Add complete scene catalog, official MP4 demos, 30 selected multi-camera episodes and Franka camera research
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- LICENSE +201 -0
- NOTICE.md +5 -0
- README.md +1075 -0
- browser/base.html +116 -0
- data/all.parquet +3 -0
- data/assembly.parquet +3 -0
- data/cutting.parquet +3 -0
- data/deformable.parquet +3 -0
- data/liquid.parquet +3 -0
- data/locomanip.parquet +3 -0
- data/organizing.parquet +3 -0
- data/puzzle.parquet +3 -0
- data/scene_allen_bolt.parquet +3 -0
- data/scene_box_to_bin.parquet +3 -0
- data/scene_bulb.parquet +3 -0
- data/scene_classify_objects.parquet +3 -0
- data/scene_clear_organic_objects.parquet +3 -0
- data/scene_coffee.parquet +3 -0
- data/scene_dice.parquet +3 -0
- data/scene_dumpling.parquet +3 -0
- data/scene_egg_carton.parquet +3 -0
- data/scene_fruit_delivery.parquet +3 -0
- data/scene_ikea_table.parquet +3 -0
- data/scene_latte.parquet +3 -0
- data/scene_nut_thread.parquet +3 -0
- data/scene_pc_gpu.parquet +3 -0
- data/scene_pc_gpu_ram.parquet +3 -0
- data/scene_pc_motherboard.parquet +3 -0
- data/scene_pc_ram.parquet +3 -0
- data/scene_pen_holder.parquet +3 -0
- data/scene_push_shapes.parquet +3 -0
- data/scene_shoe_knot.parquet +3 -0
- data/scene_slice.parquet +3 -0
- data/scene_so101.parquet +3 -0
- data/scene_spatula.parquet +3 -0
- data/scene_stack_blocks.parquet +3 -0
- data/scene_syringe.parquet +3 -0
- data/scene_tool_packing.parquet +3 -0
- data/scene_tshirt.parquet +3 -0
- data/scene_wheel_carry.parquet +3 -0
- media/allen_bolt/website_demo.mp4 +3 -0
- media/box_to_bin/website_demo.mp4 +3 -0
- media/bulb/episode_000000/front.mp4 +3 -0
- media/bulb/episode_000000/preview.jpg +3 -0
- media/bulb/episode_000000/synchronized.mp4 +3 -0
- media/bulb/episode_000000/wrist.mp4 +3 -0
- media/bulb/episode_000408/front.mp4 +3 -0
- media/bulb/episode_000408/preview.jpg +3 -0
- media/bulb/episode_000408/synchronized.mp4 +3 -0
- media/bulb/episode_000408/wrist.mp4 +3 -0
LICENSE
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NOTICE.md
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# Source attribution and terms
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Unofficial curated examples. Official task code, descriptions and episodes are credited to the EmbodiedSWE authors.
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The upstream code LICENSE is Apache-2.0 and is retained verbatim in LICENSE. Some official HF datasets declare Apache-2.0; others do not declare a dataset-specific license in their card metadata. Per-source metadata is preserved in provenance/tasks.json. Website clips are credited and linked to their original project-page files. This curation does not create additional rights or replace upstream terms.
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README.md
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| 1 |
+
---
|
| 2 |
+
language:
|
| 3 |
+
- en
|
| 4 |
+
- zh
|
| 5 |
+
license: other
|
| 6 |
+
license_name: upstream-embodiedswe-terms
|
| 7 |
+
license_link: https://huggingface.co/datasets/Travor278/EmbodiedSWE-Task-Examples/blob/main/NOTICE.md
|
| 8 |
+
pretty_name: EmbodiedSWE Simulation Task Examples
|
| 9 |
+
tags:
|
| 10 |
+
- robotics
|
| 11 |
+
- video
|
| 12 |
+
- simulation
|
| 13 |
+
configs:
|
| 14 |
+
- config_name: all
|
| 15 |
+
data_files:
|
| 16 |
+
- split: examples
|
| 17 |
+
path: data/all.parquet
|
| 18 |
+
default: true
|
| 19 |
+
- config_name: scene_allen_bolt
|
| 20 |
+
data_files:
|
| 21 |
+
- split: examples
|
| 22 |
+
path: data/scene_allen_bolt.parquet
|
| 23 |
+
- config_name: scene_bulb
|
| 24 |
+
data_files:
|
| 25 |
+
- split: examples
|
| 26 |
+
path: data/scene_bulb.parquet
|
| 27 |
+
- config_name: scene_ikea_table
|
| 28 |
+
data_files:
|
| 29 |
+
- split: examples
|
| 30 |
+
path: data/scene_ikea_table.parquet
|
| 31 |
+
- config_name: scene_so101
|
| 32 |
+
data_files:
|
| 33 |
+
- split: examples
|
| 34 |
+
path: data/scene_so101.parquet
|
| 35 |
+
- config_name: scene_nut_thread
|
| 36 |
+
data_files:
|
| 37 |
+
- split: examples
|
| 38 |
+
path: data/scene_nut_thread.parquet
|
| 39 |
+
- config_name: scene_pc_gpu
|
| 40 |
+
data_files:
|
| 41 |
+
- split: examples
|
| 42 |
+
path: data/scene_pc_gpu.parquet
|
| 43 |
+
- config_name: scene_pc_gpu_ram
|
| 44 |
+
data_files:
|
| 45 |
+
- split: examples
|
| 46 |
+
path: data/scene_pc_gpu_ram.parquet
|
| 47 |
+
- config_name: scene_pc_motherboard
|
| 48 |
+
data_files:
|
| 49 |
+
- split: examples
|
| 50 |
+
path: data/scene_pc_motherboard.parquet
|
| 51 |
+
- config_name: scene_pc_ram
|
| 52 |
+
data_files:
|
| 53 |
+
- split: examples
|
| 54 |
+
path: data/scene_pc_ram.parquet
|
| 55 |
+
- config_name: scene_pen_holder
|
| 56 |
+
data_files:
|
| 57 |
+
- split: examples
|
| 58 |
+
path: data/scene_pen_holder.parquet
|
| 59 |
+
- config_name: scene_tool_packing
|
| 60 |
+
data_files:
|
| 61 |
+
- split: examples
|
| 62 |
+
path: data/scene_tool_packing.parquet
|
| 63 |
+
- config_name: scene_egg_carton
|
| 64 |
+
data_files:
|
| 65 |
+
- split: examples
|
| 66 |
+
path: data/scene_egg_carton.parquet
|
| 67 |
+
- config_name: scene_clear_organic_objects
|
| 68 |
+
data_files:
|
| 69 |
+
- split: examples
|
| 70 |
+
path: data/scene_clear_organic_objects.parquet
|
| 71 |
+
- config_name: scene_coffee
|
| 72 |
+
data_files:
|
| 73 |
+
- split: examples
|
| 74 |
+
path: data/scene_coffee.parquet
|
| 75 |
+
- config_name: scene_spatula
|
| 76 |
+
data_files:
|
| 77 |
+
- split: examples
|
| 78 |
+
path: data/scene_spatula.parquet
|
| 79 |
+
- config_name: scene_syringe
|
| 80 |
+
data_files:
|
| 81 |
+
- split: examples
|
| 82 |
+
path: data/scene_syringe.parquet
|
| 83 |
+
- config_name: scene_push_shapes
|
| 84 |
+
data_files:
|
| 85 |
+
- split: examples
|
| 86 |
+
path: data/scene_push_shapes.parquet
|
| 87 |
+
- config_name: scene_classify_objects
|
| 88 |
+
data_files:
|
| 89 |
+
- split: examples
|
| 90 |
+
path: data/scene_classify_objects.parquet
|
| 91 |
+
- config_name: scene_stack_blocks
|
| 92 |
+
data_files:
|
| 93 |
+
- split: examples
|
| 94 |
+
path: data/scene_stack_blocks.parquet
|
| 95 |
+
- config_name: scene_tshirt
|
| 96 |
+
data_files:
|
| 97 |
+
- split: examples
|
| 98 |
+
path: data/scene_tshirt.parquet
|
| 99 |
+
- config_name: scene_latte
|
| 100 |
+
data_files:
|
| 101 |
+
- split: examples
|
| 102 |
+
path: data/scene_latte.parquet
|
| 103 |
+
- config_name: scene_dumpling
|
| 104 |
+
data_files:
|
| 105 |
+
- split: examples
|
| 106 |
+
path: data/scene_dumpling.parquet
|
| 107 |
+
- config_name: scene_shoe_knot
|
| 108 |
+
data_files:
|
| 109 |
+
- split: examples
|
| 110 |
+
path: data/scene_shoe_knot.parquet
|
| 111 |
+
- config_name: scene_slice
|
| 112 |
+
data_files:
|
| 113 |
+
- split: examples
|
| 114 |
+
path: data/scene_slice.parquet
|
| 115 |
+
- config_name: scene_dice
|
| 116 |
+
data_files:
|
| 117 |
+
- split: examples
|
| 118 |
+
path: data/scene_dice.parquet
|
| 119 |
+
- config_name: scene_fruit_delivery
|
| 120 |
+
data_files:
|
| 121 |
+
- split: examples
|
| 122 |
+
path: data/scene_fruit_delivery.parquet
|
| 123 |
+
- config_name: scene_box_to_bin
|
| 124 |
+
data_files:
|
| 125 |
+
- split: examples
|
| 126 |
+
path: data/scene_box_to_bin.parquet
|
| 127 |
+
- config_name: scene_wheel_carry
|
| 128 |
+
data_files:
|
| 129 |
+
- split: examples
|
| 130 |
+
path: data/scene_wheel_carry.parquet
|
| 131 |
+
- config_name: assembly
|
| 132 |
+
data_files:
|
| 133 |
+
- split: examples
|
| 134 |
+
path: data/assembly.parquet
|
| 135 |
+
- config_name: cutting
|
| 136 |
+
data_files:
|
| 137 |
+
- split: examples
|
| 138 |
+
path: data/cutting.parquet
|
| 139 |
+
- config_name: deformable
|
| 140 |
+
data_files:
|
| 141 |
+
- split: examples
|
| 142 |
+
path: data/deformable.parquet
|
| 143 |
+
- config_name: liquid
|
| 144 |
+
data_files:
|
| 145 |
+
- split: examples
|
| 146 |
+
path: data/liquid.parquet
|
| 147 |
+
- config_name: locomanip
|
| 148 |
+
data_files:
|
| 149 |
+
- split: examples
|
| 150 |
+
path: data/locomanip.parquet
|
| 151 |
+
- config_name: organizing
|
| 152 |
+
data_files:
|
| 153 |
+
- split: examples
|
| 154 |
+
path: data/organizing.parquet
|
| 155 |
+
- config_name: puzzle
|
| 156 |
+
data_files:
|
| 157 |
+
- split: examples
|
| 158 |
+
path: data/puzzle.parquet
|
| 159 |
+
---
|
| 160 |
+
# EmbodiedSWE Simulation Task Examples
|
| 161 |
+
|
| 162 |
+
[打开任务 MP4 浏览页](https://travor278-embodiedswe-task-examples.static.hf.space/?task=bulb)
|
| 163 |
+
|
| 164 |
+
28 个官网场景 · 26 段官网 MP4 · 10 个官方数据来源各 3 条完整 episode，共 30 条多相机示教。shoe_knot 与 dice 暂无官方展示视频，保留任务目录和评分标准。
|
| 165 |
+
|
| 166 |
+
**序号规则：** 本页 C01–C28 是按官网目录顺序生成的辅助编号，官方任务以 `suite.scene` 标识。LeRobot `task_index` 和 `episode_index` 都只在各自 `source_repo` 内有效，绝不能把各库的 task_index=0 当成同一任务。
|
| 167 |
+
|
| 168 |
+
**相机：** 按官方实际提供的 front/front_wide/high/side/corner/wrist 展示，单臂 wrist 不伪装成 left/right。官网演示只展示其原有视角。
|
| 169 |
+
|
| 170 |
+
**评分：** 来自当前公开代码的 BaseGrader 与具体 RUBRIC，progress 是归一化权重和。live=当前值；once=历史最好；final=交付末端才评估。历史数据生成使用的 grader 可能不同；示例没有公开逐条分数，因此 actual_episode_score/success 留空。
|
| 171 |
+
|
| 172 |
+
[Franka 腕部相机说明](https://travor278-embodiedswe-task-examples.static.hf.space/?task=camera-guide) · [官方任务页](https://embodiedswe.github.io/#benchmark)
|
| 173 |
+
|
| 174 |
+
| 辅助目录号 | 官方 scene ID | Task | Category | 直接浏览 |
|
| 175 |
+
|---|---|---|---|---|
|
| 176 |
+
| C01 | `assembly.allen_bolt` | Allen bolt | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=allen_bolt) |
|
| 177 |
+
| C02 | `assembly.bulb` | Bulb screwing | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=bulb) |
|
| 178 |
+
| C03 | `assembly.ikea_table` | Table assembly | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=ikea_table) |
|
| 179 |
+
| C04 | `assembly.so101` | Robot-arm assembly | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=so101) |
|
| 180 |
+
| C05 | `assembly.nut_thread` | Nut threading | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=nut_thread) |
|
| 181 |
+
