| --- |
| license: other |
| pretty_name: EFE failure analysis labels |
| --- |
| # EFE failure analysis labels |
|
|
| Failure-analysis labels for runs of the Embodied First Exam (EFE) benchmark. Per task: a task DAG (semantic steps, |
| step types, contact, prerequisite edges). Per run (trajectory): when each step holds on the run's video (progress |
| map), the contact that actually happened, and for a failed run the breakpoint step, the failure phenomena and the |
| root causes. Label text is in Chinese. |
|
|
| The labels come in two phases: phase 1 (folder `phase1/`, prompts v3.1, sections below) and phase 2 (folder `phase2/`, |
| prompts v3.2, section [Phase 2](#phase-2) at the end). For a task in both folders, use phase 2: the importer |
| reads only the highest `phaseN/` folder of a task (its DAG with its own trajectories). |
|
|
| - Prompts: v3.1 (frozen labelling prompts, taxonomy v2; schemas `efe-task-dag/1` and `efe-trajectory-labels/1`). |
| - Writer: Codex `gpt-6.1-sol` (effort high for task DAGs and trajectories). Reviewer: Claude `claude-sonnet-5-5`; up to |
| two fix rounds plus a confirm round; files still disputed after that carry `review.status: "disputed"`. |
| - Task repository: embodied-first-exam commit `4c6d01b9990e3b78ddb620bbd237932b3696f60e`. |
| - Phase 1: two runs per task (one success when there is one, plus a failure of another model; runs with a video first). |
| Run records and videos: dataset `MLL-Lab/embodied-exam-media`, `runs/<runId>`. |
| - Phase 1 complete: every task of the run passed validation and is listed below. Status: 331 tasks (3 pilot, 328 full run), 662 trajectories. |
|
|
| ## Layout |
|
|
| - `phase1/<suite>/<task>/task_dag.json`: the task DAG; `phase1/<suite>/<task>/trajectories/<runId>.json`: one label |
| file per run. In these copies the provenance work-directory paths (`calls[].space`) are relative and `dag_sha256` is |
| the sha256 of `task_dag.json` as published here. |
| - Pilot tasks (marked `pilot` below) were labelled with the same prompts, models and efforts in a 3-task pilot before |
| the full run. `pilot_xhigh_dags/` holds the same 3 task DAGs written at effort xhigh, for comparison only (no |
| trajectories were labelled against them). |
|
|
| ## Tasks |
|
|
| | folder | trajectories | source | |
| | --- | --- | --- | |
| | `phase1/ambench/cabinet_pick_place/` | 2 | full run | |
| | `phase1/behavior-1k/assembling_gift_baskets/` | 2 | full run | |
| | `phase1/behavior-1k/boxing_books_up_for_storage/` | 2 | full run | |
| | `phase1/behavior-1k/boxing_food_after_dinner/` | 2 | full run | |
| | `phase1/behavior-1k/bringing_in_wood/` | 2 | full run | |
| | `phase1/behavior-1k/bringing_water/` | 2 | full run | |
| | `phase1/behavior-1k/can_meat/` | 2 | full run | |
| | `phase1/behavior-1k/canning_food/` | 2 | full run | |
| | `phase1/behavior-1k/carrying_in_groceries/` | 2 | full run | |
| | `phase1/behavior-1k/chopping_wood/` | 2 | full run | |
| | `phase1/behavior-1k/clean_a_patio/` | 2 | full run | |
| | `phase1/behavior-1k/clean_a_trumpet/` | 2 | full run | |
| | `phase1/behavior-1k/clean_up_your_desk/` | 2 | full run | |
| | `phase1/behavior-1k/clean_your_rusty_garden_tools/` | 2 | full run | |
| | `phase1/behavior-1k/cleaning_up_branches_and_twigs/` | 2 | full run | |
| | `phase1/behavior-1k/cleaning_up_plates_and_food/` | 2 | full run | |
| | `phase1/behavior-1k/clearing_food_from_table_into_fridge/` | 2 | full run | |
| | `phase1/behavior-1k/collecting_aluminum_cans/` | 2 | full run | |
| | `phase1/behavior-1k/collecting_childrens_toys/` | 2 | full run | |
| | `phase1/behavior-1k/cook_a_brisket/` | 2 | full run | |
| | `phase1/behavior-1k/cook_a_frozen_pie/` | 2 | full run | |
| | `phase1/behavior-1k/cook_bacon/` | 2 | pilot | |
| | `phase1/behavior-1k/cook_broccolini/` | 2 | full run | |
| | `phase1/behavior-1k/cook_brussels_sprouts/` | 2 | full run | |
| | `phase1/behavior-1k/cook_cabbage/` | 2 | full run | |
| | `phase1/behavior-1k/cook_hot_dogs/` | 2 | full run | |
| | `phase1/behavior-1k/dispose_of_batteries/` | 2 | full run | |
| | `phase1/behavior-1k/freeze_fruit/` | 2 | full run | |
| | `phase1/behavior-1k/freeze_pies/` | 2 | full run | |
| | `phase1/behavior-1k/laying_tile_floors/` | 2 | full run | |
| | `phase1/behavior-1k/loading_the_car/` | 2 | full run | |
| | `phase1/behavior-1k/make_gift_bags_for_baby_showers/` | 2 | full run | |
| | `phase1/behavior-1k/make_pizza/` | 2 | full run | |
| | `phase1/behavior-1k/make_rose_centerpieces/` | 2 | full run | |
| | `phase1/behavior-1k/organizing_art_supplies/` | 2 | full run | |
| | `phase1/behavior-1k/organizing_school_stuff/` | 2 | full run | |
| | `phase1/behavior-1k/outfit_a_basic_toolbox/` | 2 | full run | |
| | `phase1/behavior-1k/packing_meal_for_delivery/` | 2 | full run | |
| | `phase1/behavior-1k/preparing_lunch_box/` | 2 | full run | |
| | `phase1/behavior-1k/put_together_a_basic_pruning_kit/` | 2 | full run | |
| | `phase1/behavior-1k/putting_away_toys/` | 2 | full run | |
| | `phase1/behavior-1k/putting_dirty_dishes_in_sink/` | 2 | full run | |
| | `phase1/behavior-1k/putting_dishes_away_after_cleaning/` | 2 | full run | |
| | `phase1/behavior-1k/putting_up_Christmas_decorations_inside/` | 2 | full run | |
| | `phase1/behavior-1k/re_shelving_library_books/` | 2 | full run | |
| | `phase1/behavior-1k/rearrange_your_room/` | 2 | full run | |
| | `phase1/behavior-1k/rearranging_kitchen_furniture/` | 2 | full run | |
| | `phase1/behavior-1k/setting_the_fire/` | 2 | full run | |
| | `phase1/behavior-1k/setting_the_table/` | 2 | full run | |
| | `phase1/behavior-1k/setup_a_bar_for_a_cocktail_party/` | 2 | full run | |
| | `phase1/behavior-1k/slicing_vegetables/` | 2 | full run | |
| | `phase1/behavior-1k/sorting_books_on_shelf/` | 2 | full run | |
| | `phase1/behavior-1k/sorting_bottles_cans_and_paper/` | 2 | full run | |
| | `phase1/behavior-1k/sorting_household_items/` | 2 | full run | |
| | `phase1/behavior-1k/sorting_vegetables/` | 2 | full run | |
| | `phase1/behavior-1k/storing_food/` | 2 | full run | |
| | `phase1/behavior-1k/sweeping_garage/` | 2 | full run | |
| | `phase1/behavior-1k/tidying_living_room/` | 2 | full run | |
| | `phase1/behavior-1k/unloading_the_car/` | 2 | full run | |
| | `phase1/behavior-1k/vacuuming_floors/` | 2 | full run | |
| | `phase1/behavior-1k/wash_a_baseball_cap/` | 2 | full run | |
| | `phase1/behavior-1k/wash_dog_toys/` | 2 | full run | |
| | `phase1/bigym2/dishwasher_close/` | 2 | full run | |
