{ "schema": "rlebench/benchmark-publication/1", "title": "Codex Benchmark", "complete": true, "complete_scope": "Publication snapshot; SIMPLE execution progress and pending slots are shown separately.", "benchmark_complete": true, "edition": "codex-simple-astra-high-seed0", "created_at": "2026-10-09T00:09:42.989838+00:00", "updated_at": "2026-10-10T05:34:41.504169+00:00", "model": "gpt-6-astra", "effort": "high", "seed": 0, "publication": { "dataset": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark", "space": "https://huggingface.co/spaces/RLE-Bench/codex-benchmark", "dataset_resolve": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/" }, "summary": { "planned_tasks": 84, "published_results": 84, "pending_tasks": 0, "families": [ { "id": "task01", "name": "RoboCasa", "total": 10, "completed": 10, "pending": 0, "successes": 2, "valid_results": 10, "success_rate": 0.2, "input_tokens": 63285354, "cached_input_tokens": 62436736, "output_tokens": 204733, "usage_complete": 10, "control_frequency_hz": 20, "max_control_steps": 6000, "preflight_results": 0, "formal_results": 10, "modified_results": 10, "original_results": 0 }, { "id": "task02", "name": "LIBERO Long", "total": 10, "completed": 10, "pending": 0, "successes": 9, "valid_results": 10, "success_rate": 0.9, "input_tokens": 12586499, "cached_input_tokens": 12106752, "output_tokens": 93969, "usage_complete": 10, "control_frequency_hz": 20, "max_control_steps": 6000, "preflight_results": 0, "formal_results": 10, "modified_results": 5, "original_results": 5 }, { "id": "task03", "name": "RoboTwin", "total": 10, "completed": 10, "pending": 0, "successes": 7, "valid_results": 10, "success_rate": 0.7, "input_tokens": 15621828, "cached_input_tokens": 15138688, "output_tokens": 105566, "usage_complete": 10, "control_frequency_hz": 25, "max_control_steps": 7500, "preflight_results": 0, "formal_results": 10, "modified_results": 7, "original_results": 3, "deferred_tasks": 0 }, { "id": "task04", "name": "RoboDojo", "total": 42, "completed": 42, "pending": 0, "successes": 31, "valid_results": 42, "success_rate": 0.7380952380952381, "input_tokens": 259078099, "cached_input_tokens": 254678912, "output_tokens": 971405, "usage_complete": 42, "control_frequency_hz": 25, "max_control_steps": 7500, "preflight_results": 0, "formal_results": 42, "modified_results": 34, "original_results": 8 }, { "id": "task06", "name": "SIMPLE G1", "total": 12, "completed": 12, "pending": 0, "successes": 7, "valid_results": 12, "success_rate": 0.5833333333333334, "usage_complete": 12, "control_frequency_hz": 50, "max_control_steps": null, "max_control_steps_by_task": { "task06/01": 10000, "task06/02": 15000, "task06/03": 15000, "task06/04": 15000, "task06/05": 15000, "task06/06": 15000, "task06/07": 15000, "task06/08": 10000, "task06/09": 15000, "task06/10": 15000, "task06/11": 15000, "task06/12": 15000 }, "preflight_results": 0, "formal_results": 12, "modified_results": 0, "original_results": 12, "input_tokens": 106763761, "cached_input_tokens": 105331968, "output_tokens": 303566 } ], "interrupted_attempts": 4, "usage_incomplete_tasks": [], "execution_incomplete_tasks": [], "deferred_tasks": [], "new_evaluations": 12, "progress": { "finished": 84, "running": 0, "queued": 0, "needs_review": 0, "interrupted": 0, "native_successes": 56, "native_failures": 28 }, "simple_campaign": { "planned": 12, "published": 12, "agent": "codex", "model": "gpt-6-astra", "effort": "high", "seed": 0, "automatic_episode_retries": 0 }, "simple_reruns": { "authorized": 6, "published": 6, "remaining": 0, "selection": "Latest validated completed result per task; earlier native failures remain in attempt history.", "comparison_scope": "Only earlier failures were rerun at 15000 steps. Retained successes use 10000 steps. This selected-result view is not a uniform-budget agent comparison.", "replacements": [ { "task_key": "task06/02", "current_job": "task06-02-transfer-between-tables-codex-seed0-attempt02", "previous_job": "task06-02-transfer-between-tables-codex-seed0-attempt01", "current_max_steps": 15000, "previous_max_steps": 10000, "success": false }, { "task_key": "task06/03", "current_job": "task06-03-bend-pick-codex-seed0-attempt02", "previous_job": "task06-03-bend-pick-codex-seed0-attempt01", "current_max_steps": 15000, "previous_max_steps": 10000, "success": false }, { "task_key": "task06/04", "current_job": "task06-04-bend-pick-and-place-codex-seed0-attempt02", "previous_job": "task06-04-bend-pick-and-place-codex-seed0-attempt01", "current_max_steps": 15000, "previous_max_steps": 10000, "success": true }, { "task_key": "task06/05", "current_job": "task06-05-bend-handover-codex-seed0-attempt02", "previous_job": "task06-05-bend-handover-codex-seed0-attempt01", "current_max_steps": 15000, "previous_max_steps": 10000, "success": true }, { "task_key": "task06/06", "current_job": "task06-06-handover-codex-seed0-attempt02", "previous_job": "task06-06-handover-codex-seed0-attempt01", "current_max_steps": 15000, "previous_max_steps": 10000, "success": false }, { "task_key": "task06/07", "current_job": "task06-07-pick-and-place-and-hug-container-codex-seed0-attempt02", "previous_job": "task06-07-pick-and-place-and-hug-container-codex-seed0-attempt01", "current_max_steps": 15000, "previous_max_steps": 10000, "success": false } ] } }, "families": [ { "id": "task01", "name": "RoboCasa", "total": 10, "completed": 10, "pending": 0, "successes": 2, "valid_results": 10, "success_rate": 0.2, "input_tokens": 63285354, "cached_input_tokens": 62436736, "output_tokens": 204733, "usage_complete": 10, "control_frequency_hz": 20, "max_control_steps": 6000, "preflight_results": 0, "formal_results": 10, "modified_results": 10, "original_results": 0 }, { "id": "task02", "name": "LIBERO Long", "total": 10, "completed": 10, "pending": 0, "successes": 9, "valid_results": 10, "success_rate": 0.9, "input_tokens": 12586499, "cached_input_tokens": 12106752, "output_tokens": 93969, "usage_complete": 10, "control_frequency_hz": 20, "max_control_steps": 6000, "preflight_results": 0, "formal_results": 10, "modified_results": 5, "original_results": 5 }, { "id": "task03", "name": "RoboTwin", "total": 10, "completed": 10, "pending": 0, "successes": 7, "valid_results": 10, "success_rate": 0.7, "input_tokens": 15621828, "cached_input_tokens": 15138688, "output_tokens": 105566, "usage_complete": 10, "control_frequency_hz": 25, "max_control_steps": 