| C06 | `assembly.pc_gpu` | GPU insertion | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu) |
|
| 182 |
+
| C07 | `assembly.pc_gpu_ram` | GPU + RAM install | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu_ram) |
|
| 183 |
+
| C08 | `assembly.pc_motherboard` | Motherboard mount | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_motherboard) |
|
| 184 |
+
| C09 | `assembly.pc_ram` | RAM seating | Assembly | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_ram) |
|
| 185 |
+
| C10 | `packing.pen_holder` | Pen holder | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pen_holder) |
|
| 186 |
+
| C11 | `packing.tool_packing` | Tool packing | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tool_packing) |
|
| 187 |
+
| C12 | `packing.egg_carton` | Egg carton | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=egg_carton) |
|
| 188 |
+
| C13 | `packing.clear_organic_objects` | Clear organics | Organizing | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=clear_organic_objects) |
|
| 189 |
+
| C14 | `puzzle.coffee` | Coffee brewing | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=coffee) |
|
| 190 |
+
| C15 | `puzzle.spatula` | Spatula flip | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=spatula) |
|
| 191 |
+
| C16 | `puzzle.syringe` | Syringe dosing | Liquid | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=syringe) |
|
| 192 |
+
| C17 | `puzzle.push_shapes` | Push shapes | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=push_shapes) |
|
| 193 |
+
| C18 | `puzzle.classify_objects` | Classify objects | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=classify_objects) |
|
| 194 |
+
| C19 | `puzzle.stack_blocks` | Stack blocks | Puzzle | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=stack_blocks) |
|
| 195 |
+
| C20 | `deformable.tshirt` | T-shirt folding | Deformable | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tshirt) |
|
| 196 |
+
| C21 | `deformable.latte` | Latte pouring | Liquid | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=latte) |
|
| 197 |
+
| C22 | `deformable.dumpling` | Dough rolling | Deformable | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dumpling) |
|
| 198 |
+
| C23 | `deformable.shoe_knot` | Shoelace half-knot | Deformable | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=shoe_knot) |
|
| 199 |
+
| C24 | `cutting.slice` | Banana slicing | Cutting | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=slice) |
|
| 200 |
+
| C25 | `cutting.dice` | Food dicing | Cutting | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dice) |
|
| 201 |
+
| C26 | `locomanip.fruit_delivery` | Fruit delivery | Locomanip | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=fruit_delivery) |
|
| 202 |
+
| C27 | `locomanip.box_to_bin` | Box to bin | Locomanip | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=box_to_bin) |
|
| 203 |
+
| C28 | `locomanip.wheel_carry` | Wheel carry | Locomanip | [打开](https://travor278-embodiedswe-task-examples.static.hf.space/?task=wheel_carry) |
|
| 204 |
+
|
| 205 |
+
## C01 · Allen bolt · assembly.allen_bolt
|
| 206 |
+
|
| 207 |
+
**Instruction / objective:** Drive an Allen bolt into a threaded plate using an L-shaped key.
|
| 208 |
+
|
| 209 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 210 |
+
|
| 211 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=allen_bolt) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/allen_bolt_assembly.py)
|
| 212 |
+
|
| 213 |
+
| Stage | Weight | Normalized share | Mode |
|
| 214 |
+
|---|---|---|---|
|
| 215 |
+
| key_grasped | 1 | 50.00% | once |
|
| 216 |
+
| driven | 1 | 50.00% | live |
|
| 217 |
+
|
| 218 |
+
```python
|
| 219 |
+
def check_success(self):
|
| 220 |
+
return self.scene.success()
|
| 221 |
+
```
|
| 222 |
+
|
| 223 |
+
[官网展示 MP4](media/allen_bolt/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 224 |
+
|
| 225 |
+
## C02 · Bulb screwing · assembly.bulb
|
| 226 |
+
|
| 227 |
+
**Instruction / objective:** Pick up a light bulb and screw it into its socket until fully seated.
|
| 228 |
+
|
| 229 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 230 |
+
|
| 231 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=bulb) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/bulb_assembly.py)
|
| 232 |
+
|
| 233 |
+
| Stage | Weight | Normalized share | Mode |
|
| 234 |
+
|---|---|---|---|
|
| 235 |
+
| lifted | 1 | 33.33% | once |
|
| 236 |
+
| engaged | 1 | 33.33% | live |
|
| 237 |
+
| threaded | 1 | 33.33% | live |
|
| 238 |
+
|
| 239 |
+
```python
|
| 240 |
+
def check_success(self):
|
| 241 |
+
return self.scene.seated().all(dim=1)
|
| 242 |
+
```
|
| 243 |
+
|
| 244 |
+
**Official dataset:** [EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921](https://huggingface.co/datasets/EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921) · 15 FPS · cameras: front, wrist
|
| 245 |
+
|
| 246 |
+
**source task_index=0 / episode_index=0** · 2731 frames / 15 FPS / 182.07 s
|
| 247 |
+
|
| 248 |
+
**Dataset instruction:** pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.
|
| 249 |
+
|
| 250 |
+
|
| 251 |
+
|
| 252 |
+
[同步 MP4](media/bulb/episode_000000/synchronized.mp4) · [front MP4](media/bulb/episode_000000/front.mp4) · [wrist MP4](media/bulb/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/bulb/episode_000000.parquet)
|
| 253 |
+
|
| 254 |
+
**source task_index=0 / episode_index=408** · 1317 frames / 15 FPS / 87.80 s
|
| 255 |
+
|
| 256 |
+
**Dataset instruction:** pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.
|
| 257 |
+
|
| 258 |
+
|
| 259 |
+
|
| 260 |
+
[同步 MP4](media/bulb/episode_000408/synchronized.mp4) · [front MP4](media/bulb/episode_000408/front.mp4) · [wrist MP4](media/bulb/episode_000408/wrist.mp4) · [官方轨迹 Parquet](trajectories/bulb/episode_000408.parquet)
|
| 261 |
+
|
| 262 |
+
**source task_index=0 / episode_index=815** · 1745 frames / 15 FPS / 116.33 s
|
| 263 |
+
|
| 264 |
+
**Dataset instruction:** pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.
|
| 265 |
+
|
| 266 |
+
|
| 267 |
+
|
| 268 |
+
[同步 MP4](media/bulb/episode_000815/synchronized.mp4) · [front MP4](media/bulb/episode_000815/front.mp4) · [wrist MP4](media/bulb/episode_000815/wrist.mp4) · [官方轨迹 Parquet](trajectories/bulb/episode_000815.parquet)
|
| 269 |
+
|
| 270 |
+
[官网展示 MP4](media/bulb/website_demo.mp4) · 网站原始播放倍率 5.0x；该示例不等同于公开三相机训练轨迹。
|
| 271 |
+
|
| 272 |
+
## C03 · Table assembly · assembly.ikea_table
|
| 273 |
+
|
| 274 |
+
**Instruction / objective:** Attach four threaded legs to the corner studs of a tabletop.
|
| 275 |
+
|
| 276 |
+
**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka
|
| 277 |
+
|
| 278 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=ikea_table) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/ikea_table_assembly.py)
|
| 279 |
+
|
| 280 |
+
| Stage | Weight | Normalized share | Mode |
|
| 281 |
+
|---|---|---|---|
|
| 282 |
+
| aligned | 1 | 50.00% | live |
|
| 283 |
+
| seated | 1 | 50.00% | live |
|
| 284 |
+
|
| 285 |
+
```python
|
| 286 |
+
def check_success(self):
|
| 287 |
+
return self.scene.success()
|
| 288 |
+
```
|
| 289 |
+
|
| 290 |
+
[官网展示 MP4](media/ikea_table/website_demo.mp4) · 网站原始播放倍率 4.0x；该示例不等同于公开三相机训练轨迹。
|
| 291 |
+
|
| 292 |
+
## C04 · Robot-arm assembly · assembly.so101
|
| 293 |
+
|
| 294 |
+
**Instruction / objective:** Assemble a robot arm.
|
| 295 |
+
|
| 296 |
+
**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka
|
| 297 |
+
|
| 298 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=so101) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/so101_assembly.py)
|
| 299 |
+
|
| 300 |
+
| Stage | Weight | Normalized share | Mode |
|
| 301 |
+
|---|---|---|---|
|
| 302 |
+
| motor_seated | 1 | 7.14% | live |
|
| 303 |
+
| tab_screws_picked | 2 | 14.29% | once |
|
| 304 |
+
| tab_screws_fastened | 2 | 14.29% | live |
|
| 305 |
+
| fork_seated | 1 | 7.14% | live |
|
| 306 |
+
| horn_screws_picked | 4 | 28.57% | once |
|
| 307 |
+
| horn_screws_fastened | 4 | 28.57% | live |
|
| 308 |
+
|
| 309 |
+
```python
|
| 310 |
+
def check_success(self):
|
| 311 |
+
"""Every loose screw fastened (the scene's `state == 2`) AND the servo live in the
|
| 312 |
+
pocket AND the forearm live on the horn — the assembled elbow, on the final state."""
|
| 313 |
+
all_fastened = (self.scene.fastened >= 0).all(dim=1)
|
| 314 |
+
return all_fastened & self._motor_seated() & self._fork_seated()
|
| 315 |
+
```
|
| 316 |
+
|
| 317 |
+
[官网展示 MP4](media/so101/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 318 |
+
|
| 319 |
+
## C05 · Nut threading · assembly.nut_thread
|
| 320 |
+
|
| 321 |
+
**Instruction / objective:** Pick up an M16 nut and thread it onto a fixed bolt.
|
| 322 |
+
|
| 323 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 324 |
+
|
| 325 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=nut_thread) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/nut_thread_assembly.py)
|
| 326 |
+
|
| 327 |
+
| Stage | Weight | Normalized share | Mode |
|
| 328 |
+
|---|---|---|---|
|
| 329 |
+
| lifted | 1 | 33.33% | once |
|
| 330 |
+
| aligned | 1 | 33.33% | live |
|
| 331 |
+
| threaded | 1 | 33.33% | live |
|
| 332 |
+
|
| 333 |
+
```python
|
| 334 |
+
def check_success(self):
|
| 335 |
+
return self.scene.seated().all(dim=1)
|
| 336 |
+
```
|
| 337 |
+
|
| 338 |
+
**Official dataset:** [EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905](https://huggingface.co/datasets/EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905) · 20 FPS · cameras: front, side, wrist
|
| 339 |
+
|
| 340 |
+
**source task_index=0 / episode_index=0** · 3661 frames / 20 FPS / 183.05 s
|
| 341 |
+
|
| 342 |
+
**Dataset instruction:** pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.
|
| 343 |
+
|
| 344 |
+
|
| 345 |
+
|
| 346 |
+
[同步 MP4](media/nut_thread/episode_000000/synchronized.mp4) · [front MP4](media/nut_thread/episode_000000/front.mp4) · [side MP4](media/nut_thread/episode_000000/side.mp4) · [wrist MP4](media/nut_thread/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/nut_thread/episode_000000.parquet)