| | `phase1/bigym2/dishwasher_load_plates/` | 2 | full run | |
| | `phase1/bigym2/flip_cutlery/` | 2 | full run | |
| | `phase1/bigym2/move_two_plates/` | 2 | full run | |
| | `phase1/bigym2/pick_box/` | 2 | full run | |
| | `phase1/bigym2/put_cups/` | 2 | full run | |
| | `phase1/bigym2/sandwich_remove/` | 2 | full run | |
| | `phase1/bigym2/saucepan_to_hob/` | 2 | full run | |
| | `phase1/bigym2/wall_cupboard_open/` | 2 | full run | |
| | `phase1/dexhand/assemble_hamburger/` | 2 | full run | |
| | `phase1/dexhand/batter_whisk/` | 2 | full run | |
| | `phase1/dexhand/bicycle_pump_stroke/` | 2 | full run | |
| | `phase1/dexhand/binder_page_load/` | 2 | full run | |
| | `phase1/dexhand/boot_sole_brush/` | 2 | full run | |
| | `phase1/dexhand/drying_rack_unfold/` | 2 | full run | |
| | `phase1/dexhand/envelope_letter_insert/` | 2 | full run | |
| | `phase1/dexhand/essential_pen_regrasp/` | 2 | full run | |
| | `phase1/dexhand/essential_rotary_gait/` | 2 | full run | |
| | `phase1/dexhand/fan_guard_install/` | 2 | full run | |
| | `phase1/dexhand/picture_hang/` | 2 | full run | |
| | `phase1/dexhand/stool_brace_insert/` | 2 | full run | |
| | `phase1/dexhand/sweep_dustpan/` | 2 | full run | |
| | `phase1/dexhand/usb_plug_insert/` | 2 | full run | |
| | `phase1/dexhand/vacuum_bin_reseat/` | 2 | full run | |
| | `phase1/dexjoco/bimanual_photograph/` | 2 | full run | |
| | `phase1/dextoolbench/brush_blue_brush_sweep_forward/` | 2 | full run | |
| | `phase1/dextoolbench/brush_red_brush_sweep_forward/` | 2 | full run | |
| | `phase1/dextoolbench/brush_red_brush_sweep_right/` | 2 | full run | |
| | `phase1/dextoolbench/eraser_handle_eraser_wipe_c/` | 2 | full run | |
| | `phase1/dextoolbench/hammer_claw_hammer_swing_down/` | 2 | full run | |
| | `phase1/dextoolbench/hammer_claw_hammer_swing_side/` | 2 | full run | |
| | `phase1/dextoolbench/hammer_mallet_hammer_swing_side/` | 2 | full run | |
| | `phase1/dextoolbench/marker_sharpie_marker_draw_smile/` | 2 | full run | |
| | `phase1/dextoolbench/marker_sharpie_marker_write_c/` | 2 | full run | |
| | `phase1/dextoolbench/marker_staples_marker_draw_smile/` | 2 | full run | |
| | `phase1/dextoolbench/marker_staples_marker_write_c/` | 2 | full run | |
| | `phase1/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/` | 2 | full run | |
| | `phase1/dextoolbench/screwdriver_long_screwdriver_spin_vertical/` | 2 | full run | |
| | `phase1/dextoolbench/screwdriver_short_screwdriver_spin_vertical/` | 2 | full run | |
| | `phase1/dextoolbench/spatula_flat_spatula_flip_over/` | 2 | full run | |
| | `phase1/dextoolbench/spatula_flat_spatula_serve_plate/` | 2 | full run | |
| | `phase1/dextoolbench/spatula_spoon_spatula_flip_over/` | 2 | full run | |
| | `phase1/dextoolbench/spatula_spoon_spatula_serve_plate/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/badminton_serve/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/balance_board/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/box_jump/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/clean_and_jerk/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/dunk_between_legs/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/high_jump/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/hurdles_freestanding/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/juggling_head/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/long_rope/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/pole_vault/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/standing_long_jump/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/steeplechase/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/triple_jump/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/vault/` | 2 | full run | |
| | `phase1/embodied-olympics-fun/volleyball_spike/` | 2 | pilot | |
| | `phase1/embodied-olympics-match/badminton_duelrl_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/badminton_match_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/badminton_match_i02/` | 2 | full run | |
| | `phase1/embodied-olympics-match/badminton_match_i04/` | 2 | full run | |
| | `phase1/embodied-olympics-match/badminton_matchlow_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/fencing_bout_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/foosball_match_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/soccer_jointgpu_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/soccer_match/` | 2 | full run | |
| | `phase1/embodied-olympics-match/soccerssl_match/` | 2 | full run | |
| | `phase1/embodied-olympics-match/soccerssl_match_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/tabletennis_duelrl_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/tabletennis_match_i01/` | 2 | full run | |
| | `phase1/embodied-olympics-match/tabletennis_match_i02/` | 2 | full run | |
| | `phase1/embodied-olympics-match/tabletennis_match_i03/` | 2 | full run | |
| | `phase1/embodied-olympics-match/tabletennis_matchlow_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a01_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a01_i02/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a01_i08/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a02_i03/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a04/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a06_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a06_i03/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a08_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a17/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a26_i02/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a27_i06/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a28/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a28_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a28_i03/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a29_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a29_i03/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a33_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a33_i04/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a34_i07/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a34_i09/` | 2 | full run | |
| | `phase1/embodied-safety-exam/a34_i11/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b06_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b06_i02/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b11/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b11_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b11_i03/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b12_i04/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b12_i06/` | 2 | full run | |
