The two T blocks are not swapped with the required pose accuracy." + }, + { + "score": "100", + "condition": "The two T-shaped blocks swap their original xy positions, their orientations match the swapped targets, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/swap-t.mp4" + } + ], + "config": "task_32_swap_T", + "dataset_instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 17, + "task_index": 25, + "task_key": "press_by_number", + "task_name": "Press By Number", + "category": "Memory", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/press-by-number/", + "fields": { + "Instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.", + "Description": "There are two number cards, two red buttons, and one blue confirmation button. The robot needs to read the numbers, press each red button the corresponding number of times, and then press the blue button to confirm. Pressing the blue button ends the task immediately.", + "Platform": "Simulation", + "Category": "Memory", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The required press counts or confirm sequence is not completed exactly." + }, + { + "score": "100", + "condition": "Button `0` is pressed exactly the number shown by `num0`, the blue confirm button is pressed, button `1` is pressed exactly the number shown by `num1`, the blue confirm button is pressed again, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/press-by-number.mp4" + } + ], + "config": "task_25_press_by_number", + "dataset_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 18, + "task_index": 11, + "task_key": "imitate_sorting_sequence", + "task_name": "Imitate Sorting Sequence", + "category": "Memory", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/imitate-sorting-sequence/", + "fields": { + "Instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", + "Description": "There are five categories of objects, with five objects on each side. The opposite robot places its objects into the basket on the right side in a certain order. The robot needs to observe and remember this sequence, then place its corresponding objects into the basket in the same order. This is a memory-based imitation task.", + "Platform": "Simulation", + "Category": "Memory", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The first sequence step is not completed, or the policy robot moves before the opposite robot arm finishes." + }, + { + "score": "5", + "condition": "The first target object is placed into the policy basket, later target objects are still outside it, all demonstration objects remain in the demo basket, and the gripper is open." + }, + { + "score": "15", + "condition": "The first two target objects are placed in the correct sequence." + }, + { + "score": "30", + "condition": "The first three target objects are placed in the correct sequence." + }, + { + "score": "50", + "condition": "The first four target objects are placed in the correct sequence." + }, + { + "score": "100", + "condition": "All five target objects are placed in sequence, all demonstration objects remain in the demo basket, the gripper is open, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/imitate-sorting-sequence.mp4" + } + ], + "config": "task_11_imitate_sorting_sequence", + "dataset_instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 19, + "task_index": 6, + "task_key": "fasten_screws", + "task_name": "Fasten Screws", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fasten-screws/", + "fields": { + "Instruction": "Insert and tighten each screw into the nut of the same color.", + "Description": "There are three screws and three nuts on the table. The screws and nuts come from five possible colors: red, blue, gray, yellow, and purple. In each episode, three different colors are selected, and the robot needs to match each screw with the nut of the same color, insert it, and tighten it. The screw positions vary within a small range, while the nut positions vary within a larger range. If a handover is needed, the robot can first place the screw in the middle and then let the other arm pick it up and fasten it.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No nut is fastened onto its matching bolt." + }, + { + "score": "20", + "condition": "Any one nut is upright, aligned with its matching bolt, rotated onto the bolt to the required depth, and the gripper is open." + }, + { + "score": "50", + "condition": "Any two matching nut-bolt pairs are fastened correctly." + }, + { + "score": "100", + "condition": "All three nut-bolt pairs are fastened, the gripper is open, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/fasten-screws.mp4" + } + ], + "config": "task_06_fasten_screws", + "dataset_instruction": "Insert and tighten each screw into the nut of the same color.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 20, + "task_index": 22, + "task_key": "plug_in_charger", + "task_name": "Plug In Charger", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/plug-in-charger/", + "fields": { + "Instruction": "Plug the charger into the power strip.", + "Description": "There is a charger plug and a power strip. The robot needs to pick up the charger plug and insert it into the power strip.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The charger is not fully plugged into the socket." + }, + { + "score": "100", + "condition": "The charger is inside the socket, inserted to the required depth, upright, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/plug-in-charger.mp4" + } + ], + "config": "task_22_plug_in_charger", + "dataset_instruction": "Plug the charger into the power strip.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 21, + "task_index": 13, + "task_key": "insert_tubes", + "task_name": "Insert Tubes", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/insert-tubes/", + "fields": { + "Instruction": "Insert the three tubes into the rack one by one.", + "Description": "There is a tube rack and three tubes. The robot needs to pick up each tube in sequence and insert all tubes into the rack.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No tube is inserted into a slot." + }, + { + "score": "20", + "condition": "Any one tube is inside the slot, inserted to the required depth, upright, and the gripper is open." + }, + { + "score": "40", + "condition": "Any two tubes are inserted correctly." + }, + { + "score": "100", + "condition": "All three tubes are inserted correctly and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/insert-tubes.mp4" + } + ], + "config": "task_13_insert_tubes", + "dataset_instruction": "Insert the three tubes into the rack one by one.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 22, + "task_index": 23, + "task_key": "pour_balls_into_vase", + "task_name": "Pour Balls Into Vase", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pour-balls-into-vase/", + "fields": { + "Instruction": "Pour all the balls from the cup into the vase.", + "Description": "There is a cup containing many small balls and a vase. The robot needs to pick up the cup and pour all the balls into the vase.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "Teleop", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "Not all balls are transferred into the vase." + }, + { + "score": "100", + "condition": "All seven balls are inside the vase, the cup is upright, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-balls-into-vase.mp4" + } + ], + "config": "task_23_pour_balls_into_vase", + "dataset_instruction": "Pour all the balls from the cup into the vase.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 23, + "task_index": 19, + "task_key": "play_Xylophone", + "task_name": "Play Xylophone", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/play-xylophone/", + "fields": { + "Instruction": "Pick up the mallet and strike all xylophone keys from left to right.", + "Description": "There is a xylophone and a mallet. The robot needs to pick up the mallet with one hand and strike all the xylophone keys from left to right.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The full left-to-right strike sequence is not completed." + }, + { + "score": "100", + "condition": "The mallet tip hits all xylophone keys from left to right, and after each hit the mallet is lifted by at least 0.025 m." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/play-xylophone.mp4" + } + ], + "config": "task_19_play_Xylophone", + "dataset_instruction": "Pick up the mallet and strike all xylophone keys from left to right.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 24, + "task_index": 4, + "task_key": "deposit_coin", + "task_name": "Deposit Coin", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/deposit-coin/", + "fields": { + "Instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.", + "Description": "There is a coin placed on a holder and a coin bank. The robot needs to pick up the coin and accurately insert it into the slot of the coin bank.