7500, "preflight_results": 0, "formal_results": 10, "modified_results": 7, "original_results": 3, "deferred_tasks": 0 }, { "id": "task04", "name": "RoboDojo", "total": 42, "completed": 42, "pending": 0, "successes": 31, "valid_results": 42, "success_rate": 0.7380952380952381, "input_tokens": 259078099, "cached_input_tokens": 254678912, "output_tokens": 971405, "usage_complete": 42, "control_frequency_hz": 25, "max_control_steps": 7500, "preflight_results": 0, "formal_results": 42, "modified_results": 34, "original_results": 8 }, { "id": "task06", "name": "SIMPLE G1", "total": 12, "completed": 12, "pending": 0, "successes": 7, "valid_results": 12, "success_rate": 0.5833333333333334, "usage_complete": 12, "control_frequency_hz": 50, "max_control_steps": null, "max_control_steps_by_task": { "task06/01": 10000, "task06/02": 15000, "task06/03": 15000, "task06/04": 15000, "task06/05": 15000, "task06/06": 15000, "task06/07": 15000, "task06/08": 10000, "task06/09": 15000, "task06/10": 15000, "task06/11": 15000, "task06/12": 15000 }, "preflight_results": 0, "formal_results": 12, "modified_results": 0, "original_results": 12, "input_tokens": 106763761, "cached_input_tokens": 105331968, "output_tokens": 303566 } ], "tasks": [ { "key": "task01/01", "family": "task01", "slot": "01", "native_id": "robocasa/load-condiments-in-fridge", "title": "Load condiments in fridge", "catalog_instruction": "Place the specified condiments from the counter on the top shelf of the fridge. Move any existing top-shelf items to other shelves. Release the items and move the gripper clear of the stored items.", "native_instruction": "Place the {condiment1} and {condiment2} from the counter to the top shelf of the fridge. If the existing items in the fridge are on the top shelf, move them to other shelves.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-01-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/load-condiments-in-fridge", "native_identity": { "task_name": "LoadCondimentsInFridge", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Place the {condiment1} and {condiment2} from the counter to the top shelf of the fridge. If the existing items in the fridge are on the top shelf, move them to other shelves.", "instruction": "Place the specified condiments from the counter on the top shelf of the fridge. Move any existing top-shelf items to other shelves. Release the items and move the gripper clear of the stored items.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Place the ", "modified": "Place the " }, { "op": "replace", "original": "{condiment1}", "modified": "specified" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "and {condiment2}", "modified": "condiments" }, { "op": "equal", "original": " from the counter ", "modified": " from the counter " }, { "op": "replace", "original": "to", "modified": "on" }, { "op": "equal", "original": " the top shelf of the fridge. ", "modified": " the top shelf of the fridge. " }, { "op": "replace", "original": "If", "modified": "Move" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "the", "modified": "any" }, { "op": "equal", "original": " existing ", "modified": " existing " }, { "op": "insert", "original": "", "modified": "top-shelf " }, { "op": "equal", "original": "items", "modified": "items" }, { "op": "delete", "original": " in the fridge are on the top shelf, move them", "modified": "" }, { "op": "equal", "original": " to other shelves.", "modified": " to other shelves." }, { "op": "insert", "original": "", "modified": " Release the items and move the gripper clear of the stored items." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/01-load-condiments-in-fridge/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/02", "family": "task01", "slot": "02", "native_id": "robocasa/filter-microwavable-item", "title": "Filter microwavable item", "catalog_instruction": "Remove the specified fruit from the bowl and place it on the small plate. Then place the bowl with only the specified meat in the microwave, close the door, and press the start button to microwave the meat. Release the bowl and move the gripper clear of it.", "native_instruction": "Remove the {fruit} from the bowl and place it on the small plate. Then place the bowl with only the {meat} in the microwave, close the door, and press the start button to microwave the {meat}.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-02-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/filter-microwavable-item", "native_identity": { "task_name": "FilterMicrowavableItem", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Remove the {fruit} from the bowl and place it on the small plate. Then place the bowl with only the {meat} in the microwave, close the door, and press the start button to microwave the {meat}.", "instruction": "Remove the specified fruit from the bowl and place it on the small plate. Then place the bowl with only the specified meat in the microwave, close the door, and press the start button to microwave the meat. Release the bowl and move the gripper clear of it.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Remove the ", "modified": "Remove the " }, { "op": "replace", "original": "{fruit}", "modified": "specified fruit" }, { "op": "equal", "original": " from the bowl and place it on the small plate. Then place the bowl with only the ", "modified": " from the bowl and place it on the small plate. Then place the bowl with only the " }, { "op": "replace", "original": "{meat}", "modified": "specified meat" }, { "op": "equal", "original": " in the microwave, close the door, and press the start button to microwave the ", "modified": " in the microwave, close the door, and press the start button to microwave the " }, { "op": "replace", "original": "{meat}.", "modified": "meat. Release the bowl and move the gripper clear of it." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/02-filter-microwavable-item/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/03", "family": "task01", "slot": "03", "native_id": "robocasa/store-dumplings", "title": "Store dumplings", "catalog_instruction": "Place two dumplings into each of the tupperware containers and then place both containers on a shelf in the fridge. Release the dumplings and containers and move the gripper clear of them.", "native_instruction": "Place two dumplings into each of the tupperware containers and then place the containers in the fridge.