| | `phase1/embodied-safety-exam/b12_i07/` | 2 | full run | |
| | `phase1/embodied-safety-exam/c02/` | 2 | full run | |
| | `phase1/embodied-safety-exam/c05_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/c05_i02/` | 2 | full run | |
| | `phase1/embodied-safety-exam/c16/` | 2 | full run | |
| | `phase1/embodied-safety-exam/d12_i04/` | 2 | full run | |
| | `phase1/embodied-safety-exam/e06/` | 2 | full run | |
| | `phase1/embodied-safety-exam/e06_i03/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f04_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f04_i02/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f05/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f05_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f06/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f06_i01/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f08/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f09/` | 2 | full run | |
| | `phase1/embodied-safety-exam/f11/` | 2 | full run | |
| | `phase1/humanoidbench/loco_balance_hard/` | 2 | full run | |
| | `phase1/humanoidbench/loco_hurdle/` | 2 | full run | |
| | `phase1/humanoidbench/manip_bookshelf_simple/` | 2 | full run | |
| | `phase1/humanoidbench/manip_door/` | 2 | full run | |
| | `phase1/humanoidbench/manip_powerlift/` | 2 | full run | |
| | `phase1/humanoidbench/manip_room/` | 2 | full run | |
| | `phase1/humanoidbench/manip_window/` | 2 | full run | |
| | `phase1/ispatialgym/alignment_axial/` | 2 | full run | |
| | `phase1/ispatialgym/camera_relocalization_obstructed/` | 2 | full run | |
| | `phase1/ispatialgym/configuration_matching_articulation_open_small_scale/` | 2 | full run | |
| | `phase1/ispatialgym/configuration_matching_block_design/` | 2 | full run | |
| | `phase1/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/` | 2 | full run | |
| | `phase1/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/` | 2 | full run | |
| | `phase1/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/` | 2 | full run | |
| | `phase1/kinder/scoop_pour_i01/` | 2 | full run | |
| | `phase1/kinder/sweep_into_drawer/` | 2 | full run | |
| | `phase1/kinder/sweep_simple_i01/` | 2 | full run | |
| | `phase1/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/` | 2 | full run | |
| | `phase1/maniguard/cabinet_pickup_i22/` | 2 | full run | |
| | `phase1/maniguard/cabinet_pickup_i26/` | 2 | full run | |
| | `phase1/maniguard/dusty_transfer_i03/` | 2 | full run | |
| | `phase1/maniguard/dusty_transfer_i16/` | 2 | full run | |
| | `phase1/maniguard/jar_transport_i13/` | 2 | full run | |
| | `phase1/maniguard/lid_transport_i12/` | 2 | full run | |
| | `phase1/metaworldplus/button_press_topdown/` | 2 | full run | |
| | `phase1/molmospaces/pick/` | 2 | full run | |
| | `phase1/mujoco-playground/aloha_single_peg_insertion/` | 2 | full run | |
| | `phase1/mujoco-playground/barkour_joystick/` | 2 | full run | |
| | `phase1/mujoco-playground/go1_handstand/` | 2 | full run | |
| | `phase1/mujoco-playground/go1_joystick_flat_terrain/` | 2 | full run | |
| | `phase1/mujoco-playground/spot_flat_terrain_joystick/` | 2 | full run | |
| | `phase1/mujoco-playground/spot_joystick_gait_tracking/` | 2 | full run | |
| | `phase1/myosuite/baoding/` | 2 | full run | |
| | `phase1/myosuite/bimanual/` | 2 | full run | |
| | `phase1/myosuite/chase_tag/` | 2 | full run | |
| | `phase1/myosuite/dex_airplane_fly/` | 2 | full run | |
| | `phase1/myosuite/dex_apple_lift/` | 2 | full run | |
| | `phase1/myosuite/dex_bunny_inspect/` | 2 | full run | |
| | `phase1/myosuite/dex_cup_pour/` | 2 | full run | |
| | `phase1/myosuite/dex_cylinder_pass/` | 2 | full run | |
| | `phase1/myosuite/die_reorient/` | 2 | pilot | |
| | `phase1/myosuite/obj_reorient/` | 2 | full run | |
| | `phase1/myosuite/osl_run/` | 2 | full run | |
| | `phase1/myosuite/soccer/` | 2 | full run | |
| | `phase1/pandadyn/d01_reciprocal_cup_relay/` | 2 | full run | |
| | `phase1/pandadyn/d03_cooperative_puck_course/` | 2 | full run | |
| | `phase1/pandadyn/d07_spring_gate_switchyard/` | 2 | full run | |
| | `phase1/pandadyn/d09_lever_launch_catch_reload/` | 2 | full run | |
| | `phase1/pandadyn/s01_cup_route_delivery/` | 2 | full run | |
| | `phase1/pandadyn/s06_cube_flip_route_recover/` | 2 | full run | |
| | `phase1/pandadyn/s09_toss_recatch_delivery/` | 2 | full run | |
| | `phase1/pandadyn/s11_cylinder_rescue_route_deliver/` | 2 | full run | |
| | `phase1/pandadyn/s12_moving_bridge_puck_relay/` | 2 | full run | |
| | `phase1/roboarc/blanket_flatten_02/` | 2 | full run | |
| | `phase1/roboarc/blanket_flatten_03/` | 2 | full run | |
| | `phase1/roboarc/blanket_flatten_07/` | 2 | full run | |
| | `phase1/roboarc/blanket_flatten_08/` | 2 | full run | |
| | `phase1/roboarc/blanket_fold_01/` | 2 | full run | |
| | `phase1/roboarc/blanket_fold_03/` | 2 | full run | |
| | `phase1/roboarc/blanket_fold_04/` | 2 | full run | |
| | `phase1/roboarc/blanket_fold_05/` | 2 | full run | |
| | `phase1/roboarc/buzz_wire_3d_01/` | 2 | full run | |
| | `phase1/roboarc/buzz_wire_3d_02/` | 2 | full run | |
| | `phase1/roboarc/buzz_wire_3d_04/` | 2 | full run | |
| | `phase1/roboarc/buzz_wire_3d_06/` | 2 | full run | |
| | `phase1/roboarc/buzz_wire_3d_07/` | 2 | full run | |
| | `phase1/roboarc/buzz_wire_3d_09/` | 2 | full run | |
| | `phase1/roboarc/buzz_wire_3d_10/` | 2 | full run | |
| | `phase1/roboarc/cast_coil_04/` | 2 | full run | |
| | `phase1/roboarc/cast_coil_06/` | 2 | full run | |
| | `phase1/roboarc/cast_coil_08/` | 2 | full run | |
| | `phase1/roboarc/cast_keyhole_03/` | 2 | full run | |
| | `phase1/roboarc/cast_keyhole_04/` | 2 | full run | |
| | `phase1/roboarc/cast_keyhole_05/` | 2 | full run | |
| | `phase1/roboarc/fiber_bundling_04/` | 2 | full run | |
| | `phase1/roboarc/fiber_bundling_06/` | 2 | full run | |
| | `phase1/roboarc/fiber_bundling_07/` | 2 | full run | |
| | `phase1/roboarc/fiber_bundling_09/` | 2 | full run | |
| | `phase1/roboarc/fiber_bundling_10/` | 2 | full run | |
| | `phase1/roboarc/hedgehog_in_cage_05/` | 2 | full run | |
| | `phase1/roboarc/hedgehog_in_cage_06/` | 2 | full run | |
| | `phase1/roboarc/hedgehog_in_cage_07/` | 2 | full run | |
| | `phase1/roboarc/horseshoe_ring_02/` | 2 | full run | |
| | `phase1/roboarc/horseshoe_ring_03/` | 2 | full run | |
| | `phase1/roboarc/interlocked_claws_05/` | 2 | full run | |