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The coin is not lifted." + }, + { + "score": "20", + "condition": "The coin is lifted at least 8 cm." + }, + { + "score": "100", + "condition": "The coin bounding box is inside the coin bank slot region, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/deposit-coin.mp4" + } + ], + "config": "task_04_deposit_coin", + "dataset_instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 25, + "task_index": 12, + "task_key": "insert_key", + "task_name": "Insert Key", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/insert-key/", + "fields": { + "Instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.", + "Description": "There is a key and a keyhole on the table. The robot needs to pick up the key, hand it over to the other hand for pose adjustment, insert it accurately into the keyhole, and then turn it.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The key is not lifted." + }, + { + "score": "15", + "condition": "The key is lifted at least 5 cm." + }, + { + "score": "100", + "condition": "The key is inserted deep enough into the slot, aligned closely in x/y, kept upright, and successfully turned after insertion." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/insert-key.mp4" + } + ], + "config": "task_12_insert_key", + "dataset_instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 26, + "task_index": 1, + "task_key": "build_tower", + "task_name": "Build Tower", + "category": "Precision", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/build-tower/", + "fields": { + "Instruction": "Build a stable multi-layer tower with the wooden blocks and boards.", + "Description": "There are wooden blocks and wooden boards on the table. The robot needs to place each board or block on the supports below it, keep each layer centered over the layer beneath it, and keep all pieces upright.", + "Platform": "Simulation", + "Category": "Precision", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No tower layer is completed." + }, + { + "score": "10", + "condition": "The lower board is placed across two upright supports, remains stable and centered on them, and the gripper is open." + }, + { + "score": "30", + "condition": "The middle board is placed on the completed lower layer, stays centered over it, and all lower and middle pieces remain upright." + }, + { + "score": "100", + "condition": "The full tower is completed with the top pieces, all eight pieces remain upright, each layer stays centered over the layer below it, the gripper is open, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/build-tower.mp4" + } + ], + "config": "task_01_build_tower", + "dataset_instruction": "Build a tower using the wooden blocks and wooden boards.", + "instruction_match": false, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 27, + "task_index": 8, + "task_key": "fill_pen_holder", + "task_name": "Fill Pen Holder", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fill-pen-holder/", + "fields": { + "Instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.", + "Description": "There is a pen holder and several pens. The robot needs to grasp the pen holder with one hand, use the other hand to place the pens into the holder one by one, and finally put the filled pen holder back on the table.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "Teleop", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No pen is correctly inserted into the pen holder." + }, + { + "score": "10", + "condition": "Any one pen is correctly inserted tip-up into the upright pen holder." + }, + { + "score": "25", + "condition": "Any two pens are correctly inserted into the pen holder." + }, + { + "score": "40", + "condition": "Any three pens are correctly inserted into the pen holder." + }, + { + "score": "90", + "condition": "All four pens are inserted into the upright pen holder, but the robot has not returned to origin yet." + }, + { + "score": "100", + "condition": "All four pens are inserted, the pen holder is upright, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/fill-pen-holder.mp4" + } + ], + "config": "task_08_fill_pen_holder", + "dataset_instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 28, + "task_index": 2, + "task_key": "classify_objects", + "task_name": "Classify Objects", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/classify-objects/", + "fields": { + "Instruction": "Sort the objects by category into the three baskets.", + "Description": "There are three categories of objects and three baskets. The robot needs to group the objects by category and place each category into a separate basket. Any basket can be used for any category, as long as objects of the same category are placed together.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "Teleop", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No category basket is completed." + }, + { + "score": "15", + "condition": "One basket contains exactly one complete object category, with no objects from other categories, and the gripper is open." + }, + { + "score": "40", + "condition": "Two baskets each contain exactly one complete category." + }, + { + "score": "100", + "condition": "All three categories are separated into three baskets, the objects are settled inside the baskets, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/classify-objects.mp4" + } + ], + "config": "task_02_classify_objects", + "dataset_instruction": "Sort the objects by category into the three baskets.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 29, + "task_index": 27, + "task_key": "put_bottles_into_dustbin", + "task_name": "Put Bottles Into Dustbin", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/put-bottles-into-dustbin/", + "fields": { + "Instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.", + "Description": "There are four bottles on the table, and they may be either standing or lying down. A dustbin is placed beside the table. The robot needs to pick up the bottles and throw them into the dustbin. Because of the shifted table layout, bottles on the right side require a handover between the two hands before being discarded.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "Teleop", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No bottle is placed into the dustbin." + }, + { + "score": "10", + "condition": "Any one bottle is inside the dustbin, and the gripper is open." + }, + { + "score": "25", + "condition": "Any two bottles are inside the dustbin." + }, + { + "score": "40", + "condition": "Any three bottles are inside the dustbin." + }, + { + "score": "100", + "condition": "All four bottles are inside the dustbin and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/put-bottles-into-dustbin.mp4" + } + ], + "config": "task_27_put_bottles_into_dustbin", + "dataset_instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 30, + "task_index": 21, + "task_key": "play_tic_tac_toe", + "task_name": "Play Tic-Tac-Toe", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/play-tic-tac-toe/", + "fields": { + "Instruction": "Play tic-tac-toe as the first player and fill the board with the opponent.", + "Description": "There is a 3-by-3 tic-tac-toe board. The robot plays as the first player, while the opponent follows a random strategy. The robot and the opponent take turns placing their marks until the board is filled.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No player piece reaches a board cell, or the policy robot moves while the opponent robot arm is moving." + }, + { + "score": "10", + "condition": "Any one player piece is placed on a board cell and the gripper is open." + }, + { + "score": "30", + "condition": "Any two player pieces are placed on board cells." + }, + { + "score": "50", + "condition": "Any three player pieces are placed on board cells." + }, + { + "score": "75", + "condition": "Any four player pieces are placed on board cells." + }, + { + "score": "100", + "condition": "All five player pieces are on board cells at the correct height and the gripper is open." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/play-tic-tac-toe.mp4" + } + ], + "config": "task_21_play_tic_tac_toe", + "dataset_instruction": "Play tic-tac-toe as the first player and fill the board with the opponent.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 31, + "task_index": 7, + "task_key": "fill_egg_holder", + "task_name": "Fill Egg Holder", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/fill-egg-holder/", + "fields": { + "Instruction": "Place the four eggs from the basket into the egg holder, then close the lid.", + "Description": "There is a woven basket containing four eggs and an egg holder. The robot needs to pick up the eggs one by one, place all four into the egg holder, and then close the lid.