| # 8 test cases from 4DCodeBench (GT reference videos only) | |
| Source: huggingface.co/datasets/4DCodeBench/Dataset-Real-World, videos/<case>.mp4 (as the benchmark reads them). | |
| Robot arm is a major part in all 8. | |
| | # | case | object / material | origin dataset | | |
| |---|---|---|---| | |
| | 1 | aloha_unleashed_01_tying_shoelace_bow | shoelace (deformable 1D) | ALOHA Unleashed | | |
| | 2 | task_level_ilc_01_robot_swinging_rope | swinging rope (deformable 1D) | TaskLevel-ILC (YouTube FLiILOyQQbw) | | |
| | 3 | robo360_02_robotic_arm_gathering | rope into basket (deformable 1D) | Robo360 | | |
| | 4 | abc_130k_06_dual_robot_grippers | plastic bag + knot (deformable thin shell) | ABC-130K | | |
| | 5 | abc_130k_01_dual_arm_robotic | folding shorts (cloth) | ABC-130K | | |
| | 6 | abc_130k_02_robot_arm_uses | scooping cat litter (granular) | ABC-130K | | |
| | 7 | agi_bot_world_02_dual_arm_robot | book into bookshelf (rigid) | AgiBot World Alpha | | |
| | 8 | manip_arena_02_robotic_arm_tilting | pouring water from pitcher (liquid) | ManipArena | | |
| 1-5 = the 5 videos from xuanqi_1027_stirrup_r2a; 6-8 = new, picked to cover granular, rigid and liquid. | |
| Considered and dropped: robo360_03 sand pour (arm mostly out of frame), agi_bot_world_04 sink fill (liquid already covered by #8). | |