|
| 347 |
+
|
| 348 |
+
**source task_index=0 / episode_index=200** · 2298 frames / 20 FPS / 114.90 s
|
| 349 |
+
|
| 350 |
+
**Dataset instruction:** pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.
|
| 351 |
+
|
| 352 |
+
|
| 353 |
+
|
| 354 |
+
[同步 MP4](media/nut_thread/episode_000200/synchronized.mp4) · [front MP4](media/nut_thread/episode_000200/front.mp4) · [side MP4](media/nut_thread/episode_000200/side.mp4) · [wrist MP4](media/nut_thread/episode_000200/wrist.mp4) · [官方轨迹 Parquet](trajectories/nut_thread/episode_000200.parquet)
|
| 355 |
+
|
| 356 |
+
**source task_index=0 / episode_index=400** · 2181 frames / 20 FPS / 109.05 s
|
| 357 |
+
|
| 358 |
+
**Dataset instruction:** pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.
|
| 359 |
+
|
| 360 |
+
|
| 361 |
+
|
| 362 |
+
[同步 MP4](media/nut_thread/episode_000400/synchronized.mp4) · [front MP4](media/nut_thread/episode_000400/front.mp4) · [side MP4](media/nut_thread/episode_000400/side.mp4) · [wrist MP4](media/nut_thread/episode_000400/wrist.mp4) · [官方轨迹 Parquet](trajectories/nut_thread/episode_000400.parquet)
|
| 363 |
+
|
| 364 |
+
[官网展示 MP4](media/nut_thread/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 365 |
+
|
| 366 |
+
## C06 · GPU insertion · assembly.pc_gpu
|
| 367 |
+
|
| 368 |
+
**Instruction / objective:** Align a graphics card with a PCIe slot and press it into place.
|
| 369 |
+
|
| 370 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 371 |
+
|
| 372 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_gpu_assembly.py)
|
| 373 |
+
|
| 374 |
+
| Stage | Weight | Normalized share | Mode |
|
| 375 |
+
|---|---|---|---|
|
| 376 |
+
| grasped | 1 | 33.33% | once |
|
| 377 |
+
| aligned | 1 | 33.33% | live |
|
| 378 |
+
| pressed | 1 | 33.33% | live |
|
| 379 |
+
|
| 380 |
+
```python
|
| 381 |
+
def check_success(self):
|
| 382 |
+
return self.scene.seated()
|
| 383 |
+
```
|
| 384 |
+
|
| 385 |
+
**Official dataset:** [EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907) · 15 FPS · cameras: front, wrist
|
| 386 |
+
|
| 387 |
+
**source task_index=0 / episode_index=0** · 2010 frames / 15 FPS / 134.00 s
|
| 388 |
+
|
| 389 |
+
**Dataset instruction:** grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.
|
| 390 |
+
|
| 391 |
+
|
| 392 |
+
|
| 393 |
+
[同步 MP4](media/pc_gpu/episode_000000/synchronized.mp4) · [front MP4](media/pc_gpu/episode_000000/front.mp4) · [wrist MP4](media/pc_gpu/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu/episode_000000.parquet)
|
| 394 |
+
|
| 395 |
+
**source task_index=2 / episode_index=49** · 1350 frames / 15 FPS / 90.00 s
|
| 396 |
+
|
| 397 |
+
**Dataset instruction:** grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.
|
| 398 |
+
The case has been set down by hand and is not on a fixed mark: its position on the bench shifts by a centimetre or so from one build to the next, so the slot's location must be read off the case itself rather than assumed. Its orientation is always the same — square to the bench.
|
| 399 |
+
|
| 400 |
+
|
| 401 |
+
|
| 402 |
+
[同步 MP4](media/pc_gpu/episode_000049/synchronized.mp4) · [front MP4](media/pc_gpu/episode_000049/front.mp4) · [wrist MP4](media/pc_gpu/episode_000049/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu/episode_000049.parquet)
|
| 403 |
+
|
| 404 |
+
**source task_index=4 / episode_index=114** · 1830 frames / 15 FPS / 122.00 s
|
| 405 |
+
|
| 406 |
+
**Dataset instruction:** grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.
|
| 407 |
+
The work is raised: the case stands on a grey 60 mm bench riser and the card's holder on a matching plinth of the same height, so the whole job — the slot, the card and the space above them — sits that much higher off the table top than the bare bench would put it. The two platforms are fixed bench furniture: they do not move and are not part of the task.
|
| 408 |
+
|
| 409 |
+
|
| 410 |
+
|
| 411 |
+
[同步 MP4](media/pc_gpu/episode_000114/synchronized.mp4) · [front MP4](media/pc_gpu/episode_000114/front.mp4) · [wrist MP4](media/pc_gpu/episode_000114/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu/episode_000114.parquet)
|
| 412 |
+
|
| 413 |
+
[官网展示 MP4](media/pc_gpu/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 414 |
+
|
| 415 |
+
## C07 · GPU + RAM install · assembly.pc_gpu_ram
|
| 416 |
+
|
| 417 |
+
**Instruction / objective:** Install a graphics card and then seat two memory modules in their slots.
|
| 418 |
+
|
| 419 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 420 |
+
|
| 421 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_gpu_ram) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_gpu_ram_assembly.py)
|
| 422 |
+
|
| 423 |
+
| Stage | Weight | Normalized share | Mode |
|
| 424 |
+
|---|---|---|---|
|
| 425 |
+
| gpu_grasped | 1 | 11.11% | once |
|
| 426 |
+
| gpu_aligned | 1 | 11.11% | live |
|
| 427 |
+
| gpu_seated | 1 | 11.11% | live |
|
| 428 |
+
| ram_grasped | 2 | 22.22% | once |
|
| 429 |
+
| ram_aligned | 2 | 22.22% | live |
|
| 430 |
+
| ram_seated | 2 | 22.22% | live |
|
| 431 |
+
|
| 432 |
+
```python
|
| 433 |
+
def check_success(self):
|
| 434 |
+
return self.scene.success()
|
| 435 |
+
```
|
| 436 |
+
|
| 437 |
+
**Official dataset:** [EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907) · 15 FPS · cameras: front, high, wrist
|
| 438 |
+
|
| 439 |
+
**source task_index=0 / episode_index=0** · 2850 frames / 15 FPS / 190.00 s
|
| 440 |
+
|
| 441 |
+
**Dataset instruction:** install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.
|
| 442 |
+
|
| 443 |
+
|
| 444 |
+
|
| 445 |
+
[同步 MP4](media/pc_gpu_ram/episode_000000/synchronized.mp4) · [front MP4](media/pc_gpu_ram/episode_000000/front.mp4) · [high MP4](media/pc_gpu_ram/episode_000000/high.mp4) · [wrist MP4](media/pc_gpu_ram/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu_ram/episode_000000.parquet)
|
| 446 |
+
|
| 447 |
+
**source task_index=1 / episode_index=16** · 2070 frames / 15 FPS / 138.00 s
|
| 448 |
+
|
| 449 |
+
**Dataset instruction:** install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.
|
| 450 |
+
The bench is a working one: well to the west of the case, clear of the case, the parts and every path between them, a shallow steel parts tray, a ceramic coffee mug and the motherboard's printed manual lie about. None of them belongs to this job — leave them where they are.
|
| 451 |
+
|
| 452 |
+
|
| 453 |
+
|
| 454 |
+
[同步 MP4](media/pc_gpu_ram/episode_000016/synchronized.mp4) · [front MP4](media/pc_gpu_ram/episode_000016/front.mp4) · [high MP4](media/pc_gpu_ram/episode_000016/high.mp4) · [wrist MP4](media/pc_gpu_ram/episode_000016/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu_ram/episode_000016.parquet)
|
| 455 |
+
|
| 456 |
+
**source task_index=2 / episode_index=84** · 2070 frames / 15 FPS / 138.00 s
|
| 457 |
+
|
| 458 |
+
**Dataset instruction:** install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.
|
| 459 |
+
The bench stands in a service bay: a pegboard panel rises along its far edge, a steel shelf is cantilevered above that panel well over head height for the arm, and a wooden crate stands on the floor off the bench's west end. All three are fixed parts of the room — not objects to handle, and none is within reach of the work.
|
| 460 |
+
|
| 461 |
+
|
| 462 |
+
|
| 463 |
+
[同步 MP4](media/pc_gpu_ram/episode_000084/synchronized.mp4) · [front MP4](media/pc_gpu_ram/episode_000084/front.mp4) · [high MP4](media/pc_gpu_ram/episode_000084/high.mp4) · [wrist MP4](media/pc_gpu_ram/episode_000084/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_gpu_ram/episode_000084.parquet)
|
| 464 |
+
|
| 465 |
+
[官网展示 MP4](media/pc_gpu_ram/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。
|
| 466 |
+
|
| 467 |
+
## C08 · Motherboard mount · assembly.pc_motherboard
|
| 468 |
+
|
| 469 |
+
**Instruction / objective:** Use an Allen key to drive seven mounting bolts and secure a motherboard inside a case.
|
| 470 |
+
|
| 471 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 472 |
+
|
| 473 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_motherboard) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_motherboard_assembly.py)
|
| 474 |
+
|
| 475 |
+
| Stage | Weight | Normalized share | Mode |
|
| 476 |
+
|---|---|---|---|
|
| 477 |
+
| key_grasped | 1 | 12.50% | once |
|
| 478 |
+
| driven | 7 | 87.50% | live |
|
| 479 |
+
|
| 480 |
+
```python
|
| 481 |
+
def check_success(self):
|
| 482 |
+
return self.scene.success()
|
| 483 |
+
```
|
| 484 |
+
|
| 485 |
+
[官网展示 MP4](media/pc_motherboard/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。
|
| 486 |
+
|
| 487 |
+
## C09 · RAM seating · assembly.pc_ram
|
| 488 |
+
|
| 489 |
+
**Instruction / objective:** Align and seat two memory modules in separate DIMM slots.
|
| 490 |
+
|
| 491 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 492 |
+
|
| 493 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pc_ram) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/assembly/grader/pc_ram_assembly.py)
|
| 494 |
+
|
| 495 |
+
| Stage | Weight | Normalized share | Mode |
|
| 496 |
+
|---|---|---|---|
|
| 497 |
+
| grasped | 1 | 33.33% | once |
|
| 498 |
+
| aligned | 1 | 33.33% | live |
|
| 499 |
+
| seated | 1 | 33.33% | live |
|
| 500 |
+
|
| 501 |
+
```python
|
| 502 |
+
def check_success(self):
|
| 503 |
+
return self.scene.success()
|
| 504 |
+
```
|
| 505 |
+
|
| 506 |
+
**Official dataset:** [EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907) · 15 FPS · cameras: front, wrist
|
| 507 |
+
|
| 508 |
+
**source task_index=0 / episode_index=0** · 2250 frames / 15 FPS / 150.00 s
|
| 509 |
+
|
| 510 |
+
**Dataset instruction:** grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.
|
| 511 |
+
|
| 512 |
+
|
| 513 |
+
|
| 514 |
+
[同步 MP4](media/pc_ram/episode_000000/synchronized.mp4) · [front MP4](media/pc_ram/episode_000000/front.mp4) · [wrist MP4](media/pc_ram/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_ram/episode_000000.parquet)
|
| 515 |
+
|
| 516 |
+
**source task_index=0 / episode_index=300** · 1290 frames / 15 FPS / 86.00 s
|
| 517 |
+
|
| 518 |
+
**Dataset instruction:** grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.
|
| 519 |
+
|
| 520 |
+
|
| 521 |
+
|
| 522 |
+
[同步 MP4](media/pc_ram/episode_000300/synchronized.mp4) · [front MP4](media/pc_ram/episode_000300/front.mp4) · [wrist MP4](media/pc_ram/episode_000300/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_ram/episode_000300.parquet)
|
| 523 |
+
|
| 524 |
+
**source task_index=0 / episode_index=599** · 600 frames / 15 FPS / 40.00 s
|
| 525 |
+
|
| 526 |
+
**Dataset instruction:** grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.
|
| 527 |
+
|
| 528 |
+
|
| 529 |
+
|
| 530 |
+
[同步 MP4](media/pc_ram/episode_000599/synchronized.mp4) · [front MP4](media/pc_ram/episode_000599/front.mp4) · [wrist MP4](media/pc_ram/episode_000599/wrist.mp4) · [官方轨迹 Parquet](trajectories/pc_ram/episode_000599.parquet)
|
| 531 |
+
|
| 532 |
+
[官网展示 MP4](media/pc_ram/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 533 |