| | `phase1/roboarc/interlocked_claws_09/` | 2 | full run | |
| | `phase1/roboarc/interlocked_claws_11/` | 2 | full run | |
| | `phase1/roboarc/interlocked_claws_12/` | 2 | full run | |
| | `phase1/roboarc/knot_untying_06/` | 2 | full run | |
| | `phase1/roboarc/knot_untying_09/` | 2 | full run | |
| | `phase1/roboarc/lock_picking_04/` | 2 | full run | |
| | `phase1/roboarc/lock_picking_05/` | 2 | full run | |
| | `phase1/roboarc/rope_threading_03/` | 2 | full run | |
| | `phase1/roboarc/rope_threading_04/` | 2 | full run | |
| | `phase1/roboarc/rope_threading_05/` | 2 | full run | |
| | `phase1/roboarc/rope_threading_06/` | 2 | full run | |
| | `phase1/roboarc/rope_threading_07/` | 2 | full run | |
| | `phase1/roboarc/rope_threading_08/` | 2 | full run | |
| | `phase1/roboarc/slotted_post_ring_04/` | 2 | full run | |
| | `phase1/roboarc/slotted_post_ring_05/` | 2 | full run | |
| | `phase1/robocasa/turn_off_sink_faucet/` | 2 | full run | |
| | `phase1/robocasa365/assemble_cooking_array/` | 2 | full run | |
| | `phase1/robocasa365/cereal_and_bowl/` | 2 | full run | |
| | `phase1/robocasa365/microwave_defrost_meat/` | 2 | full run | |
| | `phase1/robocasa365/searing_meat/` | 2 | full run | |
| | `phase1/robodojo/fill_egg_holder/` | 2 | full run | |
| | `phase1/robodojo/hang_mugs/` | 2 | full run | |
| | `phase1/robodojo/insert_key/` | 2 | full run | |
| | `phase1/robodojo/make_kong/` | 2 | full run | |
| | `phase1/robodojo/make_toast/` | 2 | full run | |
| | `phase1/robodojo/pack_objects_into_box/` | 2 | full run | |
| | `phase1/robodojo/store_laptop_and_headphones/` | 2 | full run | |
| | `phase1/robodojo/store_laptop_and_headphones_random/` | 2 | full run | |
| | `phase1/robodojo/store_tools_in_toolbox/` | 2 | full run | |
| | `phase1/robodojo/swap_blocks/` | 2 | full run | |
| | `phase1/robodojo/sweep_blocks_random/` | 2 | full run | |
| | `phase1/robolab/bbq_sauce_in_bin/` | 2 | full run | |
| | `phase1/robolab/food_packing3_cans/` | 2 | full run | |
| | `phase1/robolab/put_two_mugs_on_shelf/` | 2 | full run | |
| | `phase1/robolab/utensils_in_mug/` | 2 | full run | |
| | `phase1/robolab/white_mug_in_center_of_table/` | 2 | full run | |
| | `phase1/robopaint/acrylic_applesoranges/` | 2 | full run | |
| | `phase1/robopaint/acrylic_bedroom/` | 2 | full run | |
| | `phase1/robopaint/acrylic_bluehorses/` | 2 | full run | |
| | `phase1/robopaint/acrylic_greatwave/` | 2 | full run | |
| | `phase1/robopaint/acrylic_plumpark/` | 2 | full run | |
| | `phase1/robopaint/acrylic_redfuji/` | 2 | full run | |
| | `phase1/robopaint/acrylic_suddenshower/` | 2 | full run | |
| | `phase1/robopaint/acrylic_sunflowers/` | 2 | full run | |
| | `phase1/robopaint/acrylic_vision/` | 2 | full run | |
| | `phase1/robopaint/caoshu_beiquelindanshui/` | 2 | full run | |
| | `phase1/robopaint/caoshu_siwushaonian/` | 2 | full run | |
| | `phase1/robopaint/caoshu_zhen/` | 2 | full run | |
| | `phase1/robopaint/oil_monalisa_i01/` | 2 | full run | |
| | `phase1/robopaint/oil_starrynight_i01/` | 2 | full run | |
| | `phase1/robopaint/xingshu_feng/` | 2 | full run | |
| | `phase1/robopaint/xingshu_he/` | 2 | full run | |
| | `phase1/robopaint/xingshu_huifenghechang/` | 2 | full run | |
| | `phase1/robopaint/xingshu_maolinxiuzhu/` | 2 | full run | |
| | `phase1/robopaint/xingshu_xian/` | 2 | full run | |
| | `phase1/robopaint/xingshu_yong/` | 2 | full run | |
| | `phase1/robotwin-2/hanging_mug/` | 2 | full run | |
| | `phase1/robotwin-2/place_bread_skillet/` | 2 | full run | |
| | `phase1/robowits/cover_with_lid/` | 2 | full run | |
| | `phase1/robowits/stack_bowls/` | 2 | full run | |
| | `phase1/robowits/stand_bulb/` | 2 | full run | |
| | `phase1/robowits/stand_pages/` | 2 | full run | |
| | `phase1/vlabench/texas_holdem/` | 2 | full run | |
| | `phase1/yamlab/put_pot_on_cooktop/` | 2 | full run | |
|
|
| ## Phase 2 |
|
|
| - Prompts: v3.2 (the frozen labelling prompts with the fixes from a blind recheck of 30 phase-1 tasks; taxonomy v2; |
| schemas `efe-task-dag/1` and `efe-trajectory-labels/1`). |
| - Writer: Codex `gpt-6.1-sol` (effort high for task DAGs and trajectories). Reviewer: Claude `claude-sonnet-5-5`; up to |
| two fix rounds plus a confirm round; files still disputed after that carry `review.status: "disputed"`. |
| - Task repository: embodied-first-exam commit `80cac7a5a227db930c659c3307a1e79c2a84bc53`. |
| - Scope: every benchmark task except the roboengineer suite (434 tasks), two runs per task (one success when |
| there is one, plus a failure; runs with a video first; seeded pick), 868 runs. Every task gets a newly written |
| DAG, and all its phase-2 runs (including runs already labelled in phase 1) are labelled against that DAG. |
| - Remaining runs (added from 2026-10-29): every other run of each in-scope task (6,648 runs in all) is labelled |
| against the task's phase-2 DAG as published here (the DAG is not rewritten), with the same prompts, models and |
| efforts, and added to the same `trajectories/` folder; the run that served as a task's reference success |
| (oracle) when its DAG was written stays that task's oracle. Runs without a graded video are labelled from the |
| log only. Status: 5,780 of the 5,780 remaining runs labelled and uploaded (complete). |
| - Run catalog: built from the run index of the dataset `MLL-Lab/embodied-exam-runs` (the run viewer's `run.json` |
| files); videos as in phase 1 from `MLL-Lab/embodied-exam-media`, `runs/<runId>/replay.mp4`. Some picked runs and |
| tasks are newer than the catalog shipped with the labelling interface, so importing them needs a catalog refreshed |
| from that run index. |
| - The importer prefers the highest phase: when a task is under `phase1/` and `phase2/`, only `phase2/<suite>/<task>/` |
| (its DAG and its own trajectories) is used; `phase1/` stays as a record. |
| - Layout as in phase 1: `phase2/<suite>/<task>/task_dag.json` and `phase2/<suite>/<task>/trajectories/<runId>.json`, |
| provenance work-directory paths relative, `dag_sha256` = sha256 of `task_dag.json` as published here. A task is |
| uploaded whole (its DAG together with all its phase-2 trajectories); remaining-run trajectories are added |
| batch by batch once the batch passes validation. |
| - Phase 2 complete: every task of the run passed validation and is listed below. Status: 434 tasks, 868 trajectories. With the remaining runs: 6,648 trajectories in all. |
|
|
| ### Phase 2 tasks |
|
|
| | folder | trajectories | also in phase 1 | |