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "Teleop", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No egg is placed into the egg holder." + }, + { + "score": "10", + "condition": "Any one egg is inside the egg holder and close to the holder bottom, with the gripper open." + }, + { + "score": "25", + "condition": "Any two eggs are placed correctly into the egg holder." + }, + { + "score": "40", + "condition": "Any three eggs are placed correctly into the egg holder." + }, + { + "score": "90", + "condition": "All four eggs are placed in the holder, but the lid is not fully closed yet." + }, + { + "score": "100", + "condition": "All four eggs are in the holder, the holder lid is correctly and fully closed, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/fill-egg-holder.mp4" + } + ], + "config": "task_07_fill_egg_holder", + "dataset_instruction": "Place the four eggs from the basket into the egg holder, then close the lid.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 32, + "task_index": 17, + "task_key": "organize_table", + "task_name": "Organize Table", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/organize-table/", + "fields": { + "Instruction": "Place the mouse on the mouse pad, push the keyboard into the frame, put the figurine on the stand, place the alarm clock on the drawer, then open the drawer and put all remaining miscellaneous items inside.", + "Description": "There are a computer, a keyboard, a mouse, an alarm clock, a cartoon figurine, three miscellaneous items, and a drawer. The robot needs to organize the table by placing the mouse on the mouse pad, pushing the keyboard into the frame, putting the figurine on the stand, placing the alarm clock on top of the drawer, opening the drawer, and putting all remaining miscellaneous items into it.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "Teleop", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No target item is organized correctly." + }, + { + "score": "25", + "condition": "Any one target item is organized correctly: mouse on mouse pad, keyboard in the frame, figurine on its stand, or alarm clock on the drawer, with the gripper open." + }, + { + "score": "50", + "condition": "Any two target items are organized correctly." + }, + { + "score": "75", + "condition": "Any three target items are organized correctly." + }, + { + "score": "100", + "condition": "All four target items are organized correctly and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/organize-table.mp4" + } + ], + "config": "task_17_organize_table", + "dataset_instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame.", + "instruction_match": false, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 33, + "task_index": 14, + "task_key": "make_kong", + "task_name": "Make Kong", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/make-kong/", + "fields": { + "Instruction": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles.", + "Description": "There is a Mahjong setup. The opponent first pushes out a tile. The robot needs to observe the discarded tile, identify the matching tiles on its side, and perform a valid kong action. The setup guarantees that a kong is possible.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The kong declaration state is not completed." + }, + { + "score": "100", + "condition": "The three matching Mahjong tiles are pushed down, the non-matching tiles remain upright on the table, the target tile is correctly grasped and placed at the required position, the gripper is open, and no invalid robot motion is detected." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/make-kong.mp4" + } + ], + "config": "task_14_make_kong", + "dataset_instruction": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 34, + "task_index": 20, + "task_key": "play_stacking_toy", + "task_name": "Play Stacking Toy", + "category": "Long-Horizon", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/play-stacking-toy/", + "fields": { + "Instruction": "Place all stacking toy pieces onto the correct pegs.", + "Description": "There is a stacking toy with four pegs and four types of pieces. The numbers of pieces in the four types are 4, 3, 2, and 1, and each peg matches one type. The robot needs to place all pieces onto their corresponding pegs correctly.", + "Platform": "Simulation", + "Category": "Long-Horizon", + "Data Source": "DateGen", + "Usage": "Train & Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No peg group is completed." + }, + { + "score": "10", + "condition": "One peg group is completed with its pieces aligned on the correct peg and inserted into the base, with the gripper open." + }, + { + "score": "30", + "condition": "Two peg groups are completed." + }, + { + "score": "60", + "condition": "Three peg groups are completed." + }, + { + "score": "100", + "condition": "All four peg groups are completed and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/play-stacking-toy.mp4" + } + ], + "config": "task_20_play_stacking_toy", + "dataset_instruction": "Place all stacking toy pieces onto the correct pegs.", + "instruction_match": true, + "data_status": "official_demonstrations" + }, + { + "catalog_number": 35, + "task_index": null, + "task_key": "align_blocks", + "task_name": "Align Blocks", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/align-blocks/", + "fields": { + "Instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.", + "Description": "There is a set square and three blocks. The robot needs to use the set square to push the blocks until they are aligned in parallel in a straight row.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The alignment, reset, or no-lift condition is not satisfied." + }, + { + "score": "100", + "condition": "The three cubes are in one straight aligned row, the robot returns to origin, and no cube has been lifted above the allowed height during the episode." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/align-blocks.mp4", + "path": "media/align_blocks/documentation.mp4" + } + ], + "config": "catalog_35_align_blocks", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 36, + "task_index": null, + "task_key": "general_pickup", + "task_name": "General Pickup", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/general-pickup/", + "fields": { + "Instruction": "Pick up the target object by 10 cm.", + "Description": "There are multiple objects. The robot needs to understand the language instruction, identify the target object, and pick it up.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The target object is not lifted high enough." + }, + { + "score": "100", + "condition": "The target object is lifted at least 10 cm." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/general-pickup.mp4", + "path": "media/general_pickup/documentation.mp4" + } + ], + "config": "catalog_36_general_pickup", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 37, + "task_index": null, + "task_key": "solve_equation", + "task_name": "Solve Equation", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/solve-equation/", + "fields": { + "Instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.", + "Description": "There is an arithmetic equation on the table and a pad for the answer. The equation is missing either a number or an operator. The robot needs to choose the correct missing item from the randomly arranged numbers and operators on the table and place it on the pad to complete the equation.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval", + "Comment": "Each digit must remain within the permitted rotational tolerance relative to its initial pose." + }, + "scoring": [ + { + "score": "0", + "condition": "The missing equation piece is not placed correctly." + }, + { + "score": "100", + "condition": "The correct missing number/operator piece is placed on the missing mat and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/solve-equation.mp4", + "path": "media/solve_equation/documentation.mp4" + } + ], + "config": "catalog_37_solve_equation", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 38, + "task_index": null, + "task_key": "stack_blocks_by_language", + "task_name": "Stack Blocks By Language", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/stack-blocks-by-language/", + "fields": { + "Instruction": "Stack the three blocks on top of each other in the order of color₁, color₂, and color₃, then reset the robot arm.", + "Description": "There are several colored blocks. The robot needs to understand the language instruction and stack the blocks in the specified color order.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The first ordered stack is not completed." + }, + { + "score": "20", + "condition": "The first two specified blocks are stacked in the instructed order, the bottom block remains on the table, and the gripper is open." + }, + { + "score": "100", + "condition": "All three specified blocks are stacked in order and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/stack-blocks-by-language.mp4", + "path": "media/stack_blocks_by_language/documentation.mp4" + } + ], + "config": "catalog_38_stack_blocks_by_language", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 39, + "task_index": null, + "task_key": "classify_objects_by_language", + "task_name": "Classify Objects By Language", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/classify-objects-by-language/", + "fields": { + "Instruction": "Put category₁ objects into the left basket, category₂ objects into the middle basket, and category₃ objects into the right basket, then reset the robot arm.", + "Description": "There are three baskets and three categories of unseen objects. The robot needs to understand the language instruction, identify the category of each object, and place the objects into the specified baskets from left to right.