| # Benchmark |
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| The RoboLab Benchmark evaluates generalist robot manipulation policies across three **competency axes** spanning three **difficulty levels**. It consists of **120 tasks** defined in [`robolab/tasks/benchmark/`](../robolab/tasks/benchmark/). |
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| ## At a Glance |
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| | Stat | Value | |
| |:--|:--| |
| | Tasks | 120 | |
| | Average subtasks per task | 2.02 | |
| | Average objects per task | 9.0 | |
| | Average difficulty score | 2.90 | |
| | Evaluation time | ~40 GPU hours / 120 tasks (assuming ~200ms inference step)| |
| | Average speed | 1.4 it/s (assuming ~200ms inference step) | |
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| Difficulty distribution: **simple** 64 (53.3%) · **moderate** 39 (32.5%) · **complex** 17 (14.2%) |
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| ## Competency Axes |
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| The benchmark evaluates policies along three competency axes: |
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| - **Visual** — recognition of visual traits: color, semantics, and size |
| - **Relational** — understanding of inter-object temporal, numerical, and spatial relationships |
| - **Procedural** — action-oriented reasoning including affordances, reorientation, and stacking |
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| ### Task Attributes |
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| Attributes are organized into three higher-level categories (mapping defined in [`robolab/constants.py`](../robolab/constants.py) → `BENCHMARK_TASK_CATEGORIES`): |
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| | Category | Attributes | Tasks | |
| |:--|:--|:--| |
| | **Visual** | color (26), semantics (60), size (6) | 84 | |
| | **Relational** | conjunction (8), counting (7), spatial (29) | 42 | |
| | **Procedural** | affordance (12), reorientation (6), sorting (12), stacking (6) | 34 | |
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| Tasks may carry multiple attributes across axes. An additional `vague` tag (7 tasks) indicates ambiguous language instructions. 3 tasks are untagged. |
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| ## Comparison to DROID Dataset |
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| The benchmark emphasizes multi-step and two-step tasks compared to the DROID training distribution. In addition, only **68.7%** of benchmark objects appear in the DROID training vocabulary (word-level overlap: 68 of 99 benchmark object words appear in DROID's 2,760-word vocabulary). |
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| ## Difficulty Scoring |
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| A task's difficulty score combines manipulation volume with skill complexity: |
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| ``` |
| difficulty_score = num_subtasks + max(skill_weight) |
| ``` |
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| where `num_subtasks` is the number of subtask actions and `max(skill_weight)` is the highest weight among the task's non-difficulty attributes. The skill weights are: |
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| | Weight | Attributes | |
| |:--|:--| |
| | 0 | color, semantics, size, conjunction, vague | |
| | +1 | spatial | |
| | +2 | counting, sorting, stacking, affordance | |
| | +3 | reorientation | |
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| The score is mapped to a label using fixed thresholds (defined in `DIFFICULTY_THRESHOLDS`): |
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| | Label | Score Range | |
| |:--|:--| |
| | **simple** | score ≤ 2 | |
| | **moderate** | score 3–4 | |
| | **complex** | score ≥ 5 | |
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| ## Key Files |
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| | File | Description | |
| |:--|:--| |
| | [`robolab/constants.py`](../robolab/constants.py) | `SKILL_WEIGHTS`, `DIFFICULTY_THRESHOLDS`, `BENCHMARK_TASK_CATEGORIES` | |
| | [`robolab/core/task/subtask_utils.py`](../robolab/core/task/subtask_utils.py) | `compute_difficulty_score(num_subtasks, attributes)` | |
| | [`robolab/tasks/_utils/load_task_info.py`](../robolab/tasks/_utils/load_task_info.py) | Metadata pipeline — populates `num_subtasks`, `difficulty_score`, `difficulty_label` | |
| | [`robolab/tasks/_utils/generate_task_metadata.py`](../robolab/tasks/_utils/generate_task_metadata.py) | Generates `task_metadata.json`, `task_report.txt`, `task_table.csv` | |
| | [`robolab/tasks/_utils/compute_task_statistics.py`](../robolab/tasks/_utils/compute_task_statistics.py) | Prints summary statistics to stdout | |
| | [`robolab/tasks/_metadata/`](../robolab/tasks/_metadata/) | Pre-generated metadata: `task_metadata.json`, `task_report.txt`, `task_table.csv` | |
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| ## Generating Statistics |
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| ```bash |
| # Print difficulty distribution |
| python robolab/tasks/_utils/compute_task_statistics.py --difficulty |
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| # Include per-task breakdown |
| python robolab/tasks/_utils/compute_task_statistics.py --difficulty -v |
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| # Regenerate metadata files (task_metadata.json, task_report.txt, task_table.csv) |
| python robolab/tasks/_utils/generate_task_metadata.py |
| ``` |
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