robot-agent-exploration/robot-session-logs

RAX robot session logs

Complete logs of Claude Code agents learning manipulation tasks on two real robots through RAX (paper, project page, code, skill library). Each session holds:

• the agent's full transcripts, including subagents and tool results;

• every robot tool call with its arguments, result and error;

• the robot state log and camera recordings;

• the operator's instructions;

• the code, notes and skills the agent wrote.

• Franka (2026-10-03 to 2026-10-10): 5 sessions on a Franka arm with a parallel gripper, two exterior ZED stereo cameras and a wrist camera: find a hidden cube, load an air fryer, wipe a table, insert pegs, rebuild a Bandu tower.

• RB-Y1 (2026-10-08 to 2026-10-10): 7 sessions on a Rainbow Robotics RB-Y1 wheeled bimanual manipulator with a head RGB-D camera: move a box and a bucket onto a cabinet, tuck an office chair, stack cups, and a compositional task that chains them.

Layout

README.md                          this card
blur-manifest.jsonl                every media file and embedded image changed by face blurring
franka/<session>/README.md         outline and statistics of the session
franka/<session>/<session>.tar     the session directory without camera videos
franka/<session>/<session>.video.tar   camera videos: archive/<camera>/<UTC minute>.mp4 + .json frame times
franka/demos/<task>_demo.mp4       edited demo videos (find_the_cube, air_fry_pan, swipe_table, peg_insertion)
rby1/<session>/...                 as for franka; .video.tar only for sessions that have recordings
rby1/extras/skill-library.zip      the RB-Y1 skill library repository (with history) after the last session
rby1/extras/skill-library-commit-ids.tsv   old -> new commit ids of the rebuilt skill-library histories (see below)
rby1/extras/robot-models.zip       the vendor URDFs and meshes the sessions used
rby1/extras/characterization.zip   hardware test results from bring-up
rby1/extras/phone-videos/rby1-{1,2,3}.mp4   phone videos filming the compositional session (no audio)

Inside a session tar:

Path	Contents
claude-home/projects/*/<id>.jsonl	Claude Code transcripts: every message, tool call and tool result (images inline as base64); */<id>/subagents/ holds subagent transcripts
claude-home/history.jsonl	what the operator typed into the agent CLI, verbatim apart from masking
claude-home/settings.json, mcp.json	the agent's permissions, sandbox and MCP server configuration
mcp.jsonl	every robot tool call (mcp_request), result (mcp_result) and error (mcp_error, with type, stage, reason and robot state), epoch seconds
archive/robot/<UTC minute>.jsonl	robot state log: Franka at 60 Hz (TCP pose, joints, joint velocities, gripper width), RB-Y1 at 10 Hz (torso, arms, head, end effectors, odometry, wrist forces)
agent-workspace/	AGENTS.md, TASK.md, skills, memory/ (PROGRESS, RUNS, TIPS), code/, output/, skill-library/, and saved observations in runtime/frames/<id>/ (RGB, depth in uint16 mm, meta.json with intrinsics, camera pose and joints)
operator/requests/	requests the agent sent to the operator (resets, help) and the replies
configuration.json, operator-input.json, workspace-manifest.json	the task, robot, tool contract and session budget
agent-lifecycle.json, state.json, model-usage.jsonl, model-calls.json	agent runs and resumes, token usage per model call
frontend.log, camera-server.log	harness and camera service logs

The .tar files are uncompressed; extract with tar -xf. Transcripts and logs are plain JSONL.

Sessions

Franka

Session	Task	Start (UTC)	Agent h	Model calls	Robot tool calls (errors)	Typed instr.	Video
20261003T235019Z_find_the_cube_aa6d82	Find the cube	2026-10-04 00:07	2.7	311	1767 (14)	16	yes
20261004T131834Z_air_fry_pan_dbb6a4	Air fryer	2026-10-04 13:18	2.7	365	1654 (21)	5	yes
20261006T132109Z_swipe_table_9f3e18	Wipe the table	2026-10-06 13:21	3.4	441	3063 (21)	53	yes
20261007T024357Z_peg_insertion_cc65b7	Peg insertion	2026-10-07 02:44	4.5	520	5785 (2241)	47	yes
20261010T151340Z_bandu_ff0fa2	Bandu tower	2026-10-10 15:13	6.1	939	4511 (23)	46	yes

RB-Y1

Session	Task	Start (UTC)	Agent h	Model calls	Robot tool calls (errors)	Typed instr.	Video
20261008T022520Z_pnp_box_249b23	Box to table (first attempt)	2026-10-08 02:26	0.8	89	46 (2)	4	no
20261008T212446Z_pnp_box_f7b297	Box to table	2026-10-08 21:25	2.5	243	199 (6)	17	no
20261009T000539Z_pnp_box_f75f61	Box to table, then the bucket	2026-10-09 00:34	2.0	352	1169 (33)	22	no
20261009T023700Z_practice_pnp_box_61befa	Practice and refactor the box skills	2026-10-09 02:37	1.7	311	752 (13)	32	no
20261009T151644Z_pnp_orange_basket_54c973	Bucket onto the cabinet	2026-10-09 15:16	1.7	289	450 (18)	15	no
20261009T185605Z_push_chair_4ab505	Office chair, pick-and-place, cup stacking	2026-10-09 18:57	5.0	802	2205 (104)	69	yes
20261010T011251Z_compositional_manipulation_aa1adf	Compositional task	2026-10-10 01:13	6.9	1335	5364 (55)	60	yes

