| --- |
| license: cc-by-4.0 |
| pretty_name: RAX robot session logs (Franka, RB-Y1, HumanoidArena) |
| tags: [robotics, llm-agent, claude-code, franka, rainbow-rby1, manipulation, mobile-manipulation, humanoid, simulation] |
| --- |
| |
| # RAX robot session logs |
|
|
| - arXiv: https://arxiv.org/abs/2610.22496 |
| - Project page: https://robot-agent-exploration.com/ |
| - Code: https://github.com/robot-agent-exploration/rax |
| - Skill library: https://github.com/robot-agent-exploration/skills-lib |
|
|
| Complete logs of Claude Code agents learning manipulation tasks on two real robots and a simulated humanoid through |
| RAX. 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. |
| - **HumanoidArena** (2026-10-12 to 2026-10-13): 3 sessions on a simulated Unitree G1 humanoid in HumanoidArena, |
| without expert action demonstrations: score a goal, pick and place a box, and move a hammer to a basket on another |
| desk. Their layout is described in [`humanoid-arena/README.md`](humanoid-arena/README.md). |
|
|
| ## 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) |
| humanoid-arena/README.md layout of the HumanoidArena sessions |
| humanoid-arena/<task>/<task>.tar one HumanoidArena session (football, pickplace_box, doubledesk) |
| ``` |
|
|
| Inside a Franka or RB-Y1 session tar (the HumanoidArena tars are described in `humanoid-arena/README.md`): |
|
|
| | 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`](franka/20261003T235019Z_find_the_cube_aa6d82/README.md) | Find the cube | 2026-10-04 00:07 | 2.7 | 311 | 1767 (14) | 16 | yes | |
| | [`20261004T131834Z_air_fry_pan_dbb6a4`](franka/20261004T131834Z_air_fry_pan_dbb6a4/README.md) | Air fryer | 2026-10-04 13:18 | 2.7 | 365 | 1654 (21) | 5 | yes | |
| | [`20261006T132109Z_swipe_table_9f3e18`](franka/20261006T132109Z_swipe_table_9f3e18/README.md) | Wipe the table | 2026-10-06 13:21 | 3.4 | 441 | 3063 (21) | 53 | yes | |
| | [`20261007T024357Z_peg_insertion_cc65b7`](franka/20261007T024357Z_peg_insertion_cc65b7/README.md) | Peg insertion | 2026-10-07 02:44 | 4.5 | 520 | 5785 (2241) | 47 | yes | |
| | [`20261010T151340Z_bandu_ff0fa2`](franka/20261010T151340Z_bandu_ff0fa2/README.md) | 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`](rby1/20261008T022520Z_pnp_box_249b23/README.md) | Box to table (first attempt) | 2026-10-08 02:26 | 0.8 | 89 | 46 (2) | 4 | no | |
| | [`20261008T212446Z_pnp_box_f7b297`](rby1/20261008T212446Z_pnp_box_f7b297/README.md) | Box to table | 2026-10-08 21:25 | 2.5 | 243 | 199 (6) | 17 | no | |
| | [`20261009T000539Z_pnp_box_f75f61`](rby1/20261009T000539Z_pnp_box_f75f61/README.md) | Box to table, then the bucket | 2026-10-09 00:34 | 2.0 | 352 | 1169 (33) | 22 | no | |
| | [`20261009T023700Z_practice_pnp_box_61befa`](rby1/20261009T023700Z_practice_pnp_box_61befa/README.md) | Practice and refactor the box skills | 2026-10-09 02:37 | 1.7 | 311 | 752 (13) | 32 | no | |
| | [`20261009T151644Z_pnp_orange_basket_54c973`](rby1/20261009T151644Z_pnp_orange_basket_54c973/README.md) | Bucket onto the cabinet | 2026-10-09 15:16 | 1.7 | 289 | 450 (18) | 15 | no | |
| | [`20261009T185605Z_push_chair_4ab505`](rby1/20261009T185605Z_push_chair_4ab505/README.md) | Office chair, pick-and-place, cup stacking | 2026-10-09 18:57 | 5.0 | 802 | 2205 (104) | 69 | yes | |
| | [`20261010T011251Z_compositional_manipulation_aa1adf`](rby1/20261010T011251Z_compositional_manipulation_aa1adf/README.md) | 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 |
|
|
| ### HumanoidArena |
|
|
| | Session | Task | Exploration budget | Formal success | |
| |---|---|---|---| |
| | `humanoid-arena/football` | Football: score a goal | 64 | 59 / 60 | |
| | `humanoid-arena/pickplace_box` | P&PBox: pick and place a box | 128 | 42 / 60 | |
| | `humanoid-arena/doubledesk` | DoubleDesk: move a hammer to a basket on the other desk | 256 | 28 / 60 | |
|
|
| ## 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`. In the HumanoidArena transcripts, host storage paths and user and group |
| ids are shown as `<host-storage>`, `<uid>` and `<gid>`. |
| - **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. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{huang2026scaling, |
| title={Scaling Online Exploration for Robot Agents}, |
| author={Huang, Runhan and Zhang, Xiangcheng and Chen, Haoyu and Li, Yitong and Wang, Yen-Jen and Lyu, Bohan and Ye, Haotian and Hong, Chuye and Wang, Yixuan and Su, Chloe and others}, |
| journal={arXiv preprint arXiv:2610.22496}, |
| year={2026} |
| } |
| ``` |
|
|