| | --- | --- | --- | |
| | `phase2/ambench/cabinet_pick_place/` | 15 | yes | |
| | `phase2/ambench/peg_in_hole/` | 15 | no | |
| | `phase2/behavior-1k/assembling_gift_baskets/` | 16 | yes | |
| | `phase2/behavior-1k/boxing_books_up_for_storage/` | 16 | yes | |
| | `phase2/behavior-1k/boxing_food_after_dinner/` | 15 | yes | |
| | `phase2/behavior-1k/bringing_in_wood/` | 16 | yes | |
| | `phase2/behavior-1k/bringing_paper_to_recycling/` | 16 | no | |
| | `phase2/behavior-1k/bringing_water/` | 16 | yes | |
| | `phase2/behavior-1k/can_meat/` | 15 | yes | |
| | `phase2/behavior-1k/canning_food/` | 15 | yes | |
| | `phase2/behavior-1k/carrying_in_groceries/` | 16 | yes | |
| | `phase2/behavior-1k/carrying_out_garden_furniture/` | 16 | no | |
| | `phase2/behavior-1k/chopping_wood/` | 16 | yes | |
| | `phase2/behavior-1k/clean_a_patio/` | 16 | yes | |
| | `phase2/behavior-1k/clean_a_trumpet/` | 15 | yes | |
| | `phase2/behavior-1k/clean_boxing_gloves/` | 16 | no | |
| | `phase2/behavior-1k/clean_up_your_desk/` | 16 | yes | |
| | `phase2/behavior-1k/clean_your_rusty_garden_tools/` | 16 | yes | |
| | `phase2/behavior-1k/cleaning_up_branches_and_twigs/` | 16 | yes | |
| | `phase2/behavior-1k/cleaning_up_plates_and_food/` | 14 | yes | |
| | `phase2/behavior-1k/clearing_food_from_table_into_fridge/` | 15 | yes | |
| | `phase2/behavior-1k/collecting_aluminum_cans/` | 16 | yes | |
| | `phase2/behavior-1k/collecting_childrens_toys/` | 16 | yes | |
| | `phase2/behavior-1k/cook_a_brisket/` | 16 | yes | |
| | `phase2/behavior-1k/cook_a_frozen_pie/` | 15 | yes | |
| | `phase2/behavior-1k/cook_bacon/` | 16 | yes | |
| | `phase2/behavior-1k/cook_broccolini/` | 16 | yes | |
| | `phase2/behavior-1k/cook_brussels_sprouts/` | 15 | yes | |
| | `phase2/behavior-1k/cook_cabbage/` | 16 | yes | |
| | `phase2/behavior-1k/cook_hot_dogs/` | 14 | yes | |
| | `phase2/behavior-1k/dispose_of_batteries/` | 16 | yes | |
| | `phase2/behavior-1k/freeze_fruit/` | 14 | yes | |
| | `phase2/behavior-1k/freeze_pies/` | 16 | yes | |
| | `phase2/behavior-1k/halve_an_egg/` | 15 | no | |
| | `phase2/behavior-1k/installing_a_fax_machine/` | 15 | no | |
| | `phase2/behavior-1k/laying_tile_floors/` | 15 | yes | |
| | `phase2/behavior-1k/loading_the_car/` | 14 | yes | |
| | `phase2/behavior-1k/make_gift_bags_for_baby_showers/` | 16 | yes | |
| | `phase2/behavior-1k/make_pizza/` | 15 | yes | |
| | `phase2/behavior-1k/make_rose_centerpieces/` | 14 | yes | |
| | `phase2/behavior-1k/organizing_art_supplies/` | 13 | yes | |
| | `phase2/behavior-1k/organizing_school_stuff/` | 16 | yes | |
| | `phase2/behavior-1k/outfit_a_basic_toolbox/` | 14 | yes | |
| | `phase2/behavior-1k/packing_meal_for_delivery/` | 14 | yes | |
| | `phase2/behavior-1k/polishing_shoes/` | 13 | no | |
| | `phase2/behavior-1k/preparing_lunch_box/` | 13 | yes | |
| | `phase2/behavior-1k/put_together_a_basic_pruning_kit/` | 16 | yes | |
| | `phase2/behavior-1k/putting_away_toys/` | 15 | yes | |
| | `phase2/behavior-1k/putting_dirty_dishes_in_sink/` | 14 | yes | |
| | `phase2/behavior-1k/putting_dishes_away_after_cleaning/` | 16 | yes | |
| | `phase2/behavior-1k/putting_up_Christmas_decorations_inside/` | 16 | yes | |
| | `phase2/behavior-1k/re_shelving_library_books/` | 16 | yes | |
| | `phase2/behavior-1k/rearrange_your_room/` | 15 | yes | |
| | `phase2/behavior-1k/rearranging_kitchen_furniture/` | 12 | yes | |
| | `phase2/behavior-1k/setting_the_fire/` | 16 | yes | |
| | `phase2/behavior-1k/setting_the_table/` | 15 | yes | |
| | `phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/` | 16 | yes | |
| | `phase2/behavior-1k/slicing_vegetables/` | 15 | yes | |
| | `phase2/behavior-1k/sorting_books_on_shelf/` | 14 | yes | |
| | `phase2/behavior-1k/sorting_bottles_cans_and_paper/` | 14 | yes | |
| | `phase2/behavior-1k/sorting_household_items/` | 15 | yes | |
| | `phase2/behavior-1k/sorting_vegetables/` | 15 | yes | |
| | `phase2/behavior-1k/store_batteries/` | 14 | no | |
| | `phase2/behavior-1k/store_produce/` | 15 | no | |
| | `phase2/behavior-1k/storing_food/` | 15 | yes | |
| | `phase2/behavior-1k/sweeping_garage/` | 14 | yes | |
| | `phase2/behavior-1k/thawing_frozen_food/` | 15 | no | |
| | `phase2/behavior-1k/tidying_living_room/` | 14 | yes | |
| | `phase2/behavior-1k/turning_out_all_lights_before_sleep/` | 15 | no | |
| | `phase2/behavior-1k/unloading_the_car/` | 15 | yes | |
| | `phase2/behavior-1k/vacuuming_floors/` | 15 | yes | |
| | `phase2/behavior-1k/wash_a_baseball_cap/` | 14 | yes | |
| | `phase2/behavior-1k/wash_dog_toys/` | 14 | yes | |
| | `phase2/bigym2/dishwasher_close/` | 22 | yes | |
| | `phase2/bigym2/dishwasher_load_plates/` | 24 | yes | |
| | `phase2/bigym2/flip_cutlery/` | 24 | yes | |
| | `phase2/bigym2/move_two_plates/` | 24 | yes | |
| | `phase2/bigym2/pick_box/` | 24 | yes | |
| | `phase2/bigym2/put_cups/` | 24 | yes | |
| | `phase2/bigym2/sandwich_remove/` | 24 | yes | |
| | `phase2/bigym2/saucepan_to_hob/` | 24 | yes | |
| | `phase2/bigym2/stack_blocks/` | 24 | no | |
| | `phase2/bigym2/wall_cupboard_open/` | 24 | yes | |
| | `phase2/dexhand/assemble_hamburger/` | 16 | yes | |
| | `phase2/dexhand/batter_whisk/` | 16 | yes | |
| | `phase2/dexhand/bicycle_pump_stroke/` | 16 | yes | |
| | `phase2/dexhand/binder_page_load/` | 16 | yes | |
| | `phase2/dexhand/book_page_turn/` | 16 | no | |
| | `phase2/dexhand/boot_sole_brush/` | 16 | yes | |
| | `phase2/dexhand/drying_rack_unfold/` | 16 | yes | |
| | `phase2/dexhand/envelope_letter_insert/` | 16 | yes | |
| | `phase2/dexhand/essential_cube_reorient/` | 16 | no | |
| | `phase2/dexhand/essential_pen_regrasp/` | 16 | yes | |
| | `phase2/dexhand/essential_rotary_gait/` | 10 | yes | |
| | `phase2/dexhand/essential_two_object/` | 16 | no | |
| | `phase2/dexhand/fan_guard_install/` | 16 | yes | |
| | `phase2/dexhand/grinder_crank/` | 16 | no | |
| | `phase2/dexhand/jar_lid_open/` | 15 | no | |
| | `phase2/dexhand/pancake_serve/` | 16 | no | |
| | `phase2/dexhand/picture_hang/` | 16 | yes | |
| | `phase2/dexhand/ram_module_install/` | 16 | no | |
| | `phase2/dexhand/remote_battery_swap/` | 16 | no | |
| | `phase2/dexhand/stool_brace_insert/` | 16 | yes | |
| | `phase2/dexhand/sweep_dustpan/` | 16 | yes | |
| | `phase2/dexhand/usb_plug_insert/` | 16 | yes | |
| | `phase2/dexhand/vacuum_bin_reseat/` | 16 | yes | |
| | `phase2/dexjoco/bimanual_photograph/` | 16 | yes | |
| | `phase2/dexjoco/fold_glasses/` | 16 | no | |
| | `phase2/dextoolbench/brush_blue_brush_sweep_forward/` | 16 | yes | |