Recordings. RB-Y1 sessions before 2026-10-09 18:56 UTC (all pnp_box, practice_pnp_box and pnp_orange_basket sessions) have no recordings: no head-camera video and no continuous robot-state log. For those, the robot record is mcp.jsonl (every tool call and its result, including the robot state each result reports) and the frames the agent saved. All Franka sessions and the later RB-Y1 sessions have full recordings.

Pruned RB-Y1 sessions. These 13 RB-Y1 session directories are not included because they hold no agent work on a task:

• 20261008T005236Z_motion_check_c02adc: operator motion check, no agent
• 20261008T013827Z_sandbox_audit_989f3c: harness sandbox test; the agent failed to authenticate
• 20261008T013848Z_look_point_wave_2ca762: never started (configuration only)
• 20261008T014715Z_box_side_hand_1a1274: never started (configuration only)
• 20261008T014806Z_isolation_check_4230e6: harness isolation test (no robot motion)
• 20261008T014928Z_isolation_check2_13f35e: harness isolation test (no robot motion)
• 20261008T015244Z_floor_box_hand_65e4fa: 4-minute stub; disarmed before any arm motion
• 20261008T032840Z_health_check_23d66f: operator health check, no agent
• 20261009T000611Z_pnp_box_4a0c2d: aborted after 7 s, no tool call
• 20261009T000745Z_pnp_box_6e2a1a: 5-minute restart, superseded by pnp_box_f75f61
• 20261009T001027Z_drive_back_917d20: operator drive, no agent
• 20261009T002555Z_controller_check_fae961: operator controller characterization, no agent
• 20261009T232457Z_stack_bowl_and_place_basket_bad3d4: 1-minute start, superseded by the compositional session

Privacy and redactions

• Faces are blurred. Faces were detected with YuNet at full resolution in:

  • every video: every 2nd frame for the Franka cameras, demo and phone videos, and every frame for the RB-Y1 head camera;
  • every image, upscaled to at least 1280 px wide;
  • every base64 image inside transcripts and mcp.jsonl.

  Each detection (score at least 0.65) is pixelated and blurred with padding. In videos the blur also covers 0.5 s either side. Blurred videos are re-encoded as H.264 with the same frame count, so the .json frame times still apply. Embedded images are replaced in place, so every JSONL line still parses. blur-manifest.jsonl lists every changed file, with the SHA-1 of each original embedded image that was replaced.

  The detector can miss faces, such as profiles and very small or occluded faces; please report any you find. Some robot parts were blurred by mistake, mostly the RB-Y1 head display in the phone videos.

• Skill-library history. Three images in the RB-Y1 skill library show people. They are blurred in the working tree and in the git history. The agent-workspace/skill-library/.git repositories of the push_chair and compositional_manipulation sessions and rby1/extras/skill-library.zip were rebuilt with the blurred images. Their reflogs were carried over. Commits from the one that first added such an image onward have new ids. Commit ids quoted in the transcripts may refer to the old ids; rby1/extras/skill-library-commit-ids.tsv maps old to new. Messages, authors and dates are unchanged.

• Phone videos. The three phone videos are re-encoded as H.264 with faces blurred, audio removed and all metadata (location, device) stripped. They keep every frame, the average frame rate and the HDR (BT.2020 HLG) colour of the recording.

• Paths. Lab paths and user names are rewritten. The robot runtime is /opt/rax/runtime, the harness checkout /opt/rax, the host home /home/robot. Other projects that appear in the agent's sandbox deny-list are shown as other-project-N / other-data-N.

• Accounts. Agent account emails are redacted. The agent CLI's local state is not included: account file, backups, plugin marketplace copies, caches, shell snapshots, job state, task lists and file-edit backups. No API keys or tokens were present.

• Language. One profane word in the operator's prompts is masked (first letter kept). Everything else is verbatim.

Notes

• mooncake is the harness's internal name, kept as recorded (for example, MOONCAKE_* environment variables and harness@mooncake.local git identities). The public RAX code calls the same things RAX_*.
• File and directory names use UTC. The agents' notes (memory/*.md) and the operator's messages use the lab's local time (UTC-4).
• __pycache__ folders are left out. One agent repository (code/basket_pnp in pnp_orange_basket) had committed them, so its git status lists them as deleted.
• mcp_error events are kept as the backend returned them. They include refusals by the safety checks (joint limits, self-collision, force and torque guards) and timeouts the agent set itself. Each session README tallies them by tool and reason.
• To replay a transcript with Claude Code, place the session at /opt/rax/runtime/sessions/<session> and run CLAUDE_CONFIG_DIR=<session>/claude-home claude --resume in <session>/agent-workspace. The robot tools need the original robot and harness.