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-03-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/store-dumplings", "native_identity": { "task_name": "StoreDumplings", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Place two dumplings into each of the tupperware containers and then place the containers in the fridge.", "instruction": "Place two dumplings into each of the tupperware containers and then place both containers on a shelf in the fridge. Release the dumplings and containers and move the gripper clear of them.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Place two dumplings into each of the tupperware containers and then place ", "modified": "Place two dumplings into each of the tupperware containers and then place " }, { "op": "replace", "original": "the", "modified": "both" }, { "op": "equal", "original": " containers", "modified": " containers" }, { "op": "insert", "original": "", "modified": " on a shelf" }, { "op": "equal", "original": " in the fridge.", "modified": " in the fridge." }, { "op": "insert", "original": "", "modified": " Release the dumplings and containers and move the gripper clear of them." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/03-store-dumplings/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/04", "family": "task01", "slot": "04", "native_id": "robocasa/divide-buffet-trays", "title": "Divide buffet trays", "catalog_instruction": "Gather the specified vegetables from the fridge and place them on a tray on the dining counter. Then gather the specified meats from the fridge and place them on the other tray. Release the food and move the gripper clear of the food and both trays.", "native_instruction": "Gather the {vegetables} from the fridge and place them on a tray on the dining counter. Then gather the {meats} from the fridge and place them on the other tray.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-04-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/divide-buffet-trays", "native_identity": { "task_name": "DivideBuffetTrays", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Gather the {vegetables} from the fridge and place them on a tray on the dining counter. Then gather the {meats} from the fridge and place them on the other tray.", "instruction": "Gather the specified vegetables from the fridge and place them on a tray on the dining counter. Then gather the specified meats from the fridge and place them on the other tray. Release the food and move the gripper clear of the food and both trays.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Gather the ", "modified": "Gather the " }, { "op": "replace", "original": "{vegetables}", "modified": "specified vegetables" }, { "op": "equal", "original": " from the fridge and place them on a tray on the dining counter. Then gather the ", "modified": " from the fridge and place them on a tray on the dining counter. Then gather the " }, { "op": "replace", "original": "{meats}", "modified": "specified meats" }, { "op": "equal", "original": " from the fridge and place them on the other tray.", "modified": " from the fridge and place them on the other tray." }, { "op": "insert", "original": "", "modified": " Release the food and move the gripper clear of the food and both trays." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/04-divide-buffet-trays/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/05", "family": "task01", "slot": "05", "native_id": "robocasa/make-cheesecake-filling", "title": "Make cheesecake filling", "catalog_instruction": "Add the butter stick, sugar cube, and cream cheese stick to the stand mixer bowl, lower the mixer head fully, and turn the speed knob to begin making cheesecake filling.", "native_instruction": "Add the butter stick, sugar cube, and cream cheese stick to the stand mixer bowl and then turn the speed knob to begin making cheesecake filling.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-05-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/make-cheesecake-filling", "native_identity": { "task_name": "MakeCheesecakeFilling", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Add the butter stick, sugar cube, and cream cheese stick to the stand mixer bowl and then turn the speed knob to begin making cheesecake filling.", "instruction": "Add the butter stick, sugar cube, and cream cheese stick to the stand mixer bowl, lower the mixer head fully, and turn the speed knob to begin making cheesecake filling.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Add the butter stick, sugar cube, and cream cheese stick to the stand mixer ", "modified": "Add the butter stick, sugar cube, and cream cheese stick to the stand mixer " }, { "op": "replace", "original": "bowl", "modified": "bowl, lower the mixer head fully," }, { "op": "equal", "original": " and", "modified": " and" }, { "op": "delete", "original": " then", "modified": "" }, { "op": "equal", "original": " turn the speed knob to begin making cheesecake filling.", "modified": " turn the speed knob to begin making cheesecake filling." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/05-make-cheesecake-filling/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/06", "family": "task01", "slot": "06", "native_id": "robocasa/multistep-steaming", "title": "Multistep steaming", "catalog_instruction": "Turn on the sink faucet. Move the specified vegetable from the counter into the sink while the water is running. Turn off the faucet, move the vegetable into the pot next to the stove, and move the pot to the specified burner.", "native_instruction": "Turn on the sink faucet. Then move the {vegetable} from the counter to the sink. Turn off the sink. Move the vegetable from the sink to the pot next to the stove. Finally move the pot to the {burner} burner.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-06-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/multistep-steaming", "native_identity": { "task_name": "MultistepSteaming", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Turn on the sink faucet. Then move the {vegetable} from the counter to the sink. Turn off the sink. Move the vegetable from the sink to the pot next to the stove. Finally move the pot to the {burner} burner.", "instruction": "Turn on the sink faucet. Move the specified vegetable from the counter into the sink while the water is running. Turn off the faucet, move the vegetable into the pot next to the stove, and move the pot to the specified burner.