+
|
| 534 |
+
## C10 · Pen holder · packing.pen_holder
|
| 535 |
+
|
| 536 |
+
**Instruction / objective:** Insert every present pen tip-up and then place the filled holder upright.
|
| 537 |
+
|
| 538 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 539 |
+
|
| 540 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=pen_holder) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/pen_holder.py)
|
| 541 |
+
|
| 542 |
+
| Stage | Weight | Normalized share | Mode |
|
| 543 |
+
|---|---|---|---|
|
| 544 |
+
| pens_in | 0.9 | 90.00% | live |
|
| 545 |
+
| holder_placed | 0.1 | 10.00% | live |
|
| 546 |
+
|
| 547 |
+
```python
|
| 548 |
+
def check_success(self):
|
| 549 |
+
return self.scene.success()
|
| 550 |
+
```
|
| 551 |
+
|
| 552 |
+
**Official dataset:** [EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909](https://huggingface.co/datasets/EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909) · 15 FPS · cameras: front, corner, wrist
|
| 553 |
+
|
| 554 |
+
**source task_index=0 / episode_index=0** · 3780 frames / 15 FPS / 252.00 s
|
| 555 |
+
|
| 556 |
+
**Dataset instruction:** put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.
|
| 557 |
+
|
| 558 |
+
|
| 559 |
+
|
| 560 |
+
[同步 MP4](media/pen_holder/episode_000000/synchronized.mp4) · [front MP4](media/pen_holder/episode_000000/front.mp4) · [corner MP4](media/pen_holder/episode_000000/corner.mp4) · [wrist MP4](media/pen_holder/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/pen_holder/episode_000000.parquet)
|
| 561 |
+
|
| 562 |
+
**source task_index=0 / episode_index=342** · 900 frames / 15 FPS / 60.00 s
|
| 563 |
+
|
| 564 |
+
**Dataset instruction:** put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.
|
| 565 |
+
|
| 566 |
+
|
| 567 |
+
|
| 568 |
+
[同步 MP4](media/pen_holder/episode_000342/synchronized.mp4) · [front MP4](media/pen_holder/episode_000342/front.mp4) · [corner MP4](media/pen_holder/episode_000342/corner.mp4) · [wrist MP4](media/pen_holder/episode_000342/wrist.mp4) · [官方轨迹 Parquet](trajectories/pen_holder/episode_000342.parquet)
|
| 569 |
+
|
| 570 |
+
**source task_index=0 / episode_index=683** · 420 frames / 15 FPS / 28.00 s
|
| 571 |
+
|
| 572 |
+
**Dataset instruction:** put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.
|
| 573 |
+
|
| 574 |
+
|
| 575 |
+
|
| 576 |
+
[同步 MP4](media/pen_holder/episode_000683/synchronized.mp4) · [front MP4](media/pen_holder/episode_000683/front.mp4) · [corner MP4](media/pen_holder/episode_000683/corner.mp4) · [wrist MP4](media/pen_holder/episode_000683/wrist.mp4) · [官方轨迹 Parquet](trajectories/pen_holder/episode_000683.parquet)
|
| 577 |
+
|
| 578 |
+
[官网展示 MP4](media/pen_holder/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 579 |
+
|
| 580 |
+
## C11 · Tool packing · packing.tool_packing
|
| 581 |
+
|
| 582 |
+
**Instruction / objective:** Stow three tools in their assigned drawers and close the cabinet.
|
| 583 |
+
|
| 584 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 585 |
+
|
| 586 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tool_packing) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/tool_packing.py)
|
| 587 |
+
|
| 588 |
+
| Stage | Weight | Normalized share | Mode |
|
| 589 |
+
|---|---|---|---|
|
| 590 |
+
| stowed | 0.45 | 45.00% | live |
|
| 591 |
+
| drawer_shut | 0.45 | 45.00% | live |
|
| 592 |
+
| cabinet_shut | 0.1 | 10.00% | live |
|
| 593 |
+
|
| 594 |
+
```python
|
| 595 |
+
def check_success(self):
|
| 596 |
+
return self.scene.success()
|
| 597 |
+
```
|
| 598 |
+
|
| 599 |
+
**Official dataset:** [EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910](https://huggingface.co/datasets/EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910) · 15 FPS · cameras: front, corner, wrist
|
| 600 |
+
|
| 601 |
+
**source task_index=0 / episode_index=0** · 8730 frames / 15 FPS / 582.00 s
|
| 602 |
+
|
| 603 |
+
**Dataset instruction:** pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.
|
| 604 |
+
|
| 605 |
+
|
| 606 |
+
|
| 607 |
+
[同步 MP4](media/tool_packing/episode_000000/synchronized.mp4) · [front MP4](media/tool_packing/episode_000000/front.mp4) · [corner MP4](media/tool_packing/episode_000000/corner.mp4) · [wrist MP4](media/tool_packing/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/tool_packing/episode_000000.parquet)
|
| 608 |
+
|
| 609 |
+
**source task_index=0 / episode_index=843** · 3720 frames / 15 FPS / 248.00 s
|
| 610 |
+
|
| 611 |
+
**Dataset instruction:** pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.
|
| 612 |
+
|
| 613 |
+
|
| 614 |
+
|
| 615 |
+
[同步 MP4](media/tool_packing/episode_000843/synchronized.mp4) · [front MP4](media/tool_packing/episode_000843/front.mp4) · [corner MP4](media/tool_packing/episode_000843/corner.mp4) · [wrist MP4](media/tool_packing/episode_000843/wrist.mp4) · [官方轨迹 Parquet](trajectories/tool_packing/episode_000843.parquet)
|
| 616 |
+
|
| 617 |
+
**source task_index=0 / episode_index=1685** · 3600 frames / 15 FPS / 240.00 s
|
| 618 |
+
|
| 619 |
+
**Dataset instruction:** pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.
|
| 620 |
+
|
| 621 |
+
|
| 622 |
+
|
| 623 |
+
[同步 MP4](media/tool_packing/episode_001685/synchronized.mp4) · [front MP4](media/tool_packing/episode_001685/front.mp4) · [corner MP4](media/tool_packing/episode_001685/corner.mp4) · [wrist MP4](media/tool_packing/episode_001685/wrist.mp4) · [官方轨迹 Parquet](trajectories/tool_packing/episode_001685.parquet)
|
| 624 |
+
|
| 625 |
+
[官网展示 MP4](media/tool_packing/website_demo.mp4) · 网站原始播放倍率 5.0x；该示例不等同于公开三相机训练轨迹。
|
| 626 |
+
|
| 627 |
+
## C12 · Egg carton · packing.egg_carton
|
| 628 |
+
|
| 629 |
+
**Instruction / objective:** Seat three eggs upright in the cells of an egg carton, then push the hinged lid closed.
|
| 630 |
+
|
| 631 |
+
**Difficulty:** Hard · **官网列出的 evaluated on:** Unitree G1
|
| 632 |
+
|
| 633 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=egg_carton) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/egg_carton.py)
|
| 634 |
+
|
| 635 |
+
| Stage | Weight | Normalized share | Mode |
|
| 636 |
+
|---|---|---|---|
|
| 637 |
+
| eggs_seated | 0.9 | 90.00% | live |
|
| 638 |
+
| lid_closed | 0.1 | 10.00% | live |
|
| 639 |
+
|
| 640 |
+
```python
|
| 641 |
+
def check_success(self):
|
| 642 |
+
return self.scene.success()
|
| 643 |
+
```
|
| 644 |
+
|
| 645 |
+
[官网展示 MP4](media/egg_carton/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 646 |
+
|
| 647 |
+
## C13 · Clear organics · packing.clear_organic_objects
|
| 648 |
+
|
| 649 |
+
**Instruction / objective:** Clear the organic objects on a cluttered table into a bin while leaving the other items in place.
|
| 650 |
+
|
| 651 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1
|
| 652 |
+
|
| 653 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=clear_organic_objects) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/packing/grader/clear_organic_objects.py)
|
| 654 |
+
|
| 655 |
+
| Stage | Weight | Normalized share | Mode |
|
| 656 |
+
|---|---|---|---|
|
| 657 |
+
| organics_cleared | 1.0 | 100.00% | live |
|
| 658 |
+
|
| 659 |
+
```python
|
| 660 |
+
def check_success(self):
|
| 661 |
+
return self.scene.success() & self._bin_upright()
|
| 662 |
+
```
|
| 663 |
+
|
| 664 |
+
**Official dataset:** [EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918](https://huggingface.co/datasets/EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918) · 20 FPS · cameras: front, side, wrist
|
| 665 |
+
|
| 666 |
+
**source task_index=0 / episode_index=0** · 4797 frames / 20 FPS / 239.85 s
|
| 667 |
+
|
| 668 |
+
**Dataset instruction:** identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.
|
| 669 |
+
|
| 670 |
+
|
| 671 |
+
|
| 672 |
+
[同步 MP4](media/clear_organic_objects/episode_000000/synchronized.mp4) · [front MP4](media/clear_organic_objects/episode_000000/front.mp4) · [side MP4](media/clear_organic_objects/episode_000000/side.mp4) · [wrist MP4](media/clear_organic_objects/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/clear_organic_objects/episode_000000.parquet)
|
| 673 |
+
|
| 674 |
+
**source task_index=0 / episode_index=200** · 1879 frames / 20 FPS / 93.95 s
|
| 675 |
+
|
| 676 |
+
**Dataset instruction:** identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.
|
| 677 |
+
|
| 678 |
+
|
| 679 |
+
|
| 680 |
+
[同步 MP4](media/clear_organic_objects/episode_000200/synchronized.mp4) · [front MP4](media/clear_organic_objects/episode_000200/front.mp4) · [side MP4](media/clear_organic_objects/episode_000200/side.mp4) · [wrist MP4](media/clear_organic_objects/episode_000200/wrist.mp4) · [官方轨迹 Parquet](trajectories/clear_organic_objects/episode_000200.parquet)
|
| 681 |
+
|
| 682 |
+
**source task_index=0 / episode_index=399** · 1320 frames / 20 FPS / 66.00 s
|
| 683 |
+
|
| 684 |
+
**Dataset instruction:** identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.
|
| 685 |
+
|
| 686 |
+
|
| 687 |
+
|
| 688 |
+
[同步 MP4](media/clear_organic_objects/episode_000399/synchronized.mp4) · [front MP4](media/clear_organic_objects/episode_000399/front.mp4) · [side MP4](media/clear_organic_objects/episode_000399/side.mp4) · [wrist MP4](media/clear_organic_objects/episode_000399/wrist.mp4) · [官方轨迹 Parquet](trajectories/clear_organic_objects/episode_000399.parquet)
|
| 689 |
+
|
| 690 |
+
[官网展示 MP4](media/clear_organic_objects/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。
|
| 691 |
+
|
| 692 |
+
## C14 · Coffee brewing · puzzle.coffee
|
| 693 |
+
|
| 694 |
+
**Instruction / objective:** Load a capsule, brew coffee, and return the filled mug to the serving tray.
|
| 695 |
+
|
| 696 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 697 |
+
|
| 698 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=coffee) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/coffee_service.py)
|
| 699 |
+
|
| 700 |
+
| Stage | Weight | Normalized share | Mode |
|
| 701 |
+
|---|---|---|---|
|
| 702 |
+
| pod_loaded | 1 | 14.29% | once |
|
| 703 |
+
| bay_closed | 1 | 14.29% | once |
|
| 704 |
+
| cup_staged | 1 | 14.29% | once |
|
| 705 |
+
| started | 1 | 14.29% | once |
|
| 706 |
+
| brewed | 1 | 14.29% | live |
|
| 707 |
+
| cup_out | 1 | 14.29% | once |
|
| 708 |
+
| served | 1 | 14.29% | live |
|
| 709 |
+
|
| 710 |
+
```python
|
| 711 |
+
def check_success(self):
|
| 712 |
+
return self.scene.success()
|
| 713 |
+
```
|
| 714 |
+
|
| 715 |
+
**Official dataset:** [EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907](https://huggingface.co/datasets/EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907) · 60 FPS · cameras: front_wide, wrist
|
| 716 |
+
|
| 717 |
+
**source task_index=0 / episode_index=0** · 8610 frames / 60 FPS / 143.50 s
|
| 718 |
+
|
| 719 |
+
**Dataset instruction:** the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.
|
| 720 |
+
|
| 721 |
+
|
| 722 |
+
|
| 723 |
+
[同步 MP4](media/coffee/episode_000000/synchronized.mp4) · [front_wide MP4](media/coffee/episode_000000/front_wide.mp4) · [wrist MP4](media/coffee/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/coffee/episode_000000.parquet)