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No specified category is placed into its assigned basket." + }, + { + "score": "10", + "condition": "One specified category is placed into its assigned basket, no other objects are in that basket, and the gripper is open." + }, + { + "score": "40", + "condition": "Two specified categories are placed into their assigned baskets, with no extra objects in those baskets." + }, + { + "score": "100", + "condition": "All three specified categories are placed into the left, middle, and right baskets as instructed, no basket contains objects from another category, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/classify-objects-by-language.mp4", + "path": "media/classify_objects_by_language/documentation.mp4" + } + ], + "config": "catalog_39_classify_objects_by_language", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 40, + "task_index": null, + "task_key": "pick_from_conveyor_by_image", + "task_name": "Pick From Conveyor By Image", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pick-from-conveyor-by-image/", + "fields": { + "Instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket.", + "Description": "There is a board displaying an image of the target object, a basket, and a conveyor carrying multiple objects. The robot needs to first lift the basket more than 8 cm, identify the target object on the conveyor based on the image shown on the board, pick up the target object, and place it into the basket.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The target object is not placed into the lifted basket." + }, + { + "score": "100", + "condition": "The image-specified target object is in the basket and lifted at least 8 cm." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/pick-from-conveyor-by-image.mp4", + "path": "media/pick_from_conveyor_by_image/documentation.mp4" + } + ], + "config": "catalog_40_pick_from_conveyor_by_image", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 41, + "task_index": null, + "task_key": "store_tools_in_toolbox", + "task_name": "Store Tools In Toolbox", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/store-tools-in-toolbox/", + "fields": { + "Instruction": "Place each tool into its matching position in the toolbox, then reset the robot arm.", + "Description": "There are several tools and a toolbox with designated slots. The robot needs to pick up each tool and place it into the corresponding position in the toolbox.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "No tool is placed into its matching toolbox slot." + }, + { + "score": "25", + "condition": "Any one tool is placed in its matching toolbox slot with the gripper open." + }, + { + "score": "50", + "condition": "Any two tools are placed into their matching toolbox slots." + }, + { + "score": "75", + "condition": "Any three tools are placed into their matching toolbox slots." + }, + { + "score": "100", + "condition": "All four tools are placed in their matching slots, covered by the toolbox, and the robot returns to origin." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/store-tools-in-toolbox.mp4", + "path": "media/store_tools_in_toolbox/documentation.mp4" + } + ], + "config": "catalog_41_store_tools_in_toolbox", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 42, + "task_index": null, + "task_key": "pour_by_language", + "task_name": "Pour By Language", + "category": "Open", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/pour-by-language/", + "fields": { + "Instruction": "Pour the liquid from the first color₁ bottle into the first color₂ bowl, from the second color₃ bottle into the second color₄ bowl, and from the third color₅ bottle into the third color₆ bowl. Then reset the robot arm.", + "Description": "There are three colored bottles and three colored bowls on the table. The robot needs to follow the language instruction and pour the liquid from each specified bottle into the corresponding specified bowl.", + "Platform": "Simulation", + "Category": "Open", + "Data Source": "null (eval-only)", + "Usage": "Eval" + }, + "scoring": [ + { + "score": "0", + "condition": "The first target pour is not completed." + }, + { + "score": "20", + "condition": "The liquid from the first specified bottle is poured into its specified bowl, and the other two liquids have not been poured into their bowls." + }, + { + "score": "50", + "condition": "The first two specified liquids are poured into their bowls, and the third liquid has not yet been poured." + }, + { + "score": "100", + "condition": "All three specified liquids are poured into their corresponding bowls." + } + ], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/pour-by-language.mp4", + "path": "media/pour_by_language/documentation.mp4" + } + ], + "config": "catalog_42_pour_by_language", + "dataset_instruction": null, + "instruction_match": null, + "data_status": "eval_only_no_published_demonstrations" + }, + { + "catalog_number": 43, + "task_index": 5, + "task_key": "dlc", + "task_name": "DLC", + "category": "DLC", + "doc_url": "https://robodojo-benchmark.com/doc/sim-tasks/dlc/", + "fields": { + "Instruction": "Arrange the letters to spell \"RoboDojo\" in a row.", + "Description": "There are multiple separated letters on a cluttered tabletop with a complex background. The robot needs to identify the letters that form \"RoboDojo\" and arrange them in the correct order in a straight row.", + "Platform": "Simulation", + "Category": "Other", + "Data Source": "DataGen", + "Usage": "Train" + }, + "scoring": [], + "documentation_videos": [ + { + "label": "Simulation demo", + "url": "https://robodojo-benchmark.com/doc/videos/tasks/dlc.mp4" + } + ], + "config": "task_05_dlc", + "dataset_instruction": "Arrange the letters to spell \"RoboDojo\" in a row.", + "instruction_match": true, + "data_status": "official_demonstrations" + } +] \ No newline at end of file diff --git a/provenance/tasks.jsonl b/provenance/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b249ec9b9e0e18a3d2230a69b56fa2f342de8589 --- /dev/null +++ b/provenance/tasks.jsonl @@ -0,0 +1,35 @@ +{"task_index": 0, "task": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad."} +{"task_index": 1, "task": "Build a tower using the wooden blocks and wooden boards."} +{"task_index": 2, "task": "Sort the objects by category into the three baskets."} +{"task_index": 3, "task": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue."} +{"task_index": 4, "task": "Pick up the coin from the holder and insert it precisely into the coin bank."} +{"task_index": 5, "task": "Arrange the letters to spell \"RoboDojo\" in a row."} +{"task_index": 6, "task": "Insert and tighten each screw into the nut of the same color."} +{"task_index": 7, "task": "Place the four eggs from the basket into the egg holder, then close the lid."} +{"task_index": 8, "task": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down."} +{"task_index": 9, "task": "Fold the clothes neatly."} +{"task_index": 10, "task": "Hang all the mugs on the mug rack."} +{"task_index": 11, "task": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order."} +{"task_index": 12, "task": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it."} +{"task_index": 13, "task": "Insert the three tubes into the rack one by one."} +{"task_index": 14, "task": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles."} +{"task_index": 15, "task": "Pick up two slices of bread, place them into the toaster, and press the lever down."} +{"task_index": 16, "task": "Remember the first object on the conveyor, then pick the matching object when it appears again."} +{"task_index": 17, "task": "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."} +{"task_index": 18, "task": "Place all the objects into the box with their front sides facing left."} +{"task_index": 19, "task": "Pick up the mallet and strike all xylophone keys from left to right."} +{"task_index": 20, "task": "Place all stacking toy pieces onto the correct pegs."} +{"task_index": 21, "task": "Play tic-tac-toe as the first player and fill the board with the opponent."} +{"task_index": 22, "task": "Plug the charger into the power strip."} +{"task_index": 23, "task": "Pour all the balls from the cup into the vase."} +{"task_index": 24, "task": "Pour the liquid from the bottle into the cup."} +{"task_index": 25, "task": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm."} +{"task_index": 26, "task": "Push the T-shaped block to align it precisely with the gray T-shaped pad."} +{"task_index": 27, "task": "Pick up the bottles and throw them into the dustbin, using handover when needed."