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Turn on the sink faucet. ", "modified": "Turn on the sink faucet. " }, { "op": "replace", "original": "Then move", "modified": "Move" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "{vegetable}", "modified": "specified vegetable" }, { "op": "equal", "original": " from the counter ", "modified": " from the counter " }, { "op": "replace", "original": "to", "modified": "into" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "sink.", "modified": "sink while the water is running." }, { "op": "equal", "original": " Turn off the ", "modified": " Turn off the " }, { "op": "replace", "original": "sink.", "modified": "faucet," }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "Move", "modified": "move" }, { "op": "equal", "original": " the vegetable ", "modified": " the vegetable " }, { "op": "replace", "original": "from the sink to", "modified": "into" }, { "op": "equal", "original": " the pot next to the ", "modified": " the pot next to the " }, { "op": "replace", "original": "stove.", "modified": "stove," }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "Finally", "modified": "and" }, { "op": "equal", "original": " move the pot to the ", "modified": " move the pot to the " }, { "op": "replace", "original": "{burner}", "modified": "specified" }, { "op": "equal", "original": " burner.", "modified": " burner." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/06-multistep-steaming/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/07", "family": "task01", "slot": "07", "native_id": "robocasa/scale-portioning", "title": "Scale portioning", "catalog_instruction": "Take the specified meat from the fridge and place it on the digital scale on the counter by the fridge. Release it and move the gripper clear while waiting a few seconds for a reading. Then move it to the plate on the dining counter, release it, and move the gripper clear.", "native_instruction": "Take the {meat} from the fridge and place it on the digital scale on the counter by the fridge. Wait a few seconds for a reading, then move it to the plate on the dining counter.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-07-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/scale-portioning", "native_identity": { "task_name": "ScalePortioning", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Take the {meat} from the fridge and place it on the digital scale on the counter by the fridge. Wait a few seconds for a reading, then move it to the plate on the dining counter.", "instruction": "Take the specified meat from the fridge and place it on the digital scale on the counter by the fridge. Release it and move the gripper clear while waiting a few seconds for a reading. Then move it to the plate on the dining counter, release it, and move the gripper clear.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Take the ", "modified": "Take the " }, { "op": "replace", "original": "{meat}", "modified": "specified meat" }, { "op": "equal", "original": " from the fridge and place it on the digital scale on the counter by the fridge. ", "modified": " from the fridge and place it on the digital scale on the counter by the fridge. " }, { "op": "replace", "original": "Wait", "modified": "Release it and move the gripper clear while waiting" }, { "op": "equal", "original": " a few seconds for a ", "modified": " a few seconds for a " }, { "op": "replace", "original": "reading,", "modified": "reading." }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "then", "modified": "Then" }, { "op": "equal", "original": " move it to the plate on the dining ", "modified": " move it to the plate on the dining " }, { "op": "replace", "original": "counter.", "modified": "counter, release it, and move the gripper clear." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/07-scale-portioning/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/08", "family": "task01", "slot": "08", "native_id": "robocasa/scrub-cutting-board", "title": "Scrub cutting board", "catalog_instruction": "Pick up the sponge from the counter and scrub across a broad area of the cutting board, keeping the sponge grasped and in contact with the board throughout the scrubbing motion. Once finished, release the sponge and retract the gripper well away from it.", "native_instruction": "Pick up the sponge from the counter and clean the cutting board by briefly scrubbing or pressing down on the cutting board. Once finished, release the sponge.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-08-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/scrub-cutting-board", "native_identity": { "task_name": "ScrubCuttingBoard", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Pick up the sponge from the counter and clean the cutting board by briefly scrubbing or pressing down on the cutting board. Once finished, release the sponge.", "instruction": "Pick up the sponge from the counter and scrub across a broad area of the cutting board, keeping the sponge grasped and in contact with the board throughout the scrubbing motion. Once finished, release the sponge and retract the gripper well away from it.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Pick up the sponge from the counter and ", "modified": "Pick up the sponge from the counter and " }, { "op": "insert", "original": "", "modified": "s" }, { "op": "equal", "original": "c", "modified": "c" }, { "op": "replace", "original": "l", "modified": "rub across a broad ar" }, { "op": "equal", "original": "ea", "modified": "ea" }, { "op": "replace", "original": "n", "modified": " of" }, { "op": "equal", "original": " the cutting board", "modified": " the cutting board" }, { "op": "insert", "original": "", "modified": ", keeping the sponge grasped and in contact with the" }, { "op": "equal", "original": " b", "modified": " b" }, { "op": "replace", "original": "y", "modified": "oard" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "b", "modified": "th" }, { "op": "equal", "original": "r", "modified": "r" }, { "op": "replace", "original": "i", "modified": "oughout th" }, { "op": "equal", "original": "e", "modified": "e" }, { "op": "delete", "original": "fly", "modified": "" }, { "op": "equal", "original": " scrubbing ", "modified": " scrubbing " }, { "op": "insert", "original": "", "modified": "m" }, { "op": "equal", "original": "o", "modified": "o" }, { "op": "replace", "original": "r press", "modified": "t" }, { "op": "equal", "original": "i", "modified": "i" }, { "op": "delete", "original": "ng down ", "modified": "" }, { "op": "equal", "original": "on", "modified": "on" }, { "op": "delete", "original": " the cutting board", "modified": "" }, { "op": "equal", "original": ". Once finished, release the sponge", "modified": ". Once finished, release the sponge" }, { "op": "insert", "original": "", "modified": " and retract the gripper well away from it" }, { "op": "equal", "original": ".", "modified": "." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/08-scrub-cutting-board/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Clarify broad board coverage, maintained grasp/contact, and final retraction without numeric thresholds." }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/09", "family": "task01", "slot": "09", "native_id": "robocasa/prepare-veggie-dip", "title": "Prepare veggie dip", "catalog_instruction": "Pick the specified vegetable and the cream cheese from the fridge, place both fully inside the blender, and turn it on.", "native_instruction": "Pick the {vegetable} and the cream cheese from the fridge, place them in the blender, and turn it on.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-09-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/prepare-veggie-dip", "native_identity": { "task_name": "PrepareVeggieDip", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Pick the {vegetable} and the cream cheese from the fridge, place them in the blender, and turn it on.", "instruction": "Pick the specified vegetable and the cream cheese from the fridge, place both fully inside the blender, and turn it on.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Pick the ", "modified": "Pick the " }, { "op": "replace", "original": "{vegetable}", "modified": "specified vegetable" }, { "op": "equal", "original": " and the cream cheese from the fridge, place ", "modified": " and the cream cheese from the fridge, place " }, { "op": "replace", "original": "them", "modified": "both" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "in", "modified": "fully inside" }, { "op": "equal", "original": " the blender, and turn it on.", "modified": " the blender, and turn it on." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/09-prepare-veggie-dip/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task01/10", "family": "task01", "slot": "10", "native_id": "robocasa/prepare-vegetable-roasting", "title": "Prepare vegetable roasting", "catalog_instruction": "Pick the specified vegetable from the fridge and hold it under running water from the sink faucet to wash it. Then place it on the tray next to the sink to prepare for roasting. Release it and move the gripper clear.", "native_instruction": "Pick the {vegetable} from the fridge and hold it under the sink faucet to wash it. Then place it on the tray next to the sink to prepare for roasting.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task01-10-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robocasa/prepare-vegetable-roasting", "native_identity": { "task_name": "PrepareVegetableRoasting", "max_steps": 6000 }, "instruction_revision": { "native_instruction": "Pick the {vegetable} from the fridge and hold it under the sink faucet to wash it. Then place it on the tray next to the sink to prepare for roasting.", "instruction": "Pick the specified vegetable from the fridge and hold it under running water from the sink faucet to wash it. Then place it on the tray next to the sink to prepare for roasting. Release it and move the gripper clear.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Pick the ", "modified": "Pick the " }, { "op": "replace", "original": "{vegetable}", "modified": "specified vegetable" }, { "op": "equal", "original": " from the fridge and hold it under", "modified": " from the fridge and hold it under" }, { "op": "insert", "original": "", "modified": " running water from" }, { "op": "equal", "original": " the sink faucet to wash it. Then place it on the tray next to the sink to prepare for roasting.", "modified": " the sink faucet to wash it. Then place it on the tray next to the sink to prepare for roasting." }, { "op": "insert", "original": "", "modified": " Release it and move the gripper clear." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task01/10-prepare-vegetable-roasting/task.yaml" }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/01", "family": "task02", "slot": "01", "native_id": "libero/10-0", "title": "LIBERO-10-01", "catalog_instruction": "put both the alphabet soup and the tomato sauce in the basket", "native_instruction": "put both the alphabet soup and the tomato sauce in the basket", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task02-01-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "libero/libero-10-01", "native_identity": { "suite_name": "libero_10", "task_id": 0, "init_state_index": 0, "max_steps": 6000 }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/02", "family": "task02", "slot": "02", "native_id": "libero/10-1", "title": "LIBERO-10-02", "catalog_instruction": "put both the cream cheese box and the butter in the basket", "native_instruction": "put both the cream cheese box and the butter in the basket", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task02-02-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "libero/libero-10-02", "native_identity": { "suite_name": "libero_10", "task_id": 1, "init_state_index": 0, "max_steps": 6000 }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/03", "family": "task02", "slot": "03", "native_id": "libero/10-2", "title": "LIBERO-10-03", "catalog_instruction": "turn on the stove and put the moka pot on it", "native_instruction": "turn on the stove and put the moka pot on it", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task02-03-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "libero/libero-10-03", "native_identity": { "suite_name": "libero_10", "task_id": 2, "init_state_index": 0, "max_steps": 6000 }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/04", "family": "task02", "slot": "04", "native_id": "libero/bowl-into-bottom-drawer", "title": "LIBERO-10-04", "catalog_instruction": "put the black bowl in the bottom drawer of the cabinet and close it", "native_instruction": "put the black bowl in the bottom drawer of the cabinet and close it", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task02-04-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "libero/libero-10-04", "native_identity": { "suite_name": "libero_10", "task_id": 3, "init_state_index": 0, "max_steps": 6000 }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/05", "family": "task02", "slot": "05", "native_id": "libero/10-4", "title": "LIBERO-10-05", "catalog_instruction": "put the white mug in the center of the left plate and put the yellow and white mug in the center of the right plate, with each mug resting on its plate", "native_instruction": "put the white mug on the left plate and put the yellow and white mug on the right plate", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task02-05-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "libero/libero-10-05", "native_identity": { "suite_name": "libero_10", "task_id": 4, "init_state_index": 0, "max_steps": 6000 }, "instruction_revision": { "native_instruction": "put the white mug on the left plate and put the yellow and white mug on the right plate", "instruction": "put the white mug in the center of the left plate and put the yellow and white mug in the center of the right plate, with each mug resting on its plate", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "put the white mug ", "modified": "put the white mug " }, { "op": "insert", "original": "", "modified": "in the center " }, { "op": "equal", "original": "o", "modified": "o" }, { "op": "replace", "original": "n", "modified": "f" }, { "op": "equal", "original": " the left plate and put the yellow and white mug ", "modified": " the left plate and put the yellow and white mug " }, { "op": "insert", "original": "", "modified": "in the center " }, { "op": "equal", "original": "o", "modified": "o" }, { "op": "replace", "original": "n", "modified": "f" }, { "op": "equal", "original": " the right plate", "modified": " the right plate" }, { "op": "insert", "original": "", "modified": ", with each mug resting on its plate" } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task02/05-libero-10-05/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Authorized full current-source LIBERO comparison refresh." }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/06", "family": "task02", "slot": "06", "native_id": "libero/10-5", "title": "LIBERO-10-06", "catalog_instruction": "pick up the book and place it in the back compartment of the caddy, between the two large side compartments", "native_instruction": "pick up the book and place it in the back compartment of the caddy", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task02-06-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "libero/libero-10-06", "native_identity": { "suite_name": "libero_10", "task_id": 5, "init_state_index": 0, "max_steps": 6000 }, "instruction_revision": { "native_instruction": "pick up the book and place it in the back compartment of the caddy", "instruction": "pick up the book and place it in the back compartment of the caddy, between the two large side compartments", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "pick up the book and place it in the back compartment of the caddy", "modified": "pick up the book and place it in the back compartment of the caddy" }, { "op": "insert", "original": "", "modified": ", between the two large side compartments" } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task02/06-libero-10-06/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Authorized full current-source LIBERO comparison refresh." }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/07", "family": "task02", "slot": "07", "native_id": "libero/10-6", "title": "LIBERO-10-07", "catalog_instruction": "put the white mug in the center of the plate and put the chocolate pudding immediately to the right of the plate", "native_instruction": "put the white mug on the plate and put the chocolate pudding to the right of the plate", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task02-07-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "libero/libero-10-07", "native_identity": { "suite_name": "libero_10", "task_id": 6, "init_state_index": 0, "max_steps": 6000 }, "instruction_revision": { "native_instruction": "put the white mug on the plate and put the chocolate pudding to the right of the plate", "instruction": "put the white mug in the center of the plate and put the chocolate pudding immediately to the right of the plate", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "put the white mug ", "modified": "put the white mug " }, { "op": "insert", "original": "", "modified": "in the center " }, { "op": "equal", "original": "o", "modified": "o" }, { "op": "replace", "original": "n", "modified": "f" }, { "op": "equal", "original": " the plate and put the chocolate pudding ", "modified": " the plate and put the chocolate pudding " }, { "op": "insert", "original": "", "modified": "immediately " }, { "op": "equal", "original": "to the right of the plate", "modified": "to the right of the plate" } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task02/07-libero-10-07/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Authorized full current-source LIBERO comparison refresh." }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/08", "family": "task02", "slot": "08", "native_id": "libero/10-7", "title": "LIBERO-10-08", "catalog_instruction": "put both the alphabet soup and the cream cheese box fully inside the basket", "native_instruction": "put both the alphabet soup and the cream cheese box in the basket", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task02-08-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "libero/libero-10-08", "native_identity": { "suite_name": "libero_10", "task_id": 7, "init_state_index": 0, "max_steps": 6000 }, "instruction_revision": { "native_instruction": "put both the alphabet soup and the cream cheese box in the basket", "instruction": "put both the alphabet soup and the cream cheese box fully inside the basket", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "put both the alphabet soup and the cream cheese box ", "modified": "put both the alphabet soup and the cream cheese box " }, { "op": "insert", "original": "", "modified": "fully " }, { "op": "equal", "original": "in", "modified": "in" }, { "op": "insert", "original": "", "modified": "side" }, { "op": "equal", "original": " the basket", "modified": " the