|
| 724 |
+
|
| 725 |
+
**source task_index=0 / episode_index=300** · 8610 frames / 60 FPS / 143.50 s
|
| 726 |
+
|
| 727 |
+
**Dataset instruction:** the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.
|
| 728 |
+
|
| 729 |
+
|
| 730 |
+
|
| 731 |
+
[同步 MP4](media/coffee/episode_000300/synchronized.mp4) · [front_wide MP4](media/coffee/episode_000300/front_wide.mp4) · [wrist MP4](media/coffee/episode_000300/wrist.mp4) · [官方轨迹 Parquet](trajectories/coffee/episode_000300.parquet)
|
| 732 |
+
|
| 733 |
+
**source task_index=0 / episode_index=599** · 1530 frames / 60 FPS / 25.50 s
|
| 734 |
+
|
| 735 |
+
**Dataset instruction:** the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.
|
| 736 |
+
|
| 737 |
+
|
| 738 |
+
|
| 739 |
+
[同步 MP4](media/coffee/episode_000599/synchronized.mp4) · [front_wide MP4](media/coffee/episode_000599/front_wide.mp4) · [wrist MP4](media/coffee/episode_000599/wrist.mp4) · [官方轨迹 Parquet](trajectories/coffee/episode_000599.parquet)
|
| 740 |
+
|
| 741 |
+
[官网展示 MP4](media/coffee/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 742 |
+
|
| 743 |
+
## C15 · Spatula flip · puzzle.spatula
|
| 744 |
+
|
| 745 |
+
**Instruction / objective:** Wedge a spatula under bread, flip it, reload it onto the blade, and serve it to a plate.
|
| 746 |
+
|
| 747 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 748 |
+
|
| 749 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=spatula) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/spatula_flip_serve.py)
|
| 750 |
+
|
| 751 |
+
| Stage | Weight | Normalized share | Mode |
|
| 752 |
+
|---|---|---|---|
|
| 753 |
+
| lifted | 1 | 20.00% | once |
|
| 754 |
+
| wedged | 1 | 20.00% | once |
|
| 755 |
+
| flipped | 1 | 20.00% | once |
|
| 756 |
+
| loaded | 1 | 20.00% | once |
|
| 757 |
+
| served | 1 | 20.00% | live |
|
| 758 |
+
|
| 759 |
+
```python
|
| 760 |
+
def check_success(self):
|
| 761 |
+
return self.scene.success()
|
| 762 |
+
```
|
| 763 |
+
|
| 764 |
+
[官网展示 MP4](media/spatula/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 765 |
+
|
| 766 |
+
## C16 · Syringe dosing · puzzle.syringe
|
| 767 |
+
|
| 768 |
+
**Instruction / objective:** Draw liquid from a reservoir, meter three target doses, and repark the syringe.
|
| 769 |
+
|
| 770 |
+
**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka
|
| 771 |
+
|
| 772 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=syringe) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/syringe_dosing.py)
|
| 773 |
+
|
| 774 |
+
| Stage | Weight | Normalized share | Mode |
|
| 775 |
+
|---|---|---|---|
|
| 776 |
+
| drawn | 1 | 20.00% | once |
|
| 777 |
+
| dosed | 3 | 60.00% | live |
|
| 778 |
+
| parked | 1 | 20.00% | live |
|
| 779 |
+
|
| 780 |
+
```python
|
| 781 |
+
def check_success(self):
|
| 782 |
+
return self.scene.success()
|
| 783 |
+
```
|
| 784 |
+
|
| 785 |
+
[官网展示 MP4](media/syringe/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 786 |
+
|
| 787 |
+
## C17 · Push shapes · puzzle.push_shapes
|
| 788 |
+
|
| 789 |
+
**Instruction / objective:** Push three blocks onto their matching pads, correcting each block’s orientation along the way.
|
| 790 |
+
|
| 791 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Unitree G1
|
| 792 |
+
|
| 793 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=push_shapes) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/push_shapes.py)
|
| 794 |
+
|
| 795 |
+
| Stage | Weight | Normalized share | Mode |
|
| 796 |
+
|---|---|---|---|
|
| 797 |
+
| yaw_aligned | 1 | 33.33% | live |
|
| 798 |
+
| near_pad | 1 | 33.33% | live |
|
| 799 |
+
| seated | 1 | 33.33% | live |
|
| 800 |
+
|
| 801 |
+
```python
|
| 802 |
+
def check_success(self):
|
| 803 |
+
return self.scene.success()
|
| 804 |
+
```
|
| 805 |
+
|
| 806 |
+
[官网展示 MP4](media/push_shapes/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 807 |
+
|
| 808 |
+
## C18 · Classify objects · puzzle.classify_objects
|
| 809 |
+
|
| 810 |
+
**Instruction / objective:** Sort scattered coloured blocks into the zones matching their colours.
|
| 811 |
+
|
| 812 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Unitree G1
|
| 813 |
+
|
| 814 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=classify_objects) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/classify_objects.py)
|
| 815 |
+
|
| 816 |
+
| Stage | Weight | Normalized share | Mode |
|
| 817 |
+
|---|---|---|---|
|
| 818 |
+
| sorted_blocks | 1 | 100.00% | live |
|
| 819 |
+
|
| 820 |
+
```python
|
| 821 |
+
def check_success(self):
|
| 822 |
+
return self.scene.success()
|
| 823 |
+
```
|
| 824 |
+
|
| 825 |
+
[官网展示 MP4](media/classify_objects/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 826 |
+
|
| 827 |
+
## C19 · Stack blocks · puzzle.stack_blocks
|
| 828 |
+
|
| 829 |
+
**Instruction / objective:** Stack scattered blocks into a single aligned tower on a marked pad.
|
| 830 |
+
|
| 831 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1
|
| 832 |
+
|
| 833 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=stack_blocks) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/puzzle/grader/stack_blocks.py)
|
| 834 |
+
|
| 835 |
+
| Stage | Weight | Normalized share | Mode |
|
| 836 |
+
|---|---|---|---|
|
| 837 |
+
| tower | 1 | 100.00% | live |
|
| 838 |
+
|
| 839 |
+
```python
|
| 840 |
+
def check_success(self):
|
| 841 |
+
return self.scene.success()
|
| 842 |
+
```
|
| 843 |
+
|
| 844 |
+
[官网展示 MP4](media/stack_blocks/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 845 |
+
|
| 846 |
+
## C20 · T-shirt folding · deformable.tshirt
|
| 847 |
+
|
| 848 |
+
**Instruction / objective:** Fold a T-shirt into a compact, flat bundle.
|
| 849 |
+
|
| 850 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 851 |
+
|
| 852 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=tshirt) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/tshirt.py)
|
| 853 |
+
|
| 854 |
+
| Stage | Weight | Normalized share | Mode |
|
| 855 |
+
|---|---|---|---|
|
| 856 |
+
| sleeves | 2 | 40.00% | live |
|
| 857 |
+
| hem | 1 | 20.00% | live |
|
| 858 |
+
| folded | 1 | 20.00% | live |
|
| 859 |
+
| plausible | 1 | 20.00% | final |
|
| 860 |
+
|
| 861 |
+
```python
|
| 862 |
+
def check_success(self):
|
| 863 |
+
return self.scene.success()
|
| 864 |
+
```
|
| 865 |
+
|
| 866 |
+
[官网展示 MP4](media/tshirt/website_demo.mp4) · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。
|
| 867 |
+
|
| 868 |
+
## C21 · Latte pouring · deformable.latte
|
| 869 |
+
|
| 870 |
+
**Instruction / objective:** Coordinate two arms to pour milk into a carried coffee mug without excessive spilling.
|
| 871 |
+
|
| 872 |
+
**Difficulty:** Hard · **官网列出的 evaluated on:** Bimanual Franka
|
| 873 |
+
|
| 874 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=latte) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/latte.py)
|
| 875 |
+
|
| 876 |
+
| Stage | Weight | Normalized share | Mode |
|
| 877 |
+
|---|---|---|---|
|
| 878 |
+
| pitcher_grasped | 1 | 25.00% | once |
|
| 879 |
+
| transferred | 1 | 25.00% | live |
|
| 880 |
+
| poured | 1 | 25.00% | live |
|
| 881 |
+
| plausible | 1 | 25.00% | final |
|
| 882 |
+
|
| 883 |
+
```python
|
| 884 |
+
def check_success(self):
|
| 885 |
+
return self.scene.success()
|
| 886 |
+
```
|
| 887 |
+
|
| 888 |
+
[官网展示 MP4](media/latte/website_demo.mp4) · 网站原始播放倍率 3.0x；该示例不等同于公开三相机训练轨迹。
|
| 889 |
+
|
| 890 |
+
## C22 · Dough rolling · deformable.dumpling
|
| 891 |
+
|
| 892 |
+
**Instruction / objective:** Roll a ball of dough flat into a round dumpling wrapper with a rolling pin.
|
| 893 |
+
|
| 894 |
+
**Difficulty:** Hard · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 895 |
+
|
| 896 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dumpling) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/dumpling.py)
|
| 897 |
+
|
| 898 |
+
| Stage | Weight | Normalized share | Mode |
|
| 899 |
+
|---|---|---|---|
|
| 900 |
+
| flattened | 1 | 25.00% | live |
|
| 901 |
+
| spread | 1 | 25.00% | live |
|
| 902 |
+
| rolled | 1 | 25.00% | live |
|
| 903 |
+
| plausible | 1 | 25.00% | final |
|
| 904 |
+
|
| 905 |
+
```python
|
| 906 |
+
def check_success(self):
|
| 907 |
+
return self.scene.success()
|
| 908 |
+
```
|
| 909 |
+
|
| 910 |
+
[官网展示 MP4](media/dumpling/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 911 |
+
|
| 912 |
+
## C23 · Shoelace half-knot · deformable.shoe_knot
|
| 913 |
+
|
| 914 |
+
**Instruction / objective:** Tie a half knot from the two shoelaces of a sneaker.
|
| 915 |
+
|
| 916 |
+
**Difficulty:** Hard · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 917 |
+
|
| 918 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=shoe_knot) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/deformable/grader/shoe_knot.py)
|
| 919 |
+
|
| 920 |
+
| Stage | Weight | Normalized share | Mode |
|
| 921 |
+
|---|---|---|---|
|
| 922 |
+
| wound | 1 | 25.00% | live |
|
| 923 |
+
| snug | 1 | 25.00% | live |
|
| 924 |
+
| tied | 1 | 25.00% | live |
|
| 925 |
+
| plausible | 1 | 25.00% | final |
|
| 926 |
+
|
| 927 |
+
```python
|
| 928 |
+
def check_success(self):
|
| 929 |
+
import torch
|
| 930 |
+
|
| 931 |
+
return torch.tensor([bool(self.scene.success(w)) for w in self._worlds()])
|
| 932 |
+
```
|
| 933 |
+
|
| 934 |
+
官方目录中该任务目前没有公开展示 MP4。
|
| 935 |
+
|
| 936 |
+
## C24 · Banana slicing · cutting.slice
|
| 937 |
+
|
| 938 |
+
**Instruction / objective:** Pick up a chef knife from its rest and slice a carrot (or a banana) into a target number of pieces on a chopping board.
|
| 939 |
+
|
| 940 |
+
**Difficulty:** Easy · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 941 |
+
|
| 942 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=slice) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/cutting/grader/slice_food.py)
|
| 943 |
+
|
| 944 |
+
| Stage | Weight | Normalized share | Mode |
|
| 945 |
+
|---|---|---|---|
|
| 946 |
+
| knife_taken | 1 | 11.11% | once |
|
| 947 |
+
| planes_cut | 7 | 77.78% | live |
|
| 948 |
+
| sliced | 1 | 11.11% | live |
|
| 949 |
+
|
| 950 |
+
```python
|
| 951 |
+
def check_success(self):
|
| 952 |
+
return self._sliced()
|
| 953 |
+
```
|
| 954 |
+
|
| 955 |
+
**Official dataset:** [EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919](https://huggingface.co/datasets/EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919) · 15 FPS · cameras: front, wrist
|
| 956 |
+
|
| 957 |
+
**source task_index=0 / episode_index=0** · 1440 frames / 15 FPS / 96.00 s
|
| 958 |
+
|
| 959 |
+
**Dataset instruction:** pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the banana into slices. The banana is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.