} +{"task_index": 28, "task": "Arrange the five nesting dolls in a row from left to right, from smallest to largest."} +{"task_index": 29, "task": "Stack the three blocks with different textures."} 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No published three-camera training demonstration for this variant. Scoring is from the base task page." + }, + { + "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. 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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. 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No published three-camera training demonstration for this variant. Scoring is from the base task page." + }, + { + "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. 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Synchronized view is a resized composite. Background ID and episode score are not published." + }, + { + "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": 3149, + "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/store_laptop_and_headphones/episode_003149.parquet", + "source_top_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/store_laptop_and_headphones/arx_x5/preview_video/episode_0000049_cam_head.mp4", + "source_right_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/store_laptop_and_headphones/arx_x5/preview_video/episode_0000049_cam_right_wrist.mp4", + "source_left_url": "https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo/resolve/35efbc7dedfdbeeb6e95fb749bd885d73d483e41/data/RoboDojo/store_laptop_and_headphones/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_003149.parquet", + "fps": 25, + "frame_count": 460, + "duration_seconds": 18.4, + "notes": "Official full three-camera preview; no frames sampled out. 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Synchronized view is a resized composite. Background ID and episode score are not published." + }, + { + "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. 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No published three-camera training demonstration for this variant. Scoring is from the base task page." + }, + { + "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. 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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." + }, + { + "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." + } +] \ No newline at end of file diff --git a/reference/domain-randomization.mp4 b/reference/domain-randomization.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f29adb2cc6ec9dd12982ab7acde17638f144f80e --- /dev/null +++ b/reference/domain-randomization.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:165858943ce133bd6345341a7a975303ef2451b31e33d6bdde1b1fb2fe54d06d +size 40237705 diff --git a/reference/domain-randomization.txt b/reference/domain-randomization.txt new file mode 100644 index 0000000000000000000000000000000000000000..0ef1c30cb202092d3c0d9106b720f5eeb5845a7b --- /dev/null +++ b/reference/domain-randomization.txt @@ -0,0 +1,21 @@ +RoboDojo supports +domain randomization (DR) +during evaluation. Each episode can sample a different visual and physical scene configuration, helping policies generalize beyond a single tabletop appearance. +Your browser does not support the video tag. +Domain randomization demo — varying clutter, materials, lighting, and background across episodes +What can be randomized +Section titled “What can be randomized” +RoboDojo can randomize five major aspects of the scene: +Aspect +Description +Cluttered tabletop objects +Extra distractor objects placed on the table to increase scene complexity +Table material +Random table surface appearance +Floor material +Random ground or floor texture and material +Lighting +Random light type, intensity and color temperature +Background +Random HDR environment map and background appearance +Together, these variations change the scene appearance from episode to episode while keeping the underlying task definition unchanged. \ No newline at end of file diff --git a/reference/parallel-environments.mp4 b/reference/parallel-environments.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f506ea26076d3fd7d5a313ece7ddd7a00539467 --- /dev/null +++ b/reference/parallel-environments.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5f7f11ee633fab3facb071b2b808453c82aec3cbd446b5ea986730ea7e13ca7 +size 26092388 diff --git a/reference/parallel-environments.txt b/reference/parallel-environments.txt new file mode 100644 index 0000000000000000000000000000000000000000..0b427b4b10b187ca3f9142c84f1f64b0cc6e79e5 --- /dev/null +++ b/reference/parallel-environments.txt @@ -0,0 +1,37 @@ +RoboDojo supports +multi-environment parallelism +in Isaac Sim. Instead of running one scene at a time, Isaac Sim can instantiate multiple environment copies in the same simulation process, improving evaluation throughput. +Your browser does not support the video tag. +Parallel environments running in Isaac Sim. +Parallel environments are configured through the simulation config selected by the top-level +env_cfg +, for example +env_cfg/sim/sim_config.yml +: +Field +Description +scene.num_envs +Number of environment instances to run in parallel +scene.env_spacing +Distance between environment instances in the Isaac Sim world +Example: +scene +: +num_envs +: +5 +env_spacing +: +7 +Increase +scene.num_envs +when you need higher throughput. If you see GPU memory pressure, slower rendering, or unstable simulation behavior, reduce this value and tune it according to your hardware. +Parallel environment count +Section titled “Parallel environment count” +The release default is +num_envs: 1 +, which favors reliability. Increase it for throughput once a task is working on your machine. For randomized cluttered tabletop tasks, the eval client may cap the requested parallelism because these scenes import more objects and usually require more CPU/GPU memory. +Related pages +Section titled “Related pages” +Evaluation Issues +— GPU memory and parallelism troubleshooting when running many randomized environments \ No newline at end of file diff --git a/reference/world_axes.png b/reference/world_axes.png new file mode 100644 index 0000000000000000000000000000000000000000..be6b6d08832e580619b47e8539faac2a0d59b4e5 --- /dev/null +++ b/reference/world_axes.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fec704c91dfae8b2b2ef8bdb638816bc929d0f897e7b6fb369d587f2d15f44c +size 8387804 diff --git a/scripts/build_dataset.py b/scripts/build_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..1ab9e2cfc2151dcc5e517a2b3d866f6013393207 --- /dev/null +++ b/scripts/build_dataset.py @@ -0,0 +1,473 @@ +"""Build a small, source-pinned RoboDojo browsing dataset; never snapshot the upstream repo. + +python scripts/build_dataset.py prepare|download|render|package|validate|publish +""" +from __future__ import annotations +import argparse +import concurrent.futures as cf +import hashlib +import json +import shutil +import subprocess +import time +from pathlib import Path +from urllib.parse import quote + +import requests +from bs4 import BeautifulSoup +from huggingface_hub import HfApi + +ROOT = Path(__file__).resolve().parents[1] +WORK = ROOT / 'work' +OUT = ROOT if (ROOT / 'provenance/task_catalog.json').exists() else ROOT / 'dataset' +SOURCE = 'RoboDojo-Benchmark/RoboDojo' +DEST = 'Travor278/RoboDojo-Task-Examples' +DOC = 'https://robodojo-benchmark.com' +GROUPS = ['Generalization', 'Memory', 'Precision', 'Long-Horizon', 'Open', 'DLC'] +LOCAL_EPISODES = [0, 49, 99] + + +def read(path): + return json.loads(path.read_text(encoding='utf-8')) + + +def write(path, value): + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text(json.dumps(value, ensure_ascii=False, indent=2), encoding='utf-8') + + +def fetch(url, path, sha=None, size=None): + if path.exists() and (not size or path.stat().st_size == size): + if not sha or hashlib.sha256(path.read_bytes()).hexdigest() == sha: + return path.stat().st_size + path.parent.mkdir(parents=True, exist_ok=True) + for attempt in range(4): + try: + with requests.get(url, stream=True, timeout=(20, 120)) as r: + r.raise_for_status() + temporary = path.with_suffix(path.suffix + '.part') + with temporary.open('wb') as f: + for chunk in r.iter_content(1024 * 1024): + f.write(chunk) + if size and temporary.stat().st_size != size: + raise ValueError(f'Size mismatch: {path}') + if sha and hashlib.sha256(temporary.read_bytes()).hexdigest() != sha: + raise ValueError(f'SHA256 mismatch: {path}') + temporary.replace(path) + return path.stat().st_size + except Exception: + if attempt == 3: + raise + time.sleep(1 + attempt) + + +def source_url(path, revision): + return f'https://huggingface.co/datasets/{SOURCE}/resolve/{revision}/{path}' + + +def own_url(path): + return f'https://huggingface.co/datasets/{DEST}/resolve/main/{path}' + + +def prepare(): + api = HfApi() + revision = api.dataset_info(SOURCE).sha + # Download only tiny metadata, task HTML and directory listings. + for name in ['tasks.jsonl', 'info.json', 'episodes.jsonl']: + fetch(source_url(f'data/RoboDojo_lerobot_v21_video/meta/{name}', revision), WORK / name) + fetch(DOC + '/doc/sim-tasks/', WORK / 'sim-tasks.html') + main = BeautifulSoup((WORK / 'sim-tasks.html').read_text(encoding='utf-8'), 'html.parser').select_one('.sl-markdown-content') + pages = [(a.get_text(' ', strip=True), a['href']) for a in main.find_all('a') + if a.get('href', '').startswith('/doc/sim-tasks/') + and a['href'].split('/')[-2] not in ['domain-randomization', 'parallel-environments']] + official_tasks = [json.loads(x) for x in (WORK / 'tasks.jsonl').read_text().splitlines()] + raw_folders = {Path(x.path).name.lower(): Path(x.path).name + for x in api.list_repo_tree(SOURCE, repo_type='dataset', revision=revision, path_in_repo='data/RoboDojo')} + by_instruction = {' '.join(x['task'].split()): x['task_index'] for x in official_tasks} + # The website updated these descriptions after the v2.1 instruction metadata. + # Keep both texts and validate IDs from each selected trajectory. + documented_instruction_updates = {'build-tower': 1, 'organize-table': 17} + tasks = [] + for catalog, (name, path) in enumerate(pages, 1): + slug = path.split('/')[-2] + fetch(DOC + path, WORK / f'{slug}.html') + m = BeautifulSoup((WORK / f'{slug}.html').read_text(encoding='utf-8'), 'html.parser').select_one('.sl-markdown-content') + tables = m.select('table') + fields = {r.th.get_text(' ', strip=True): r.td.get_text(' ', strip=True) + for r in tables[0].select('tr') if r.th and r.td} + scoring = [{'score': r.th.get_text(' ', strip=True), 'condition': r.td.get_text(' ', strip=True)} + for table in tables[1:] for r in table.select('tr') if r.th and r.td + and r.th.get_text(' ', strip=True) != 'Score'] + index = by_instruction.get(' '.join(fields['Instruction'].split()), documented_instruction_updates.get(slug)) + task_key = raw_folders.get(slug.replace('-', '_').lower(), slug.replace('-', '_')) + category = 'DLC' if slug == 'dlc' else fields['Category'] + videos = [{'label': figure.figcaption.get_text(' ', strip=True) if figure.figcaption else 'Simulation demo', + 'url': DOC + figure.source['src']} for figure in m.select('figure') if figure.source] + if not videos: + videos = [{'label': 'Simulation demo', 'url': DOC + v['src']} for v in m.select('video source')] + config = f'task_{index:02d}_{task_key}' if index is not None else f'catalog_{catalog:02d}_{task_key}' + tasks.append(dict(catalog_number=catalog, task_index=index, task_key=task_key, task_name=name, + category=category, doc_url=DOC + path, fields=fields, scoring=scoring, + documentation_videos=videos, config=config, + dataset_instruction=official_tasks[index]['task'] if index is not None else None, + instruction_match=(fields['Instruction'] == official_tasks[index]['task']) if index is not None else None, + data_status='official_demonstrations' if index is not None else 'eval_only_no_published_demonstrations')) + assert len(tasks) == 43 + assert sorted(t['task_index'] for t in tasks if t['task_index'] is not None) == list(range(35)) + episodes = [json.loads(x) for x in (WORK / 'episodes.jsonl').read_text().splitlines()] + episodes_by_task = {} + for task in official_tasks: + episodes_by_task[task['task_index']] = [x for x in episodes if x['tasks'] == [task['task']]] + assert len(episodes_by_task[task['task_index']]) == 100 + + def listing(task): + p = f"data/RoboDojo/{task['task_key']}/arx_x5/preview_video" + return task['task_key'], {Path(x.path).name: x for x in api.list_repo_tree( + SOURCE, repo_type='dataset', revision=revision, path_in_repo=p)} + with cf.ThreadPoolExecutor(max_workers=6) as executor: + listings = dict(executor.map(listing, [t for t in tasks if t['task_index'] is not None])) + plan = [] + samples = [] + for task in tasks: + index = task['task_index'] + if index is not None: + for local in LOCAL_EPISODES: + ep = episodes_by_task[index][local] + eid = ep['episode_index'] + media_dir = f"media/{task['task_key']}/episode_{local:07d}" + sample = dict(task_key=task['task_key'], task_index=index, episode_index=eid, + source_local_episode=local, frame_count=ep['length'], fps=25, views={}) + for view, camera in [('top', 'cam_head'), ('right', 'cam_right_wrist'), ('left', 'cam_left_wrist')]: + filename = f'episode_{local:07d}_{camera}.mp4' + obj = listings[task['task_key']][filename] + target = f'{media_dir}/{view}.mp4' + sample['views'][view] = dict(path=target, source_path=obj.path, source_sha256=obj.lfs.sha256, + source_bytes=obj.size, camera=camera) + plan.append(dict(url=source_url(obj.path, revision), path=target, sha256=obj.lfs.sha256, bytes=obj.size)) + parquet_source = f'data/RoboDojo_lerobot_v21_video/data/chunk-{eid//1000:03d}/episode_{eid:06d}.parquet' + parquet_target = f"trajectories/{task['task_key']}/episode_{eid:06d}.parquet" + sample['trajectory_path'] = parquet_target + sample['trajectory_source_path'] = parquet_source + sample['synchronized_views_path'] = f'{media_dir}/top_right_left.mp4' + sample['preview_path'] = f'{media_dir}/top_right_left.jpg' + plan.append(dict(url=source_url(parquet_source, revision), path=parquet_target)) + samples.append(sample) + for demo in task['documentation_videos']: + # Standard demos are already covered by official three-camera episodes. + if index is None or 'Random' in demo['label']: + target = f"media/{task['task_key']}/{'random' if 'Random' in demo['label'] else 'documentation'}.mp4" + demo['path'] = target + plan.append(dict(url=demo['url'], path=target)) + image = main.find('img') + # The official HTML points to /images/axes.png (404); its asset lives under /doc/. + axis_path = image['src'] if image['src'].startswith('/doc/') else '/doc' + image['src'] + plan.append(dict(url=DOC + axis_path, path='reference/world_axes.png')) + for key in ['domain-randomization', 'parallel-environments']: + fetch(DOC + f'/doc/sim-tasks/{key}/', WORK / f'{key}.html') + m = BeautifulSoup((WORK / f'{key}.html').read_text(encoding='utf-8'), 'html.parser').select_one('.sl-markdown-content') + for v in m.select('video source'): + plan.append(dict(url=DOC + v['src'], path=f'reference/{key}.mp4')) + (OUT / 'reference').mkdir(parents=True, exist_ok=True) + (OUT / 'reference' / f'{key}.txt').write_text(m.get_text('\n', strip=True), encoding='utf-8') + write(OUT / 'provenance/task_catalog.json', tasks) + write(OUT / 'provenance/selected_episodes.json', samples) + write(WORK / 'download_plan.json', plan) + write(OUT / 'provenance/source.json', dict(repo_id=SOURCE, revision=revision, source_format='RoboDojo raw H.264 previews + LeRobot v2.1 trajectories', + task_index_source='data/RoboDojo_lerobot_v21_video/meta/tasks.jsonl', retrieved_date='2026-10-03', + episode_selection=LOCAL_EPISODES, source_catalog_task_count=43, official_dataset_task_count=35, + background_annotation='The upstream metadata does not label background IDs. Three spaced episode IDs are sampled per task; distinct background coverage is not guaranteed.', + camera_mapping={'top': 'cam_head (raw preview); cam_high (LeRobot)', 'right': 'cam_right_wrist', 'left': 'cam_left_wrist'})) + for filename in ['tasks.jsonl', 'info.json']: + shutil.copy2(WORK / filename, OUT / 'provenance' / filename) + print(f'Prepared {len(tasks)} tasks, {len(samples)} full demonstrations, {len(plan)} selected downloads.', flush=True) + print(f'Known preview video bytes: {sum(x.get("bytes",0) for x in plan):,}', flush=True) + + +def download(): + plan = read(WORK / 'download_plan.json') + def run(x): + return fetch(x['url'], OUT / x['path'], x.get('sha256'), x.get('bytes')) + total = 0 + with cf.ThreadPoolExecutor(max_workers=8) as executor: + futures = [executor.submit(run, x) for x in plan] + for i, future in enumerate(cf.as_completed(futures), 1): + total += future.result() + if i % 20 == 0 or i == len(plan): + print(f'Downloaded {i}/{len(plan)}, {total/1e6:.1f} MB', flush=True) + write(OUT / 'provenance/download_summary.json', dict(file_count=len(plan), selected_bytes=total, + hdf5_downloaded=0, checkpoint_downloaded=0, upstream_snapshot_downloaded=False)) + + +def probe(path): + result = subprocess.run(['ffprobe', '-v', 'error', '-select_streams', 'v:0', '-show_streams', '-of', 'json', str(path)], + capture_output=True, text=True, check=True) + return json.loads(result.stdout)['streams'][0] + + +def render(): + from PIL import Image, ImageDraw + samples = read(OUT / 'provenance/selected_episodes.json') + label = Image.new('RGB', (960, 28), '#142032') + drawer = ImageDraw.Draw(label) + for x, text in [(12, 'TOP / HEAD'), (332, 'RIGHT WRIST'), (652, 'LEFT WRIST')]: + drawer.text((x, 7), text, fill='white') + labels_path = WORK / 'labels.png' + label.save(labels_path) + def run(sample): + target = OUT / sample['synchronized_views_path'] + if not target.exists(): + command = ['ffmpeg', '-hide_banner', '-loglevel', 'error', '-y'] + for view in ['top', 'right', 'left']: + command += ['-i', str(OUT / sample['views'][view]['path'])] + command += ['-loop', '1', '-i', str(labels_path), '-filter_complex', + '[0:v]scale=320:240,setsar=1[a];[1:v]scale=320:240,setsar=1[b];[2:v]scale=320:240,setsar=1[c];' + '[a][b][c]hstack=inputs=3[views];[3:v]format=yuv420p[labels];[labels][views]vstack=inputs=2:shortest=1[out]', + '-map', '[out]', '-c:v', 