| | `phase2/dextoolbench/brush_red_brush_sweep_forward/` | 16 | yes | |
| | `phase2/dextoolbench/brush_red_brush_sweep_right/` | 16 | yes | |
| | `phase2/dextoolbench/eraser_handle_eraser_wipe_c/` | 15 | yes | |
| | `phase2/dextoolbench/hammer_claw_hammer_swing_down/` | 16 | yes | |
| | `phase2/dextoolbench/hammer_claw_hammer_swing_side/` | 16 | yes | |
| | `phase2/dextoolbench/hammer_mallet_hammer_swing_down/` | 16 | no | |
| | `phase2/dextoolbench/hammer_mallet_hammer_swing_side/` | 15 | yes | |
| | `phase2/dextoolbench/marker_sharpie_marker_draw_smile/` | 16 | yes | |
| | `phase2/dextoolbench/marker_sharpie_marker_write_c/` | 16 | yes | |
| | `phase2/dextoolbench/marker_staples_marker_draw_smile/` | 16 | yes | |
| | `phase2/dextoolbench/marker_staples_marker_write_c/` | 16 | yes | |
| | `phase2/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/` | 16 | yes | |
| | `phase2/dextoolbench/screwdriver_long_screwdriver_spin_vertical/` | 16 | yes | |
| | `phase2/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/` | 16 | no | |
| | `phase2/dextoolbench/screwdriver_short_screwdriver_spin_vertical/` | 16 | yes | |
| | `phase2/dextoolbench/spatula_flat_spatula_flip_over/` | 16 | yes | |
| | `phase2/dextoolbench/spatula_flat_spatula_serve_plate/` | 16 | yes | |
| | `phase2/dextoolbench/spatula_spoon_spatula_flip_over/` | 16 | yes | |
| | `phase2/dextoolbench/spatula_spoon_spatula_serve_plate/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/alpine_slalom/` | 16 | no | |
| | `phase2/embodied-olympics-fun/backflip/` | 16 | no | |
| | `phase2/embodied-olympics-fun/badminton_serve/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/balance_beam/` | 15 | no | |
| | `phase2/embodied-olympics-fun/balance_board/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/basketball_dribble/` | 16 | no | |
| | `phase2/embodied-olympics-fun/bowling/` | 16 | no | |
| | `phase2/embodied-olympics-fun/box_jump/` | 15 | yes | |
| | `phase2/embodied-olympics-fun/boxing/` | 16 | no | |
| | `phase2/embodied-olympics-fun/catch/` | 24 | no | |
| | `phase2/embodied-olympics-fun/catch_and_shoot/` | 24 | no | |
| | `phase2/embodied-olympics-fun/clean_and_jerk/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/discus/` | 16 | no | |
| | `phase2/embodied-olympics-fun/dodgeball/` | 24 | no | |
| | `phase2/embodied-olympics-fun/dribble_slalom/` | 16 | no | |
| | `phase2/embodied-olympics-fun/dunk/` | 16 | no | |
| | `phase2/embodied-olympics-fun/dunk_between_legs/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/free_kick_wall/` | 15 | no | |
| | `phase2/embodied-olympics-fun/free_throw/` | 16 | no | |
| | `phase2/embodied-olympics-fun/freeski_360/` | 16 | no | |
| | `phase2/embodied-olympics-fun/goalkeeper_save/` | 24 | no | |
| | `phase2/embodied-olympics-fun/golf_putt/` | 16 | no | |
| | `phase2/embodied-olympics-fun/high_bar_swing/` | 16 | no | |
| | `phase2/embodied-olympics-fun/high_jump/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/hurdles_freestanding/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/javelin/` | 16 | no | |
| | `phase2/embodied-olympics-fun/juggle_three/` | 24 | no | |
| | `phase2/embodied-olympics-fun/juggling/` | 16 | no | |
| | `phase2/embodied-olympics-fun/juggling_feet/` | 16 | no | |
| | `phase2/embodied-olympics-fun/juggling_head/` | 24 | yes | |
| | `phase2/embodied-olympics-fun/jump_rope/` | 16 | no | |
| | `phase2/embodied-olympics-fun/layup/` | 16 | no | |
| | `phase2/embodied-olympics-fun/long_jump/` | 16 | no | |
| | `phase2/embodied-olympics-fun/long_rope/` | 23 | yes | |
| | `phase2/embodied-olympics-fun/paddle_bounce/` | 24 | no | |
| | `phase2/embodied-olympics-fun/pitch_target/` | 16 | no | |
| | `phase2/embodied-olympics-fun/platform_10m/` | 14 | no | |
| | `phase2/embodied-olympics-fun/pole_vault/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/rugby_conversion/` | 16 | no | |
| | `phase2/embodied-olympics-fun/shot_put/` | 15 | no | |
| | `phase2/embodied-olympics-fun/slalom/` | 16 | no | |
| | `phase2/embodied-olympics-fun/springboard_3m/` | 16 | no | |
| | `phase2/embodied-olympics-fun/sprint/` | 16 | no | |
| | `phase2/embodied-olympics-fun/standing_long_jump/` | 15 | yes | |
| | `phase2/embodied-olympics-fun/steeplechase/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/table_tennis_return/` | 23 | no | |
| | `phase2/embodied-olympics-fun/taekwondo_kick/` | 15 | no | |
| | `phase2/embodied-olympics-fun/tennis_return/` | 23 | no | |
| | `phase2/embodied-olympics-fun/tennis_serve/` | 16 | no | |
| | `phase2/embodied-olympics-fun/toes_to_bar/` | 16 | no | |
| | `phase2/embodied-olympics-fun/trampoline/` | 16 | no | |
| | `phase2/embodied-olympics-fun/triple_jump/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/vault/` | 16 | yes | |
| | `phase2/embodied-olympics-fun/volleyball_serve/` | 16 | no | |
| | `phase2/embodied-olympics-fun/volleyball_spike/` | 24 | yes | |
| | `phase2/embodied-olympics-fun/wall_ball/` | 16 | no | |
| | `phase2/embodied-olympics-match/badminton_duelrl_i01/` | 8 | yes | |
| | `phase2/embodied-olympics-match/badminton_match_i01/` | 16 | yes | |
| | `phase2/embodied-olympics-match/badminton_match_i02/` | 16 | yes | |
| | `phase2/embodied-olympics-match/badminton_match_i04/` | 8 | yes | |
| | `phase2/embodied-olympics-match/badminton_matchlow_i01/` | 7 | yes | |
| | `phase2/embodied-olympics-match/fencing_bout_i01/` | 7 | yes | |
| | `phase2/embodied-olympics-match/foosball_match_i01/` | 8 | yes | |
| | `phase2/embodied-olympics-match/soccer_jointcpu_i01/` | 8 | no | |
| | `phase2/embodied-olympics-match/soccer_jointgpu_i01/` | 7 | yes | |
| | `phase2/embodied-olympics-match/soccer_match/` | 16 | yes | |
| | `phase2/embodied-olympics-match/soccerssl_match/` | 15 | yes | |
| | `phase2/embodied-olympics-match/soccerssl_match_i01/` | 8 | yes | |
| | `phase2/embodied-olympics-match/tabletennis_duelrl_i01/` | 8 | yes | |
| | `phase2/embodied-olympics-match/tabletennis_match_i01/` | 16 | yes | |
| | `phase2/embodied-olympics-match/tabletennis_match_i02/` | 16 | yes | |
| | `phase2/embodied-olympics-match/tabletennis_match_i03/` | 8 | yes | |
| | `phase2/embodied-olympics-match/tabletennis_match_i04/` | 8 | no | |
| | `phase2/embodied-olympics-match/tabletennis_matchlow_i01/` | 7 | yes | |
| | `phase2/embodied-safety-exam/a01_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a01_i02/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a01_i04/` | 8 | no | |