|
| 960 |
+
|
| 961 |
+
|
| 962 |
+
|
| 963 |
+
[同步 MP4](media/slice/episode_000000/synchronized.mp4) · [front MP4](media/slice/episode_000000/front.mp4) · [wrist MP4](media/slice/episode_000000/wrist.mp4) · [官方轨迹 Parquet](trajectories/slice/episode_000000.parquet)
|
| 964 |
+
|
| 965 |
+
**source task_index=5 / episode_index=1055** · 1200 frames / 15 FPS / 80.00 s
|
| 966 |
+
|
| 967 |
+
**Dataset instruction:** pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the carrot into slices. The carrot is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.
|
| 968 |
+
|
| 969 |
+
|
| 970 |
+
|
| 971 |
+
[同步 MP4](media/slice/episode_001055/synchronized.mp4) · [front MP4](media/slice/episode_001055/front.mp4) · [wrist MP4](media/slice/episode_001055/wrist.mp4) · [官方轨迹 Parquet](trajectories/slice/episode_001055.parquet)
|
| 972 |
+
|
| 973 |
+
**source task_index=21 / episode_index=3664** · 1320 frames / 15 FPS / 88.00 s
|
| 974 |
+
|
| 975 |
+
**Dataset instruction:** pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the baguette_1 into slices. The baguette_1 is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.
|
| 976 |
+
|
| 977 |
+
|
| 978 |
+
|
| 979 |
+
[同步 MP4](media/slice/episode_003664/synchronized.mp4) · [front MP4](media/slice/episode_003664/front.mp4) · [wrist MP4](media/slice/episode_003664/wrist.mp4) · [官方轨迹 Parquet](trajectories/slice/episode_003664.parquet)
|
| 980 |
+
|
| 981 |
+
[官网展示 MP4](media/slice/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 982 |
+
|
| 983 |
+
## C25 · Food dicing · cutting.dice
|
| 984 |
+
|
| 985 |
+
**Instruction / objective:** Dice a tomato (or a potato) into a 3×3 grid of pieces, cutting along two plane families with the knife re-yawed between them.
|
| 986 |
+
|
| 987 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Franka / xArm7 / Gen3
|
| 988 |
+
|
| 989 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=dice) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/cutting/grader/dice_food.py)
|
| 990 |
+
|
| 991 |
+
| Stage | Weight | Normalized share | Mode |
|
| 992 |
+
|---|---|---|---|
|
| 993 |
+
| knife_taken | 1 | 7.14% | once |
|
| 994 |
+
| pairs_cut | 12 | 85.71% | live |
|
| 995 |
+
| diced | 1 | 7.14% | live |
|
| 996 |
+
|
| 997 |
+
```python
|
| 998 |
+
def check_success(self):
|
| 999 |
+
return self._diced()
|
| 1000 |
+
```
|
| 1001 |
+
|
| 1002 |
+
官方目录中该任务目前没有公开展示 MP4。
|
| 1003 |
+
|
| 1004 |
+
## C26 · Fruit delivery · locomanip.fruit_delivery
|
| 1005 |
+
|
| 1006 |
+
**Instruction / objective:** Pick up every fruit on a long table and carry it around the table to a plate beyond arm reach.
|
| 1007 |
+
|
| 1008 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1
|
| 1009 |
+
|
| 1010 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=fruit_delivery) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/locomanip/grader/fruit_delivery.py)
|
| 1011 |
+
|
| 1012 |
+
| Stage | Weight | Normalized share | Mode |
|
| 1013 |
+
|---|---|---|---|
|
| 1014 |
+
| lifted | 1 | 33.33% | once |
|
| 1015 |
+
| carried | 1 | 33.33% | once |
|
| 1016 |
+
| placed | 1 | 33.33% | live |
|
| 1017 |
+
|
| 1018 |
+
```python
|
| 1019 |
+
def check_success(self):
|
| 1020 |
+
return self.scene.success()
|
| 1021 |
+
```
|
| 1022 |
+
|
| 1023 |
+
[官网展示 MP4](media/fruit_delivery/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 1024 |
+
|
| 1025 |
+
## C27 · Box to bin · locomanip.box_to_bin
|
| 1026 |
+
|
| 1027 |
+
**Instruction / objective:** Pick a cardboard box off a shelf and carry it to a sorting bin on a table across the room.
|
| 1028 |
+
|
| 1029 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1
|
| 1030 |
+
|
| 1031 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=box_to_bin) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/locomanip/grader/box_to_bin.py)
|
| 1032 |
+
|
| 1033 |
+
| Stage | Weight | Normalized share | Mode |
|
| 1034 |
+
|---|---|---|---|
|
| 1035 |
+
| picked | 1 | 33.33% | once |
|
| 1036 |
+
| carried | 1 | 33.33% | once |
|
| 1037 |
+
| in_bin | 1 | 33.33% | live |
|
| 1038 |
+
|
| 1039 |
+
```python
|
| 1040 |
+
def check_success(self):
|
| 1041 |
+
return self.scene.success()
|
| 1042 |
+
```
|
| 1043 |
+
|
| 1044 |
+
[官网展示 MP4](media/box_to_bin/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 1045 |
+
|
| 1046 |
+
## C28 · Wheel carry · locomanip.wheel_carry
|
| 1047 |
+
|
| 1048 |
+
**Instruction / objective:** Pick a steering wheel off one packing table and carry it to a basket on another, three metres away.
|
| 1049 |
+
|
| 1050 |
+
**Difficulty:** Medium · **官网列出的 evaluated on:** Unitree G1
|
| 1051 |
+
|
| 1052 |
+
[MP4 浏览](https://travor278-embodiedswe-task-examples.static.hf.space/?task=wheel_carry) · [官方评分源码](https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/suites/locomanip/grader/wheel_carry.py)
|
| 1053 |
+
|
| 1054 |
+
| Stage | Weight | Normalized share | Mode |
|
| 1055 |
+
|---|---|---|---|
|
| 1056 |
+
| picked | 1 | 33.33% | once |
|
| 1057 |
+
| carried | 1 | 33.33% | once |
|
| 1058 |
+
| in_basket | 1 | 33.33% | live |
|
| 1059 |
+
|
| 1060 |
+
```python
|
| 1061 |
+
def check_success(self):
|
| 1062 |
+
return self.scene.success()
|
| 1063 |
+
```
|
| 1064 |
+
|
| 1065 |
+
[官网展示 MP4](media/wheel_carry/website_demo.mp4) · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。
|
| 1066 |
+
|
| 1067 |
+
## 来源与复现
|
| 1068 |
+
|
| 1069 |
+
代码 revision：`433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b`。官网抓取日期：2026-10-05。
|
| 1070 |
+
|
| 1071 |
+
保留各数据源固定 revision、源文件大小与校验和、官方 episode 时间区间和元数据、源码评分说明。合并源视频采用 HTTP Range 读取选定 episode；不下载完整 assets、权重或整库。
|
| 1072 |
+
|
| 1073 |
+
脚本 `scripts/build_examples.py` 可基于保留的 manifests 运行 demos/extract/render/package；浏览页源码保留在 browser/ 与 scripts/build_browser.py。
|
| 1074 |
+
|
| 1075 |
+
官方代码采用 Apache-2.0；部分源数据未单列许可元数据。本整理保留各来源权利与署名，不另行扩张许可；见 NOTICE.md、LICENSE 和 reference/。
|
browser/base.html
ADDED
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|
| 1 |
+
<!doctype html>
|
| 2 |
+
<html lang="zh-CN">
|
| 3 |
+
<head>
|
| 4 |
+
<meta charset="utf-8">
|
| 5 |
+
<meta name="viewport" content="width=device-width, initial-scale=1">
|
| 6 |
+
<title>RoboDojo · Task browser</title>
|
| 7 |
+
<style>
|
| 8 |
+
:root{--paper:#f4f3ed;--white:#fffefa;--ink:#182522;--muted:#68746d;--line:#d9ded5;--rail:#172923;--accent:#e75b32;--green:#c1d997}
|
| 9 |
+
*{box-sizing:border-box}html{scroll-behavior:smooth}body{margin:0;background:var(--paper);color:var(--ink);font-family:'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:14px}button,input,a{font:inherit}button,a{touch-action:manipulation}button{cursor:pointer}a{color:inherit;text-underline-offset:3px}button:focus-visible,a:focus-visible,input:focus-visible{outline:3px solid var(--accent);outline-offset:3px}.mono{font-family:Consolas,'Liberation Mono',monospace}.app{display:grid;grid-template-columns:268px minmax(0,1fr);min-height:100vh}.rail{background:var(--rail);color:#f3f5ed;position:sticky;top:0;height:100vh;display:flex;flex-direction:column;padding:26px 18px 14px}.brand{font-family:Bahnschrift,'Trebuchet MS',sans-serif;font-weight:700;font-size:26px;letter-spacing:-1px}.brand span{color:var(--green)}.rail-caption{color:#a0b4a7;font-size:11px;letter-spacing:1.8px;margin:8px 0 22px}.search{width:100%;padding:11px 12px;border:1px solid #456052;background:#213b30;color:white;border-radius:3px}.search::placeholder{color:#acb9ad}.groups{display:grid;grid-template-columns:1fr 1fr;gap:5px;margin:12px 0 17px}.group{border:1px solid #385245;color:#bed0c2;background:none;padding:8px 6px;font-size:11px;text-align:left;border-radius:3px}.group.active{background:var(--green);border-color:var(--green);color:var(--rail)}.group span{float:right;opacity:.7}.list-head{display:flex;justify-content:space-between;font-size:11px;color:#a4b7a8;margin:0 3px 9px}.task-list{min-height:0;overflow:auto;flex:1;scrollbar-width:thin;scrollbar-color:#527761 #172923}.task-link{width:100%;display:flex;gap:11px;align-items:center;text-align:left;border:0;border-bottom:1px solid #2b4136;background:none;color:#c7d5cb;padding:12px 9px;line-height:1.35}.task-link:hover{background:#243f31}.task-link.active{color:#172923;background:var(--white);border-radius:3px}.task-link .id{color:#a6c99b;font-size:13px;min-width:32px}.task-link.active .id{color:#a2462c}.task-link .name{font-size:12px}.rail-footer{font-size:11px;border-top:1px solid #3a5143;padding-top:14px;margin-top:13px;display:flex;gap:16px;color:#a8bbaa}.main{padding:27px clamp(20px,3.6vw,58px) 65px;min-width:0;max-width:1600px;width:100%;margin:auto}.topline{display:flex;align-items:center;justify-content:space-between;gap:12px;border-bottom:1px solid var(--line);padding-bottom:19px;margin-bottom:30px;color:var(--muted);font-size:12px}.topline b{color:var(--ink)}.toplinks{display:flex;gap:17px;align-items:center}.nav-buttons{display:flex;gap:6px}.small-button{border:1px solid var(--line);background:var(--white);color:var(--ink);padding:7px 11px;border-radius:3px}.small-button:disabled{opacity:.35;cursor:default}.eyebrow{font-size:11px;letter-spacing:1.7px;text-transform:uppercase;color:var(--muted);display:flex;align-items:center;gap:11px}.tag{display:inline-block;border:1px solid var(--line);padding:4px 7px;border-radius:2px;letter-spacing:0;text-transform:none}.task-heading{display:flex;align-items:baseline;gap:22px;margin:12px 0 20px}.big-id{font-size:64px;letter-spacing:-4px;line-height:1;color:var(--accent)}h1{font-family:Bahnschrift,'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:clamp(27px,3.15vw,45px);line-height:1.1;letter-spacing:-1.3px;margin:0}.instruction{background:var(--white);border-left:4px solid var(--accent);padding:18px 22px;margin-bottom:14px}.label{font-size:10px;letter-spacing:1.8px;color:var(--muted);text-transform:uppercase}.instruction p{font-size:18px;line-height:1.55;margin:8px 0 0}.description{color:var(--muted);line-height:1.7;margin:12px 0 20px;max-width:1000px}.facts{display:flex;gap:20px;flex-wrap:wrap;font-size:11px;padding-bottom:22px;border-bottom:1px solid var(--line)}.facts strong{display:block;margin-top:5px;font-weight:400;font-size:12px;color:var(--ink)}.warning{background:#f8e9d7;border:1px solid #e2c5a5;padding:14px 17px;margin:15px 0;font-size:12px;line-height:1.7}.section-bar{display:flex;justify-content:space-between;align-items:center;gap:14px;margin:30px 0 17px}h2{font-family:Bahnschrift,'Trebuchet MS','Microsoft YaHei',sans-serif;font-size:23px;letter-spacing:-.5px;margin:0}.section-note{color:var(--muted);font-size:11px;margin-top:5px}.mode{display:flex;gap:2px;background:#e4e7df;padding:3px;border-radius:4px}.mode