'libx264', '-preset', 'veryfast', '-crf', '24', '-pix_fmt', 'yuv420p', + '-threads', '2', '-r', '25', '-frames:v', str(sample['frame_count']), '-movflags', '+faststart', str(target)] + subprocess.run(command, check=True, capture_output=True) + preview = OUT / sample['preview_path'] + if not preview.exists(): + subprocess.run(['ffmpeg', '-v', 'error', '-y', '-ss', '0', '-i', str(target), '-frames:v', '1', '-q:v', '3', str(preview)], + check=True, capture_output=True) + return sample['task_key'], sample['episode_index'] + with cf.ThreadPoolExecutor(max_workers=3) as executor: + futures = [executor.submit(run, s) for s in samples] + for i, f in enumerate(cf.as_completed(futures), 1): + f.result() + if i % 10 == 0 or i == len(samples): + print(f'Rendered {i}/{len(samples)} synchronized three-view videos', flush=True) + + +def package(): + import datasets + import yaml + from datasets import Dataset, Features, Value, Video, Image + tasks = read(OUT / 'provenance/task_catalog.json') + samples = read(OUT / 'provenance/selected_episodes.json') + source = read(OUT / 'provenance/source.json') + rows = [] + for t in tasks: + scoring = '\n'.join(f"{s['score']}: {s['condition']}" for s in t['scoring']) or 'Not provided on the official task page.' + common = dict(task_index=t['task_index'], task_name=t['task_name'], category=t['category'], task_key=t['task_key'], + catalog_number=t['catalog_number'], instruction=t['fields']['Instruction'], dataset_instruction=t['dataset_instruction'], description=t['fields']['Description'], + scoring=scoring, platform=t['fields']['Platform'], data_source=t['fields']['Data Source'], usage=t['fields']['Usage'], + comment=t['fields'].get('Comment', ''), official_task_page=t['doc_url'], source_revision=source['revision'], + actual_episode_score=None, background_id=None) + for s in [x for x in samples if x['task_key'] == t['task_key']]: + row = dict(common, episode_index=s['episode_index'], source_local_episode=s['source_local_episode'], + row_kind='official_demonstration', variant='standard / sampled scene', + synchronized_views=dict(path=own_url(s['synchronized_views_path']), bytes=None), + top=dict(path=own_url(s['views']['top']['path']), bytes=None), + right=dict(path=own_url(s['views']['right']['path']), bytes=None), + left=dict(path=own_url(s['views']['left']['path']), bytes=None), official_demo=None, + preview=dict(path=own_url(s['preview_path']), bytes=None), trajectory_url=own_url(s['trajectory_path']), + source_top_url=source_url(s['views']['top']['source_path'], source['revision']), + source_right_url=source_url(s['views']['right']['source_path'], source['revision']), + source_left_url=source_url(s['views']['left']['source_path'], source['revision']), + source_trajectory_url=source_url(s['trajectory_source_path'], source['revision']), + fps=s['fps'], frame_count=s['frame_count'], duration_seconds=s['frame_count']/s['fps'], + 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.' if t['instruction_match'] is False else '')) + rows.append(row) + for demo in t['documentation_videos']: + if 'path' in demo: + rows.append(dict(common, episode_index=None, source_local_episode=None, + row_kind='documentation_random_eval' if 'Random' in demo['label'] else 'documentation_eval_only', + variant=demo['label'], synchronized_views=None, top=None, right=None, left=None, + official_demo=dict(path=own_url(demo['path']), bytes=None), preview=None, trajectory_url='', + source_top_url='', source_right_url='', source_left_url='', source_trajectory_url='', + fps=None, frame_count=None, duration_seconds=None, + notes=f"Official website demo: {demo['url']}. No published three-camera training demonstration for this variant. Scoring is from the base task page.")) + # Lead with the actual official task IDs. Documentation-only tasks follow. + rows.sort(key=lambda r: (r['task_index'] if r['task_index'] is not None else 100+r['catalog_number'], + r['episode_index'] if r['episode_index'] is not None else 999999)) + order = ['task_index', 'task_name', 'episode_index', 'synchronized_views', 'top', 'right', 'left', 'official_demo', + 'category', 'instruction', 'dataset_instruction', 'scoring', 'variant', 'row_kind', 'catalog_number', 'source_local_episode', + 'task_key', 'description', 'platform', 'data_source', 'usage', 'comment', 'preview', 'frame_count', 'fps', + 'duration_seconds', 'trajectory_url', 'official_task_page', 'source_top_url', 'source_right_url', 'source_left_url', + 'source_trajectory_url', 'source_revision', 'actual_episode_score', 'background_id', 'notes'] + ints = {'task_index', 'episode_index', 'catalog_number', 'source_local_episode', 'frame_count', 'fps'} + videos = {'synchronized_views', 'top', 'right', 'left', 'official_demo'} + features = Features({k: Video(decode=False) if k in videos else Image(decode=False) if k == 'preview' + else Value('int32') if k in ints else Value('float64') if k in {'duration_seconds', 'actual_episode_score'} + else Value('string') for k in order}) + ds = Dataset.from_list([{k: r[k] for k in order} for r in rows], features=features) + configs = [dict(config_name='all', default=True, data_files=[dict(split='examples', path='data/all.parquet')])] + (OUT / 'data').mkdir(exist_ok=True) + ds.to_parquet(str(OUT / 'data/all.parquet'), batch_size=50) + for group in GROUPS: + name = group.lower().replace('-', '_') + indices = [i for i,r in enumerate(rows) if r['category'] == group] + ds.select(indices).to_parquet(str(OUT / f'data/{name}.parquet'), batch_size=50) + configs.append(dict(config_name=name, data_files=[dict(split='examples', path=f'data/{name}.parquet')])) + for t in tasks: + indices = [i for i,r in enumerate(rows) if r['task_key'] == t['task_key']] + assert indices, t['task_key'] + ds.select(indices).to_parquet(str(OUT / f"data/{t['config']}.parquet"), batch_size=50) + configs.append(dict(config_name=t['config'], data_files=[dict(split='examples', path=f"data/{t['config']}.parquet")])) + reference_rows = [dict(tool_name=k, video={'path': own_url(f'reference/{k}.mp4'), 'bytes': None}, + documentation=(OUT / f'reference/{k}.txt').read_text(encoding='utf-8'), source_url=DOC+f'/doc/sim-tasks/{k}/') + for k in ['domain-randomization', 'parallel-environments']] + Dataset.from_list(reference_rows, features=Features({'tool_name':Value('string'), 'video':Video(decode=False), + 'documentation':Value('string'), 'source_url':Value('string')})).to_parquet(str(OUT / 'data/reference_tools.parquet'), batch_size=2) + configs.append(dict(config_name='reference_tools', data_files=[dict(split='examples', path='data/reference_tools.parquet')])) + write(OUT / 'provenance/viewer_rows.json', [{k:v for k,v in r.items() if k not in videos | {'preview'}} for r in rows]) + frontmatter = dict(language=['en', 'zh'], license='other', license_name='upstream-robodojo-terms', + license_link='LICENSE.md', pretty_name='RoboDojo Task Examples — official task index / top / right / left', + tags=['robotics', 'robodojo', 'video', 'bimanual', 'task-catalog'], configs=configs) + card = ['---', yaml.safe_dump(frontmatter, sort_keys=False, allow_unicode=True).rstrip(), '---', + '# RoboDojo Task Examples', + '\n**按官方 task_index 找任务，按 top → right wrist → left wrist 看完整示教。**', + '\n43 个官网任务页面 · 35 个有公开示教的任务 · 每任务 3 条完整示教 · 12 个 random-layout 官网演示 · 8 个 Open eval-only 官网演示。', + '\n这是精选浏览集，不是官方完整训练集。数据源：[官方 HF 数据](https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo) / [官方任务文档](https://robodojo-benchmark.com/doc/sim-tasks/)。', + '\n## 快速定位任务', + '\n在上方 Dataset Viewer 选择 `task_30_stack_bowls` 等 subset，或选择六大类。`all` 按官方 task_index 排序。点击表内视频即可播放。', + '\n- `task_index`：官方 LeRobot v2.1 `meta/tasks.jsonl` 的 **0–34**，没有重新编号。', + '- `catalog_number`：本仓库对官网目录顺序的辅助编号 **C01–C43**，不是官方 task_index。', + '- `episode_index`：官方 LeRobot 全局 episode ID；`source_local_episode`：原始任务目录的 episode 文件编号。', + '- Open 类 8 个任务的 `task_index` / `episode_index` 为 null；只展示官网 eval-only 演示，不伪造示教。', + '- `synchronized_views` 把同一 episode 的 **TOP / RIGHT WRIST / LEFT WRIST** 合成一行，同步播放，完整时长、25 FPS。', + '- `top` / `right` / `left` 保留官方原始 H.264 预览视频（640×480），逐字节校验 SHA256。TOP 对应官方 `cam_head`（LeRobot 命名 `cam_high`），不是新生成的正交俯视相机。', + '- `trajectory_url` 可下载该 episode 的官方动作与状态 Parquet（14 维双臂关节）。这是关节示教数据，不是未提供的笛卡尔腕部位姿。', + '- `scoring` 是任务评分规则；官方未给每条示教评分，所以 `actual_episode_score` 为 null。', + '- `instruction` 来自当前官网；`dataset_instruction` 来自官方 v2.1 数据。Build Tower / Organize Table 的两者有差异，页面逐项展示；不可把旧版示教当作已完成新版目标。', + '- 每任务取原始 episode 0 / 49 / 99。官方没有背景 ID 标签，所以 `background_id` 为 null；多行是实际不同示教场景，不保证覆盖所有背景种类。random-layout 演示单列且标为 eval-only。', + '\n## World-axis orientation 与分类', + '\n![World-axis orientation](reference/world_axes.png)', + '\nX 红 / Y 绿 / Z 蓝。箭头位置只用于展示方向，并不代表世界坐标系原点。