| | `phase2/embodied-safety-exam/a01_i08/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a02_i03/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a04/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a06_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a06_i03/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a08_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a17/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a26_i02/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a27_i06/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a28/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a28_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a28_i03/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a29/` | 8 | no | |
| | `phase2/embodied-safety-exam/a29_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a29_i03/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a33_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a33_i04/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a34_i07/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a34_i09/` | 8 | yes | |
| | `phase2/embodied-safety-exam/a34_i11/` | 8 | yes | |
| | `phase2/embodied-safety-exam/b06_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/b06_i02/` | 8 | yes | |
| | `phase2/embodied-safety-exam/b11/` | 8 | yes | |
| | `phase2/embodied-safety-exam/b11_i01/` | 7 | yes | |
| | `phase2/embodied-safety-exam/b11_i03/` | 8 | yes | |
| | `phase2/embodied-safety-exam/b12_i04/` | 8 | yes | |
| | `phase2/embodied-safety-exam/b12_i06/` | 8 | yes | |
| | `phase2/embodied-safety-exam/b12_i07/` | 8 | yes | |
| | `phase2/embodied-safety-exam/c02/` | 16 | yes | |
| | `phase2/embodied-safety-exam/c02_i01/` | 16 | no | |
| | `phase2/embodied-safety-exam/c04_i01/` | 15 | no | |
| | `phase2/embodied-safety-exam/c05_i01/` | 16 | yes | |
| | `phase2/embodied-safety-exam/c05_i02/` | 8 | yes | |
| | `phase2/embodied-safety-exam/c16/` | 8 | yes | |
| | `phase2/embodied-safety-exam/d12_i04/` | 8 | yes | |
| | `phase2/embodied-safety-exam/e06/` | 8 | yes | |
| | `phase2/embodied-safety-exam/e06_i03/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f04_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f04_i02/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f05/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f05_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f06/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f06_i01/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f08/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f09/` | 8 | yes | |
| | `phase2/embodied-safety-exam/f11/` | 8 | yes | |
| | `phase2/humanoidbench/loco_balance_hard/` | 23 | yes | |
| | `phase2/humanoidbench/loco_hurdle/` | 24 | yes | |
| | `phase2/humanoidbench/manip_bookshelf_simple/` | 24 | yes | |
| | `phase2/humanoidbench/manip_cube/` | 24 | no | |
| | `phase2/humanoidbench/manip_door/` | 23 | yes | |
| | `phase2/humanoidbench/manip_powerlift/` | 24 | yes | |
| | `phase2/humanoidbench/manip_room/` | 24 | yes | |
| | `phase2/humanoidbench/manip_window/` | 24 | yes | |
| | `phase2/ispatialgym/alignment_axial/` | 16 | yes | |
| | `phase2/ispatialgym/camera_relocalization_obstructed/` | 16 | yes | |
| | `phase2/ispatialgym/configuration_matching_articulation_open_small_scale/` | 16 | yes | |
| | `phase2/ispatialgym/configuration_matching_block_design/` | 15 | yes | |
| | `phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/` | 15 | yes | |
| | `phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/` | 16 | yes | |
| | `phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/` | 16 | yes | |
| | `phase2/ispatialgym/mental_rotation/` | 15 | no | |
| | `phase2/kinder/constrained_cupboard/` | 16 | no | |
| | `phase2/kinder/scoop_pour_i01/` | 16 | yes | |
| | `phase2/kinder/sweep_into_drawer/` | 16 | yes | |
| | `phase2/kinder/sweep_simple_i01/` | 16 | yes | |
| | `phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/` | 16 | no | |
| | `phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/` | 16 | yes | |
| | `phase2/maniguard/cabinet_pickup_i22/` | 16 | yes | |
| | `phase2/maniguard/cabinet_pickup_i26/` | 16 | yes | |
| | `phase2/maniguard/dusty_transfer_i03/` | 16 | yes | |
| | `phase2/maniguard/dusty_transfer_i16/` | 16 | yes | |
| | `phase2/maniguard/jar_transport_i13/` | 16 | yes | |
| | `phase2/maniguard/jar_transport_i25/` | 16 | no | |
| | `phase2/maniguard/lid_transport_i12/` | 16 | yes | |
| | `phase2/metaworldplus/basketball/` | 16 | no | |
| | `phase2/metaworldplus/button_press_topdown/` | 15 | yes | |
| | `phase2/molmospaces/navigate_to/` | 16 | no | |
| | `phase2/molmospaces/pick/` | 16 | yes | |
| | `phase2/mujoco-playground/aloha_single_peg_insertion/` | 16 | yes | |
| | `phase2/mujoco-playground/barkour_joystick/` | 24 | yes | |
| | `phase2/mujoco-playground/go1_handstand/` | 16 | yes | |
| | `phase2/mujoco-playground/go1_joystick_flat_terrain/` | 16 | yes | |
| | `phase2/mujoco-playground/go1_joystick_rough_terrain/` | 16 | no | |
| | `phase2/mujoco-playground/spot_flat_terrain_joystick/` | 16 | yes | |
| | `phase2/mujoco-playground/spot_joystick_gait_tracking/` | 16 | yes | |
| | `phase2/myosuite/baoding/` | 16 | yes | |
| | `phase2/myosuite/bimanual/` | 16 | yes | |
| | `phase2/myosuite/chase_tag/` | 16 | yes | |
| | `phase2/myosuite/dex_airplane_fly/` | 16 | yes | |
| | `phase2/myosuite/dex_apple_lift/` | 16 | yes | |
| | `phase2/myosuite/dex_bunny_inspect/` | 16 | yes | |
| | `phase2/myosuite/dex_cup_pour/` | 16 | yes | |
| | `phase2/myosuite/dex_cylinder_pass/` | 16 | yes | |
| | `phase2/myosuite/dex_hammer_use/` | 16 | no | |
| | `phase2/myosuite/die_reorient/` | 16 | yes | |
| | `phase2/myosuite/obj_reorient/` | 16 | yes | |
| | `phase2/myosuite/osl_run/` | 16 | yes | |
| | `phase2/myosuite/soccer/` | 16 | yes | |
| | `phase2/pandadyn/d01_reciprocal_cup_relay/` | 24 | yes | |
| | `phase2/pandadyn/d03_cooperative_puck_course/` | 23 | yes | |
| | `phase2/pandadyn/d05_moving_ramp_relay/` | 16 | no | |
| | `phase2/pandadyn/d07_spring_gate_switchyard/` | 24 | yes | |
| | `phase2/pandadyn/d09_lever_launch_catch_reload/` | 24 | yes | |
| | `phase2/pandadyn/s01_cup_route_delivery/` | 24 | yes | |
| | `phase2/pandadyn/s06_cube_flip_route_recover/` | 16 | yes | |
| | `phase2/pandadyn/s09_toss_recatch_delivery/` | 23 | yes | |
| | `phase2/pandadyn/s11_cylinder_rescue_route_deliver/` | 24 | yes | |
| | `phase2/pandadyn/s12_moving_bridge_puck_relay/` | 24 | yes | |
| | `phase2/roboarc/blanket_flatten_02/` | 14 | yes | |