button{border:0;border-radius:3px;padding:8px 11px;color:var(--muted);background:none;font-size:11px}.mode button.active{background:var(--white);color:var(--ink);box-shadow:0 1px 3px #0001}.episode{background:var(--white);border:1px solid var(--line);margin-bottom:21px;border-radius:4px;overflow:hidden}.episode-head{display:flex;align-items:center;justify-content:space-between;gap:12px;padding:14px 16px;border-bottom:1px solid var(--line);font-size:12px}.episode-head b{font-weight:400;font-size:14px}.episode-meta{font-size:11px;color:var(--muted);margin-top:5px}.episode-badge{color:var(--muted);font-size:10px;letter-spacing:1px}.combined{padding:12px;background:#13231d}video{display:block;width:100%;background:#101b17}.combined video{aspect-ratio:960/268}.view-labels{display:grid;grid-template-columns:repeat(3,1fr);background:#263c31;color:#cbd9cc;font-size:10px;letter-spacing:1.2px;padding:8px;text-align:center}.views-scroll{overflow-x:auto}.views{display:grid;grid-template-columns:repeat(3,minmax(220px,1fr));min-width:690px;gap:1px;background:#47604f}.view{background:#13231d}.view .camera{color:#d1ded1;font-size:10px;letter-spacing:1px;padding:9px 12px}.view video{aspect-ratio:4/3}.episode-foot{display:flex;justify-content:space-between;flex-wrap:wrap;align-items:center;gap:9px;padding:12px 16px;color:var(--muted);font-size:11px}.source-links{display:flex;gap:13px;flex-wrap:wrap}.sync-actions{display:flex;gap:5px}.sync-actions button{padding:5px 8px;font-size:11px;background:var(--white);border:1px solid var(--line);border-radius:3px}.demo-video{background:#14241c;padding:12px}.demo-video video{max-height:520px;min-height:160px}.scoring{border:1px solid var(--line);border-collapse:collapse;width:100%;background:var(--white);margin:15px 0}.scoring th{text-align:left;padding:12px 16px;background:#e6eadd;font-size:11px;text-transform:uppercase;letter-spacing:1px}.scoring td{padding:13px 16px;line-height:1.6;border-top:1px solid var(--line);vertical-align:top}.scoring td:first-child{width:88px;font-family:Consolas,monospace;font-size:20px;color:#a84428}.empty{padding:20px;border:1px solid var(--line);line-height:1.7;background:var(--white)}.source-footer{font-size:11px;color:var(--muted);line-height:1.8;border-top:1px solid var(--line);margin-top:27px;padding-top:20px}.source-footer a{margin-right:12px}.error{font-size:11px;color:#aa3d2c;padding:8px 16px;line-height:1.6}.reference{padding:25px 0;border-top:1px solid var(--line)}.reference video{max-height:500px;margin-top:12px}.axis{max-width:700px;width:100%;margin-top:15px}.no-results{color:#a7bcab;font-size:12px;padding:16px 8px}.stats{font-size:11px;letter-spacing:.4px}.muted{color:var(--muted)}
|
| 10 |
+
@media(min-width:1600px){.main{padding-left:55px;padding-right:55px}}@media(max-width:900px){.app{grid-template-columns:218px minmax(0,1fr)}.rail{padding:20px 12px}.main{padding:21px 19px 50px}.big-id{font-size:48px}.task-heading{gap:13px}.toplinks a{font-size:10px}.stats{display:none}.section-bar{align-items:flex-start;flex-direction:column}}@media(max-width:620px){.app{display:block}.rail{position:relative;height:auto;max-height:360px;padding:17px 14px}.brand{font-size:22px}.rail-caption{margin-bottom:12px}.groups{grid-template-columns:repeat(4,1fr);margin-bottom:9px}.task-list{max-height:125px;min-height:70px}.rail-footer{display:none}.main{padding:20px 14px 45px}.topline{margin-bottom:22px}.task-heading{align-items:center}.big-id{font-size:44px}h1{font-size:29px}.instruction{padding:14px 17px}.instruction p{font-size:16px}.episode-head{padding:12px}.episode-foot{padding:11px}.toplinks{gap:12px}.section-bar{gap:12px}.facts{gap:17px}.combined{padding:6px}.scoring td{font-size:12px;padding:11px}.scoring td:first-child{width:55px;font-size:18px}}
|
| 11 |
+
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}}
|
| 12 |
+
.camera-unavailable{aspect-ratio:4/3;display:flex;flex-direction:column;align-items:center;justify-content:center;gap:10px;text-align:center;background:#eef1e7;color:#5d6d61;border-left:1px solid #d7ded1}.camera-unavailable b{font-size:15px;font-weight:400}.camera-unavailable span{font-size:12px;color:#8a5b45}.camera-unavailable small{font-size:10px;line-height:1.65;color:#819080}.random-camera-note{padding:12px 16px;line-height:1.8;font-size:11px;background:#f6f0e3;color:#776545;border-top:1px solid var(--line)}.random-camera-note b{font-weight:600;margin-right:6px}
|
| 13 |
+
</style>
|
| 14 |
+
</head>
|
| 15 |
+
<body>
|
| 16 |
+
<div class="app">
|
| 17 |
+
<aside class="rail" aria-label="Task navigation">
|
| 18 |
+
<div class="brand">RoboDojo<span>.</span></div><div class="rail-caption">OFFICIAL TASK INDEX / VIDEO ATLAS</div>
|
| 19 |
+
<input class="search" id="search" type="search" placeholder="序号 / 名称 / instruction" aria-label="搜索任务序号或名称">
|
| 20 |
+
<div class="groups" id="groups"></div><div class="list-head"><span>选择任务</span><span id="listCount"></span></div>
|
| 21 |
+
<nav class="task-list" id="taskList" aria-label="任务列表"></nav>
|
| 22 |
+
<div class="rail-footer"><a href="https://huggingface.co/datasets/Travor278/RoboDojo-Task-Examples" target="_blank" rel="noopener">HF 数据仓库 ↗</a><a href="?task=reference" id="referenceLink">工具演示</a></div>
|
| 23 |
+
</aside>
|
| 24 |
+
<main class="main" id="main"></main>
|
| 25 |
+
</div>
|
| 26 |
+
<script id="catalog" type="application/json">__CATALOG_JSON__</script>
|
| 27 |
+
<script>
|
| 28 |
+
const DATA=JSON.parse(document.getElementById('catalog').textContent);
|
| 29 |
+
const GROUPS=['Generalization','Memory','Precision','Long-Horizon','Open','DLC'];
|
| 30 |
+
const esc=x=>String(x??'').replace(/[&<>"']/g,c=>({'&':'&','<':'<','>':'>','"':'"',"'":'''}[c]));
|
| 31 |
+
const media=p=>DATA.media_base+p.split('/').map(encodeURIComponent).join('/');
|
| 32 |
+
const file=p=>DATA.file_base+p.split('/').map(encodeURIComponent).join('/');
|
| 33 |
+
const taskToken=t=>t.task_index!==null?String(t.task_index):t.task_key;
|
| 34 |
+
const sorted=[...DATA.tasks].sort((a,b)=>(a.task_index??100+a.catalog_number)-(b.task_index??100+b.catalog_number));
|
| 35 |
+
let current=null,group='all',query='',mode='combined';
|
| 36 |
+
const params=new URLSearchParams(location.search);const initial=params.get('task')??'0';
|
| 37 |
+
function link(url,text){return `<a href="${esc(url)}" target="_blank" rel="noopener">${esc(text)}</a>`}
|
| 38 |
+
function drawList(){
|
| 39 |
+
document.getElementById('groups').innerHTML=['all',...GROUPS].map(g=>`<button class="group ${g===group?'active':''}" data-group="${g}" aria-pressed="${g===group}">${g==='all'?'全部':g}<span>${g==='all'?43:DATA.tasks.filter(t=>t.category===g).length}</span></button>`).join('');
|
| 40 |
+
const numeric=/^\d+$/.test(query.trim());
|
| 41 |
+
const shown=sorted.filter(t=>(numeric||group==='all'||t.category===group)&&(numeric?t.task_index===Number(query):`${t.task_name} ${t.task_key} ${t.fields.Instruction} C${String(t.catalog_number).padStart(2,'0')}`.toLowerCase().includes(query.toLowerCase())));
|
| 42 |
+
document.getElementById('listCount').textContent=`${shown.length} / 43`;
|
| 43 |
+
document.getElementById('taskList').innerHTML=shown.map(t=>`<button class="task-link ${current?.task_key===t.task_key?'active':''}" data-task="${esc(taskToken(t))}" ${current?.task_key===t.task_key?'aria-current="page"':''}><span class="mono id">${t.task_index!==null?String(t.task_index).padStart(2,'0'):'C'+t.catalog_number}</span><span class="name">${esc(t.task_name)}</span></button>`).join('')||'<div class="no-results">没有匹配的任务。官方 task_index 为 0–34。</div>';
|
| 44 |
+
document.querySelectorAll('[data-group]').forEach(b=>b.onclick=()=>{group=b.dataset.group;drawList()});
|
| 45 |
+
document.querySelectorAll('[data-task]').forEach(b=>b.onclick=()=>selectTask(b.dataset.task));
|
| 46 |
+
}
|
| 47 |
+
function selectTask(token,update=true){
|
| 48 |
+
document.querySelectorAll('video').forEach(v=>v.pause());
|
| 49 |
+
if(token==='reference'){current=null;if(update)history.replaceState({},'',`?task=reference`);drawList();drawReference();return}
|
| 50 |
+
current=sorted.find(t=>taskToken(t)===String(token))||null;
|
| 51 |
+
if(update)history.replaceState({},'',`?task=${encodeURIComponent(token)}`);
|
| 52 |
+
drawList();drawTask();
|
| 53 |
+
document.querySelector('.task-link.active')?.scrollIntoView({block:'nearest'});
|
| 54 |
+
}
|
| 55 |
+
function head(){return `<div class="topline"><span class="stats"><b>43 TASKS</b> / 35 OFFICIAL DATA INDICES / 105 DEMONSTRATIONS</span><div class="toplinks">${link(DATA.repo_url,'数据仓库 ↗')}${link('https://robodojo-benchmark.com/doc/sim-tasks/','官方文档 ↗')}</div></div>`}
|
| 56 |
+
function video(url,poster='',cls=''){return `<video class="${cls}" controls playsinline preload="metadata" src="${esc(url)}" ${poster?`poster="${esc(poster)}"`:''} aria-label="MP4 video"></video>`}
|
| 57 |
+
function episode(s){
|
| 58 |
+
const originals=['top','left','right'].map(v=>link(file(s.views[v].path),v.toUpperCase()+' 原视频')).join('');
|
| 59 |
+
const content=mode==='combined'?`<div class="view-labels"><span>TOP / HEAD</span><span>LEFT WRIST</span><span>RIGHT WRIST</span></div><div class="combined">${video(media(s.synchronized_views_path),media(s.preview_path))}</div>`:
|
| 60 |
+
`<div class="views-scroll"><div class="views">${['top','left','right'].map((v,i)=>`<div class="view"><div class="camera">${['TOP / HEAD','LEFT WRIST','RIGHT WRIST'][i]}</div>${video(media(s.views[v].path),'',v)}</div>`).join('')}</div></div>`;
|
| 61 |
+
return `<article class="episode" data-episode="${s.episode_index}"><div class="episode-head"><div><b class="mono">EPISODE ${s.episode_index}</b><div class="episode-meta">原始文件 ${String(s.source_local_episode).padStart(7,'0')} · ${(s.frame_count/s.fps).toFixed(2)} s · ${s.fps} FPS · ${s.frame_count} frames</div></div><span class="episode-badge">OFFICIAL DEMONSTRATION</span></div>${content}<div class="episode-foot"><div class="source-links">${originals}${link(media(s.trajectory_path),'动作 / 状态 Parquet')}${link(file(s.synchronized_views_path),'同步 MP4 ↗')}</div>${mode==='original'?'<div class="sync-actions"><button data-play>同步播放</button><button data-pause>暂停</button><button data-reset>回到开头</button></div>':''}</div><div class="error" hidden></div></article>`;
|
| 62 |
+
}
|
| 63 |
+
function drawTask(){
|
| 64 |
+
if(!current){document.getElementById('main').innerHTML=head()+'<div class="empty"><h1>找不到这个任务</h1><p>官方 task_index 为 0–34。Open 类使用任务名称定位，请从左侧选择。</p></div>';return}
|