分类沿用该标题下官网列出的六组。', + '\n| 官方 task_index | 官网目录 | Task | Category | 直接浏览 |', '| --- | --- | --- | --- | --- |'] + for t in sorted(tasks, key=lambda t: t['task_index'] if t['task_index'] is not None else 100+t['catalog_number']): + idx = str(t['task_index']) if t['task_index'] is not None else '—（eval-only）' + viewer = f"https://huggingface.co/datasets/{DEST}/viewer/{t['config']}/examples" + card.append(f"| **{idx}** | C{t['catalog_number']:02d} | [{t['task_name']}]({t['doc_url']}) | {t['category']} | [打开]({viewer}) |") + card.extend(['\n## 各任务示例、instruction 与评分', '\n每一行是同一 episode 的 top / right / left。点开同步视频可同时看三个视角；官网演示与正式示教分开标注。']) + for group in GROUPS: + card.append(f'\n## {group}') + for t in [x for x in tasks if x['category'] == group]: + idx = f"task_index={t['task_index']}" if t['task_index'] is not None else 'task_index=null · eval-only' + card.extend([f"\n### {t['task_name']} · {idx} · C{t['catalog_number']:02d}", + f"\n**Instruction:** {t['fields']['Instruction']}", f"\n**Description:** {t['fields']['Description']}", + f"\n**Platform:** {t['fields']['Platform']} · **Data Source:** {t['fields']['Data Source']} · **Usage:** {t['fields']['Usage']}", + f"\n[官方任务页]({t['doc_url']}) · [HF Viewer](https://huggingface.co/datasets/{DEST}/viewer/{t['config']}/examples)"]) + if t['fields'].get('Comment'): + card.append(f"\n**Comment:** {t['fields']['Comment']}") + if t['instruction_match'] is False: + card.append(f"\n**官方数据版本的 instruction（与当前官网不同）:** {t['dataset_instruction']}") + if t['scoring']: + card.extend(['\n| Score | Condition |', '| --- | --- |']) + card.extend(f"| {s['score']} | {s['condition'].replace('|', ' / ')} |" for s in t['scoring']) + else: + card.append('\n**Scoring:** 官网未提供该任务的评分标准。') + ss = [s for s in samples if s['task_key'] == t['task_key']] + if ss: + card.extend(['\n| 官方 episode / 原始文件编号 | TOP → RIGHT WRIST → LEFT WRIST（同一帧） | 完整示教 |', '| --- | --- | --- |']) + for s in ss: + card.append(f"| **{s['episode_index']}** / {s['source_local_episode']:07d} | ![Top / right / left]({s['preview_path']}) | [同步视频]({s['synchronized_views_path']}) · [top]({s['views']['top']['path']}) · [right]({s['views']['right']['path']}) · [left]({s['views']['left']['path']}) · [动作/状态]({s['trajectory_path']}) |") + else: + card.append('\n**公开示教数据：无（官方标记 eval-only）。** 官网演示如下：') + for demo in t['documentation_videos']: + if 'path' in demo: + card.append(f"\n**{demo['label']} · 官网演示（非训练示教）:** [视频]({demo['path']}) · [官网原文件]({demo['url']})") + else: + card.append(f"\n[官网 {demo['label']}]({demo['url']})") + card.extend(['\n## 更多官网可展示内容', + '\n[Domain Randomization](https://robodojo-benchmark.com/doc/sim-tasks/domain-randomization/)：布局、材质、照明和背景随机化；[说明快照](reference/domain-randomization.txt)。', + '\n[Parallel Environments](https://robodojo-benchmark.com/doc/sim-tasks/parallel-environments/)：同一进程的并行模拟环境；[说明快照](reference/parallel-environments.txt)。', + f'\n两段官网工具演示已保存，可在 [reference_tools Viewer](https://huggingface.co/datasets/{DEST}/viewer/reference_tools/examples) 直接播放。', + '\n## 来源与复现', f"\n官方 HF 固定 revision：`{source['revision']}`。官网内容抓取日期：2026-10-03。", + '\n完整对应表、每个相机文件的原始路径 / SHA256 / 大小、选取 episode、下载统计均在 `provenance/`。视频未下载 HDF5、深度图、assets 或 checkpoint。', + '\n`python scripts/build_dataset.py prepare` → `download` → `render` → `package` → `validate` → `publish`。', + '\n```python', 'from datasets import load_dataset', f'ds = load_dataset("{DEST}", "task_30_stack_bowls", split="examples")', + '# official task_index=30; episode_index=3000, 3049, 3099', '```', + '\n## 许可与署名', + '\n本仓库为非官方精选整理；数据与演示归 RoboDojo 作者所有。HF 仓库标记 Apache-2.0，而当前代码仓库 README 另有非商业条款描述、LICENSE 文件为 MIT。来源声明存在差异，详见 [LICENSE.md](LICENSE.md)；保留来源，不扩大原作者授予的使用权。']) + (OUT / 'README.md').write_text('\n'.join(card)+'\n', encoding='utf-8') + license_text = '# Upstream RoboDojo terms and attribution\n\nThis is an unofficial curated subset, not an ownership or relicensing claim.\n\n' + license_text += f'- Official HF dataset metadata at revision {source["revision"]} declares Apache-2.0: https://huggingface.co/datasets/{SOURCE}\n' + license_text += '- The upstream GitHub README describes non-commercial research terms, while its LICENSE file contains MIT. These source statements are inconsistent. Consult the maintainers for usage beyond clearly granted rights.\n' + license_text += '- Source task text, scoring rules, website demos and dataset previews are credited to RoboDojo-Benchmark and the RoboDojo authors. All upstream rights and notices are retained.\n\n' + upstream_license = WORK / 'official-code/LICENSE' + if upstream_license.exists(): + license_text += '## Upstream code/documentation LICENSE snapshot\n\n'+upstream_license.read_text(encoding='utf-8') + (OUT / 'LICENSE.md').write_text(license_text, encoding='utf-8') + (OUT / 'scripts').mkdir(exist_ok=True) + shutil.copy2(__file__, OUT / 'scripts/build_dataset.py') + (OUT / 'scripts/requirements.txt').write_text('huggingface_hub>=1.0\nrequests\nbeautifulsoup4\ndatasets>=4.0\npyarrow\nPillow\nPyYAML\n# ffmpeg and ffprobe must be on PATH\n', encoding='utf-8') + print(f'Packaged {len(rows)} rows in {len(configs)} native HF viewer subsets.', flush=True) + + +def validate(): + import pyarrow.parquet as pq + tasks = read(OUT / 'provenance/task_catalog.json') + samples = read(OUT / 'provenance/selected_episodes.json') + failures = [] + def check(s): + errors = [] + data = pq.read_table(OUT / s['trajectory_path']) + if data.num_rows != s['frame_count']: + errors.append(f"trajectory frames {data.num_rows} != {s['frame_count']}") + if set(data['task_index'].to_pylist()) != {s['task_index']}: + errors.append('wrong official task_index') + if set(data['episode_index'].to_pylist()) != {s['episode_index']}: + errors.append('wrong official episode_index') + if data['frame_index'].to_pylist() != list(range(data.num_rows)): + errors.append('non-contiguous frames') + view_stats = {} + for v in ['top', 'right', 'left']: + m = s['views'][v] + p = OUT / m['path'] + if hashlib.sha256(p.read_bytes()).hexdigest() != m['source_sha256']: + errors.append(v+' official checksum mismatch') + stat = probe(p) + view_stats[v] = {k:stat.get(k) for k in ['codec_name', 'width', 'height', 'nb_frames', 'duration', 'avg_frame_rate']} + if int(stat['nb_frames']) != s['frame_count']: + errors.append(f"{v} preview frames {stat['nb_frames']} != trajectory frames {s['frame_count']}") + combined = probe(OUT / s['synchronized_views_path']) + if int(combined['nb_frames']) != s['frame_count'] or (combined['width'], combined['height']) != (960,268): + errors.append('composite shape/frames mismatch') + return dict(task_index=s['task_index'], episode_index=s['episode_index'], errors=errors, views=view_stats) + with cf.ThreadPoolExecutor(max_workers=5) as executor: + results = list(executor.map(check, samples)) + for r in results: + if r['errors']: + failures.append(r) + table = pq.read_table(OUT / 'data/all.parquet') + assert table.num_rows == 125 + assert len(set(table['task_key'].to_pylist())) == 43 + assert len(samples) == 105 + assert sorted({s['task_index'] for s in samples}) == list(range(35)) + assert all(len([s for s in samples if s['task_key']==t['task_key']]) == 3 for t in tasks if t['task_index'] is not None) + for column in ['synchronized_views','top','right','left','official_demo','preview']: + for x in table[column].to_pylist(): + if x: + relative = x['path'].split('/resolve/main/')[1] + assert (OUT / relative).exists(), relative + all_files = list(OUT.rglob('*')) + report = dict(passed=not failures, failures=failures, catalog_tasks=43, official_tasks=35, demonstrations=105, + website_demo_rows=20, viewer_rows=125, total_files=sum(p.is_file() for p in all_files), + dataset_bytes=sum(p.stat().st_size for p in all_files if p.is_file()), episode_checks=results) + write(OUT / 'provenance/validation.json', report) + print(json.dumps({k:v for k,v in report.items() if k != 'episode_checks'}, indent=2), flush=True) + if failures: + raise SystemExit('Validation failed; no publication allowed.') + + +def publish(): + report = read(OUT / 'provenance/validation.json') + assert report['passed'] + api = HfApi() + assert api.whoami()['name'] == DEST.split('/')[0] + repo = api.create_repo(DEST, repo_type='dataset', private=False, exist_ok=True) + print('Repository:', repo, flush=True) + commit = api.upload_folder(repo_id=DEST, repo_type='dataset', folder_path=str(OUT), + commit_message='Add source-verified task index, 105 synchronized demonstrations and complete task documentation') + write(WORK / 'publication.json', dict(repo_id=DEST, repo_url=str(repo), commit_url=str(commit), commit_sha=commit.oid)) + print('Published:', commit, flush=True) + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('stage', choices=['prepare','download','render','package','validate','publish']) + args = parser.parse_args() + WORK.mkdir(exist_ok=True) + OUT.mkdir(exist_ok=True) + globals()[args.stage]() diff --git a/scripts/requirements.txt b/scripts/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..aa224bff5832d23ee780d8332749777578f19051 --- /dev/null +++ b/scripts/requirements.txt @@ -0,0 +1,8 @@ +huggingface_hub>=1.0 +requests +beautifulsoup4 +datasets>=4.0 +pyarrow +Pillow +PyYAML +# ffmpeg and ffprobe must be on PATH diff --git a/trajectories/arrange_largest_number/episode_000000.parquet 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