| | `phase2/roboarc/blanket_flatten_03/` | 15 | yes | |
| | `phase2/roboarc/blanket_flatten_04/` | 15 | no | |
| | `phase2/roboarc/blanket_flatten_07/` | 15 | yes | |
| | `phase2/roboarc/blanket_flatten_08/` | 15 | yes | |
| | `phase2/roboarc/blanket_fold_01/` | 15 | yes | |
| | `phase2/roboarc/blanket_fold_03/` | 15 | yes | |
| | `phase2/roboarc/blanket_fold_04/` | 15 | yes | |
| | `phase2/roboarc/blanket_fold_05/` | 16 | yes | |
| | `phase2/roboarc/buzz_wire_3d_01/` | 16 | yes | |
| | `phase2/roboarc/buzz_wire_3d_02/` | 16 | yes | |
| | `phase2/roboarc/buzz_wire_3d_04/` | 16 | yes | |
| | `phase2/roboarc/buzz_wire_3d_06/` | 16 | yes | |
| | `phase2/roboarc/buzz_wire_3d_07/` | 16 | yes | |
| | `phase2/roboarc/buzz_wire_3d_09/` | 16 | yes | |
| | `phase2/roboarc/buzz_wire_3d_10/` | 16 | yes | |
| | `phase2/roboarc/cast_coil_04/` | 15 | yes | |
| | `phase2/roboarc/cast_coil_06/` | 16 | yes | |
| | `phase2/roboarc/cast_coil_07/` | 16 | no | |
| | `phase2/roboarc/cast_coil_08/` | 16 | yes | |
| | `phase2/roboarc/cast_keyhole_03/` | 16 | yes | |
| | `phase2/roboarc/cast_keyhole_04/` | 16 | yes | |
| | `phase2/roboarc/cast_keyhole_05/` | 16 | yes | |
| | `phase2/roboarc/fiber_bundling_04/` | 16 | yes | |
| | `phase2/roboarc/fiber_bundling_06/` | 16 | yes | |
| | `phase2/roboarc/fiber_bundling_07/` | 16 | yes | |
| | `phase2/roboarc/fiber_bundling_09/` | 16 | yes | |
| | `phase2/roboarc/fiber_bundling_10/` | 16 | yes | |
| | `phase2/roboarc/hedgehog_in_cage_05/` | 16 | yes | |
| | `phase2/roboarc/hedgehog_in_cage_06/` | 16 | yes | |
| | `phase2/roboarc/hedgehog_in_cage_07/` | 16 | yes | |
| | `phase2/roboarc/horseshoe_ring_02/` | 16 | yes | |
| | `phase2/roboarc/horseshoe_ring_03/` | 16 | yes | |
| | `phase2/roboarc/ikea_eket/` | 16 | no | |
| | `phase2/roboarc/ikea_gladom/` | 16 | no | |
| | `phase2/roboarc/ikea_ikea365/` | 16 | no | |
| | `phase2/roboarc/ikea_lack/` | 16 | no | |
| | `phase2/roboarc/ikea_stegesund/` | 16 | no | |
| | `phase2/roboarc/ikea_svallet/` | 16 | no | |
| | `phase2/roboarc/ikea_variera/` | 16 | no | |
| | `phase2/roboarc/ikea_vesken/` | 16 | no | |
| | `phase2/roboarc/interlocked_claws_05/` | 16 | yes | |
| | `phase2/roboarc/interlocked_claws_09/` | 15 | yes | |
| | `phase2/roboarc/interlocked_claws_11/` | 16 | yes | |
| | `phase2/roboarc/interlocked_claws_12/` | 16 | yes | |
| | `phase2/roboarc/knot_untying_06/` | 16 | yes | |
| | `phase2/roboarc/knot_untying_09/` | 15 | yes | |
| | `phase2/roboarc/lock_picking_04/` | 16 | yes | |
| | `phase2/roboarc/lock_picking_05/` | 16 | yes | |
| | `phase2/roboarc/rope_threading_03/` | 15 | yes | |
| | `phase2/roboarc/rope_threading_04/` | 16 | yes | |
| | `phase2/roboarc/rope_threading_05/` | 15 | yes | |
| | `phase2/roboarc/rope_threading_06/` | 15 | yes | |
| | `phase2/roboarc/rope_threading_07/` | 16 | yes | |
| | `phase2/roboarc/rope_threading_08/` | 15 | yes | |
| | `phase2/roboarc/slotted_post_ring_03/` | 15 | no | |
| | `phase2/roboarc/slotted_post_ring_04/` | 16 | yes | |
| | `phase2/roboarc/slotted_post_ring_05/` | 16 | yes | |
| | `phase2/robocasa-gr1/potato_to_microwave_close/` | 16 | no | |
| | `phase2/robocasa/coffee_setup_mug/` | 16 | no | |
| | `phase2/robocasa/turn_off_sink_faucet/` | 16 | yes | |
| | `phase2/robocasa365/assemble_cooking_array/` | 16 | yes | |
| | `phase2/robocasa365/cereal_and_bowl/` | 16 | yes | |
| | `phase2/robocasa365/display_meat_variety/` | 16 | no | |
| | `phase2/robocasa365/microwave_defrost_meat/` | 16 | yes | |
| | `phase2/robocasa365/searing_meat/` | 16 | yes | |
| | `phase2/robodojo/fill_egg_holder/` | 16 | yes | |
| | `phase2/robodojo/hang_mugs/` | 16 | yes | |
| | `phase2/robodojo/hang_mugs_random/` | 15 | no | |
| | `phase2/robodojo/insert_key/` | 16 | yes | |
| | `phase2/robodojo/make_kong/` | 16 | yes | |
| | `phase2/robodojo/make_toast/` | 16 | yes | |
| | `phase2/robodojo/pack_objects_into_box/` | 16 | yes | |
| | `phase2/robodojo/store_laptop_and_headphones/` | 15 | yes | |
| | `phase2/robodojo/store_laptop_and_headphones_random/` | 16 | yes | |
| | `phase2/robodojo/store_tools_in_toolbox/` | 16 | yes | |
| | `phase2/robodojo/swap_blocks/` | 16 | yes | |
| | `phase2/robodojo/sweep_blocks_random/` | 16 | yes | |
| | `phase2/robolab/bbq_sauce_in_bin/` | 14 | yes | |
| | `phase2/robolab/food_packing3_cans/` | 14 | yes | |
| | `phase2/robolab/put_two_mugs_on_shelf/` | 15 | yes | |
| | `phase2/robolab/red_dishes_in_bin/` | 13 | no | |
| | `phase2/robolab/utensils_in_mug/` | 15 | yes | |
| | `phase2/robolab/white_mug_in_center_of_table/` | 16 | yes | |
| | `phase2/robopaint/acrylic_applesoranges/` | 16 | yes | |
| | `phase2/robopaint/acrylic_bedroom/` | 16 | yes | |
| | `phase2/robopaint/acrylic_bluehorses/` | 16 | yes | |
| | `phase2/robopaint/acrylic_greatwave/` | 15 | yes | |
| | `phase2/robopaint/acrylic_kajikazawa/` | 16 | no | |
| | `phase2/robopaint/acrylic_plumpark/` | 16 | yes | |
| | `phase2/robopaint/acrylic_redfuji/` | 16 | yes | |
| | `phase2/robopaint/acrylic_suddenshower/` | 16 | yes | |
| | `phase2/robopaint/acrylic_sunflowers/` | 15 | yes | |
| | `phase2/robopaint/acrylic_vision/` | 16 | yes | |
| | `phase2/robopaint/caoshu_beiquelindanshui/` | 16 | yes | |
| | `phase2/robopaint/caoshu_siwushaonian/` | 16 | yes | |
| | `phase2/robopaint/caoshu_zhen/` | 16 | yes | |
| | `phase2/robopaint/kaishu_linfengguilong/` | 16 | no | |
| | `phase2/robopaint/oil_monalisa_i01/` | 16 | yes | |
| | `phase2/robopaint/oil_starrynight_i01/` | 16 | yes | |
| | `phase2/robopaint/xingshu_feng/` | 16 | yes | |
| | `phase2/robopaint/xingshu_he/` | 16 | yes | |
| | `phase2/robopaint/xingshu_huifenghechang/` | 16 | yes | |
| | `phase2/robopaint/xingshu_maolinxiuzhu/` | 16 | yes | |
| | `phase2/robopaint/xingshu_xian/` | 16 | yes | |
| | `phase2/robopaint/xingshu_yong/` | 16 | yes | |
| | `phase2/robotwin-2/hanging_mug/` | 16 | yes | |
| | `phase2/robotwin-2/place_bread_skillet/` | 16 | yes | |
| | `phase2/robotwin-2/put_bottles_dustbin/` | 16 | no | |
| | `phase2/robowits/ball_into_bottle/` | 16 | no | |
| | `phase2/robowits/cover_with_lid/` | 16 | yes | |
| | `phase2/robowits/retrieve_cube/` | 16 | no | |
| | `phase2/robowits/stack_bowls/` | 15 | yes | |
| | `phase2/robowits/stand_bulb/` | 16 | yes | |
| | `phase2/robowits/stand_pages/` | 16 | yes | |
| | `phase2/vlabench/heat_food/` | 16 | no | |
| | `phase2/vlabench/texas_holdem/` | 16 | yes | |
| | `phase2/yamlab/hang_mug_on_tree_i15/` | 16 | no | |
| | `phase2/yamlab/put_pot_on_cooktop/` | 16 | yes | |
|
|