| 65 |
+
const t=current,idx=sorted.indexOf(t),ss=DATA.samples.filter(s=>s.task_key===t.task_key),demos=t.documentation_videos.filter(d=>d.path);
|
| 66 |
+
document.title=`${t.task_index!==null?'Task '+t.task_index:'C'+t.catalog_number} · ${t.task_name} · RoboDojo`;
|
| 67 |
+
let html=head()+`<div class="eyebrow"><span>${esc(t.category)}</span><span class="tag mono">官网目录 C${String(t.catalog_number).padStart(2,'0')}</span></div><div class="task-heading"><span class="big-id mono">${t.task_index!==null?String(t.task_index).padStart(2,'0'):'C'+t.catalog_number}</span><h1>${esc(t.task_name)}</h1></div><div class="toplinks" style="margin-bottom:20px"><span class="muted mono" style="font-size:11px">${t.task_index!==null?'OFFICIAL task_index = '+t.task_index:'EVAL-ONLY · 无官方 task_index'}</span><div class="nav-buttons"><button class="small-button" id="previous" ${idx===0?'disabled':''}>← 上一个</button><button class="small-button" id="next" ${idx===sorted.length-1?'disabled':''}>下一个 →</button></div><a href="#scoring">评分标准 ↓</a></div><div class="instruction"><div class="label">Instruction · 官网指令</div><p>${esc(t.fields.Instruction)}</p></div>`;
|
| 68 |
+
if(t.instruction_match===false)html+=`<div class="warning"><b>数据版本的 instruction 与当前官网不同</b><br>${esc(t.dataset_instruction)}<br>下面的示教属于官方数据版本，不能直接认定其完成了当前官网的全部目标。</div>`;
|
| 69 |
+
html+=`<p class="description">${esc(t.fields.Description)}</p><div class="facts"><div class="label">Platform<strong>${esc(t.fields.Platform)}</strong></div><div class="label">Data source<strong>${esc(t.fields['Data Source'])}</strong></div><div class="label">Usage<strong>${esc(t.fields.Usage)}</strong></div><div class="label">Source<strong>${link(t.doc_url,'官方任务页 ↗')}</strong></div></div>`;
|
| 70 |
+
html+=`<section aria-label="任务 MP4 示例"><div class="section-bar"><div><h2>${ss.length?'官方示教':'官方评估演示'}</h2><div class="section-note">${ss.length?'同一 episode 的 TOP → LEFT WRIST → RIGHT WRIST；完整 MP4。':'官方没有发布该任务的三相机训练示教，下面是官网 MP4 演示。'}</div></div>${ss.length?`<div class="mode" aria-label="视频展示方式"><button data-mode="combined" class="${mode==='combined'?'active':''}" aria-pressed="${mode==='combined'}">三视角同步 MP4</button><button data-mode="original" class="${mode==='original'?'active':''}" aria-pressed="${mode==='original'}">三路原始 MP4</button></div>`:''}</div>${ss.map(episode).join('')}`;
|
| 71 |
+
for(const d of demos){
|
| 72 |
+
const random=d.label.includes('Random');
|
| 73 |
+
const missing=camera=>`<div class="view"><div class="camera">${camera} WRIST</div><div class="camera-unavailable"><b>${camera==='LEFT'?'左':'右'}腕相机</b><span>对应 MP4 未公开</span><small>官网及官方 HF 任务数据中<br>未找到这段演示的腕部录像</small></div></div>`;
|
| 74 |
+
const content=random?`<div class="views-scroll"><div class="views"><div class="view"><div class="camera">TOP / HEAD · 已公开</div>${video(media(d.path))}</div>${missing('LEFT')}${missing('RIGHT')}</div></div><div class="random-camera-note"><b>Random version 只有公开的头部相机 MP4。</b>画面里有左右机械臂，但这不表示对应的左右腕相机录像已发布。当前保留真实可用的 TOP 视角，LEFT / RIGHT 标记为未公开。</div>`:`<div class="demo-video">${video(media(d.path))}</div>`;
|
| 75 |
+
html+=`<article class="episode" data-variant="${random?'random':'eval-only'}"><div class="episode-head"><div><b>${esc(d.label)}</b><div class="episode-meta">官网演示 · ${random?'随机布局，eval-only · TOP 视角':'eval-only，无公开示教'}</div></div><span class="episode-badge">WEBSITE DEMO</span></div>${content}<div class="episode-foot"><div class="source-links">${link(file(d.path),random?'TOP 官网 MP4 ↗':'MP4 文件 ↗')}${link(d.url,'官网源文件 ↗')}</div></div><div class="error" hidden></div></article>`;
|
| 76 |
+
}
|
| 77 |
+
html+='</section>';
|
| 78 |
+
html+=`<section id="scoring"><div class="section-bar"><div><h2>Scoring · 评分标准</h2><div class="section-note">来自当前官网的任务规则；官方没有提供每条示教的实际得分。</div></div></div>`;
|
| 79 |
+
html+=t.scoring.length?`<table class="scoring"><thead><tr><th>Score</th><th>Condition</th></tr></thead><tbody>${t.scoring.map(s=>`<tr><td>${esc(s.score)}</td><td>${esc(s.condition)}</td></tr>`).join('')}</tbody></table>`:'<div class="empty">官网未提供该任务的评分标准。</div>';
|
| 80 |
+
if(t.fields.Comment)html+=`<div class="warning"><b>Comment</b><br>${esc(t.fields.Comment)}</div>`;
|
| 81 |
+
html+=`</section><footer class="source-footer"><p>序号沿用官方 LeRobot v2.1 的 task_index（0–34）；C01–C43 是官网目录辅助编号。每任务选取原始 episode 0 / 49 / 99。背景 ID 未在官方数据中标注；不保证覆盖所有背景种类。</p><p>视频直接读取 HF 数据仓库中的完整 MP4。合并视频保留完整时长，原视频为 640×480。动作 / 状态为双臂关节示教，不是笛卡尔腕部位姿。</p>${link(DATA.repo_url,'精选数据仓库 ↗')}${link(t.doc_url,'官方任务页 ↗')}${link(`${DATA.repo_url}/viewer/${t.config}/examples`,'HF 表格 Viewer（可选）↗')}<p class="mono">Official source revision: ${esc(DATA.source_revision)}</p></footer>`;
|
| 82 |
+
document.getElementById('main').innerHTML=html;
|
| 83 |
+
document.getElementById('previous').onclick=()=>{query='';document.getElementById('search').value='';selectTask(taskToken(sorted[idx-1]));window.scrollTo({top:0})};
|
| 84 |
+
document.getElementById('next').onclick=()=>{query='';document.getElementById('search').value='';selectTask(taskToken(sorted[idx+1]));window.scrollTo({top:0})};
|
| 85 |
+
document.querySelectorAll('[data-mode]').forEach(b=>b.onclick=()=>{const y=window.scrollY;mode=b.dataset.mode;document.querySelectorAll('video').forEach(v=>v.pause());drawTask();window.scrollTo({top:y})});
|
| 86 |
+
bindVideos();
|
| 87 |
+
}
|
| 88 |
+
function bindVideos(){
|
| 89 |
+
document.querySelectorAll('.episode').forEach(el=>{
|
| 90 |
+
const vs=[...el.querySelectorAll('video')],error=el.querySelector('.error');
|
| 91 |
+
vs.forEach(v=>v.addEventListener('error',()=>{error.hidden=false;error.textContent='当前 MP4 加载失败，请使用下方原视频链接打开，或稍后重试。'}));
|
| 92 |
+
if(vs.length!==3)return;
|
| 93 |
+
let timer=null;
|
| 94 |
+
const pause=()=>{vs.forEach(v=>v.pause());clearInterval(timer);timer=null};
|
| 95 |
+
el.querySelector('[data-play]').onclick=async()=>{
|
| 96 |
+
const time=vs[0].currentTime;vs.forEach(v=>{if(v.readyState)v.currentTime=time});
|
| 97 |
+
try{await Promise.all(vs.map(v=>v.play()));clearInterval(timer);timer=setInterval(()=>{if(!el.isConnected){clearInterval(timer);return}for(const v of vs.slice(1))if(v.readyState&&Math.abs(v.currentTime-vs[0].currentTime)>.25)v.currentTime=vs[0].currentTime},400)}
|
| 98 |
+
catch(e){pause();error.hidden=false;error.textContent='无法同步启动，请点击各播放器播放按钮，或切换到三视角同步 MP4。'}
|
| 99 |
+
};
|
| 100 |
+
el.querySelector('[data-pause]').onclick=pause;
|
| 101 |
+
el.querySelector('[data-reset]').onclick=()=>{pause();vs.forEach(v=>{if(v.readyState)v.currentTime=0})};
|
| 102 |
+
vs[0].addEventListener('ended',pause);
|
| 103 |
+
vs[0].addEventListener('pause',pause);
|
| 104 |
+
vs[0].addEventListener('seeked',()=>{for(const v of vs.slice(1))if(v.readyState&&Math.abs(v.currentTime-vs[0].currentTime)>.05)v.currentTime=vs[0].currentTime});
|
| 105 |
+
});
|
| 106 |
+
}
|
| 107 |
+
function drawReference(){
|
| 108 |
+
document.title='工具与坐标轴 · RoboDojo';
|
| 109 |
+
document.getElementById('main').innerHTML=head()+`<div class="eyebrow">SIMULATION REFERENCE</div><h1 style="margin:16px 0 24px">World-axis orientation</h1><p class="description">X 为红色、Y 为绿色、Z 为蓝色。箭头位置只展示方向，并不代表世界坐标系原点。</p><img class="axis" src="${esc(media('reference/world_axes.png'))}" alt="World coordinate axes"><section class="reference"><h2>Domain Randomization</h2><p class="description">布局、干扰物、桌面和地面材质、灯光与背景的随机化。</p>${video(media('reference/domain-randomization.mp4'))}${link('https://robodojo-benchmark.com/doc/sim-tasks/domain-randomization/','官方说明 ↗')}</section><section class="reference"><h2>Parallel Environments</h2><p class="description">在同一 Isaac Sim 进程中运行多个模拟环境。</p>${video(media('reference/parallel-environments.mp4'))}${link('https://robodojo-benchmark.com/doc/sim-tasks/parallel-environments/','官方说明 ↗')}</section>`;
|
| 110 |
+
}
|
| 111 |
+
document.getElementById('search').addEventListener('input',e=>{query=e.target.value;drawList()});
|
| 112 |
+
document.getElementById('referenceLink').onclick=e=>{e.preventDefault();selectTask('reference');window.scrollTo({top:0})};
|
| 113 |
+
selectTask(initial,false);
|
| 114 |
+
</script>
|
| 115 |
+
</body>
|
| 116 |
+
</html>
|
data/all.parquet
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|
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data/assembly.parquet
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|
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version https://git-lfs.github.com/spec/v1
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data/cutting.parquet
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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|
data/deformable.parquet
ADDED
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 28926
|
data/liquid.parquet
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:06b9fc7dd2de64c96f228326f46a222fba8c35211b23c9bd23d00e136437f621
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size 27188
|
data/locomanip.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:926f26cdffb9d4f9333fe0f82005c695b1c5c7da890414868d6e0dded6e7ffc4
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size 26617
|
data/organizing.parquet
ADDED
|
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|
|
|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 38743
|
data/puzzle.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 31987
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data/scene_allen_bolt.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:8506c395b0782068ff3c329ce01e28ffbb4a1388055436a3d938e1e114168642
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size 25279
|
data/scene_box_to_bin.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:cbefe3922e3e391f6d9db1d66edeeab18d22068a677d49868c35fa33ccc43a3c
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size 24883
|
data/scene_bulb.parquet
ADDED
|
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|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
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size 29085
|
data/scene_classify_objects.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:9d8dbec026429bc68678de21f34ab57b881f780ce64c811d302cdc9c078edab1
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size 22144
|
data/scene_clear_organic_objects.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 34034
|
data/scene_coffee.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d093810d2da163709eb68212ed08db430df2c5b9a93dd34b23781411415d0448
|
| 3 |
+
size 30969
|
data/scene_dice.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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