basket" } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task02/08-libero-10-08/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Authorized full current-source LIBERO comparison refresh." }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/09", "family": "task02", "slot": "09", "native_id": "libero/10-8", "title": "LIBERO-10-09", "catalog_instruction": "put both moka pots on the stove and turn the stove on", "native_instruction": "put both moka pots on the stove", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task02-09-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "libero/libero-10-09", "native_identity": { "suite_name": "libero_10", "task_id": 8, "init_state_index": 0, "max_steps": 6000 }, "instruction_revision": { "native_instruction": "put both moka pots on the stove", "instruction": "put both moka pots on the stove and turn the stove on", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "put both moka pots on the stove", "modified": "put both moka pots on the stove" }, { "op": "insert", "original": "", "modified": " and turn the stove on" } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task02/09-libero-10-09/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Authorized full current-source LIBERO comparison refresh." }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task02/10", "family": "task02", "slot": "10", "native_id": "libero/mug-into-microwave", "title": "LIBERO-10-10", "catalog_instruction": "put the yellow and white mug in the microwave and close it", "native_instruction": "put the yellow and white mug in the microwave and close it", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task02-10-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 20, "max_control_steps": 6000, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "libero/libero-10-10", "native_identity": { "suite_name": "libero_10", "task_id": 9, "init_state_index": 0, "max_steps": 6000 }, "run_status": "finished", "attempt_history": [], "status_note": "Evaluation and native evidence complete." }, { "key": "task03/01", "family": "task03", "slot": "01", "native_id": "robotwin/handover-block-aloha-agilex", "title": "Handover block aloha agilex", "catalog_instruction": "use the left arm to grasp the red block on the table, handover it to the right arm and place it upright on the blue pad", "native_instruction": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task03-01-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robotwin/handover-block-aloha-agilex", "native_identity": { "task_name": "handover_block", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "instruction_revision": { "native_instruction": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad", "instruction": "use the left arm to grasp the red block on the table, handover it to the right arm and place it upright on the blue pad", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "use the left arm to grasp the red block on the table, handover it to the right arm and place it ", "modified": "use the left arm to grasp the red block on the table, handover it to the right arm and place it " }, { "op": "insert", "original": "", "modified": "upright " }, { "op": "equal", "original": "on the blue pad", "modified": "on the blue pad" } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task03/01-handover-block/task.yaml" }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/02", "family": "task03", "slot": "02", "native_id": "robotwin/place-dual-shoes-aloha-agilex", "title": "Place dual shoes aloha agilex", "catalog_instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left. Put the shoe initially on the left in the front half (closer to the robot), and the other shoe in the back half. Release both shoes and withdraw the open grippers.", "native_instruction": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task03-02-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robotwin/place-dual-shoes-aloha-agilex", "native_identity": { "task_name": "place_dual_shoes", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "instruction_revision": { "native_instruction": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left", "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left. Put the shoe initially on the left in the front half (closer to the robot), and the other shoe in the back half. Release both shoes and withdraw the open grippers.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "use both arms to pick up the two shoes on the table and put them ", "modified": "use both arms to pick up the two shoes on the table and put them " }, { "op": "insert", "original": "", "modified": "flat " }, { "op": "equal", "original": "in the shoebox, with the shoe ", "modified": "in the shoebox, with the shoe " }, { "op": "replace", "original": "tip", "modified": "tips" }, { "op": "equal", "original": " pointing to the ", "modified": " pointing to the " }, { "op": "insert", "original": "", "modified": "left. Put the shoe initially on the " }, { "op": "equal", "original": "left", "modified": "left" }, { "op": "insert", "original": "", "modified": " in the front half (closer to the robot), and the other shoe in the back half. Release both shoes and withdraw the open grippers." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task03/02-place-dual-shoes/task.yaml" }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/03", "family": "task03", "slot": "03", "native_id": "robotwin/put-bottles-dustbin-aloha-agilex", "title": "Put bottles dustbin aloha agilex", "catalog_instruction": "use arms to grab the bottles and put them into the dustbin to the left of the table", "native_instruction": "use arms to grab the bottles and put them into the dustbin to the left of the table", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task03-03-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "robotwin/put-bottles-dustbin-aloha-agilex", "native_identity": { "task_name": "put_bottles_dustbin", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/04", "family": "task03", "slot": "04", "native_id": "robotwin/scan-object-aloha-agilex", "title": "Scan object aloha agilex", "catalog_instruction": "Pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items.", "native_instruction": "simultaneously pick up the scanner and the object with separate arms, then scan the object", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task03-04-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robotwin/scan-object-aloha-agilex", "native_identity": { "task_name": "scan_object", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "instruction_revision": { "native_instruction": "simultaneously pick up the scanner and the object with separate arms, then scan the object", "instruction": "Pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items.", "native_instruction_kind": "source", "diff": [ { "op": "replace", "original": "simultaneously p", "modified": "P" }, { "op": "equal", "original": "ick up the scanner and the object ", "modified": "ick up the scanner and the object " }, { "op": "insert", "original": "", "modified": "simultaneously " }, { "op": "equal", "original": "with separate arms", "modified": "with separate arms" }, { "op": "replace", "original": ",", "modified": ". Hold" }, { "op": "equal", "original": " the", "modified": " the" }, { "op": "delete", "original": "n", "modified": "" }, { "op": "equal", "original": " scan", "modified": " scan" }, { "op": "insert", "original": "", "modified": "ner\u2019s scanning face close to and directly facing" }, { "op": "equal", "original": " the object", "modified": " the object" }, { "op": "insert", "original": "", "modified": "\u2019s center, keeping both grippers closed around the items." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task03/04-scan-object/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Clarify the close, centered face-to-face scan pose and keeping both items grasped; native scan geometry thresholds are unchanged." }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/05", "family": "task03", "slot": "05", "native_id": "robotwin/stack-bowls-three-aloha-agilex", "title": "Stack bowls three aloha agilex", "catalog_instruction": "nest the three bowls into one compact, vertically aligned stack resting on the table. Release the bowls and leave both grippers open.", "native_instruction": "stack the three bowls on top of each other", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task03-05-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robotwin/stack-bowls-three-aloha-agilex", "native_identity": { "task_name": "stack_bowls_three", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "instruction_revision": { "native_instruction": "stack the three bowls on top of each other", "instruction": "nest the three bowls into one compact, vertically aligned stack resting on the table. Release the bowls and leave both grippers open.", "native_instruction_kind": "source", "diff": [ { "op": "insert", "original": "", "modified": "ne" }, { "op": "equal", "original": "st", "modified": "st" }, { "op": "delete", "original": "ack", "modified": "" }, { "op": "equal", "original": " the three bowls ", "modified": " the three bowls " }, { "op": "insert", "original": "", "modified": "into one compact, vertically aligned stack resting " }, { "op": "equal", "original": "on t", "modified": "on t" }, { "op": "replace", "original": "op", "modified": "he" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "of", "modified": "table." }, { "op": "equal", "original": " ", "modified": " " }, { "op": "insert", "original": "", "modified": "Rel" }, { "op": "equal", "original": "ea", "modified": "ea" }, { "op": "replace", "original": "c", "modified": "se t" }, { "op": "equal", "original": "h", "modified": "h" }, { "op": "insert", "original": "", "modified": "e" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "insert", "original": "", "modified": "bowls and leave b" }, { "op": "equal", "original": "oth", "modified": "oth" }, { "op": "insert", "original": "", "modified": " gripp" }, { "op": "equal", "original": "er", "modified": "er" }, { "op": "insert", "original": "", "modified": "s open." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task03/05-stack-bowls-three/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Retain the existing concise instruction describing the compact bowl stack, release and open grippers; rerun using the current Kinex source." }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/06", "family": "task03", "slot": "06", "native_id": "robotwin/stack-blocks-three-aloha-agilex", "title": "Stack blocks three aloha agilex", "catalog_instruction": "build a three-block stack at the center by placing the red block first, the green block on red, and the blue block on green", "native_instruction": "build a three-block stack at the center by placing the red block first, the green block on red, and the blue block on green", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task03-06-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "robotwin/stack-blocks-three-aloha-agilex", "native_identity": { "task_name": "stack_blocks_three", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/07", "family": "task03", "slot": "07", "native_id": "robotwin/hanging-mug-aloha-agilex", "title": "Hanging mug aloha agilex", "catalog_instruction": "Use the left arm to pick up the mug on the table, rotate it and put it down in the middle of the table, then use the right arm to hang the mug by its handle on the rack's peg. Seat the handle near the middle of the peg and open the right gripper to leave the mug hanging.", "native_instruction": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task03-07-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robotwin/hanging-mug-aloha-agilex", "native_identity": { "task_name": "hanging_mug", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "instruction_revision": { "native_instruction": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.", "instruction": "Use the left arm to pick up the mug on the table, rotate it and put it down in the middle of the table, then use the right arm to hang the mug by its handle on the rack's peg. Seat the handle near the middle of the peg and open the right gripper to leave the mug hanging.", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "Use", "modified": "Use" }, { "op": "insert", "original": "", "modified": " the" }, { "op": "equal", "original": " left arm to pick", "modified": " left arm to pick" }, { "op": "insert", "original": "", "modified": " up" }, { "op": "equal", "original": " the mug on the table, rotate ", "modified": " the mug on the table, rotate " }, { "op": "replace", "original": "the mug", "modified": "it" }, { "op": "equal", "original": " and put ", "modified": " and put " }, { "op": "replace", "original": "the mug", "modified": "it" }, { "op": "equal", "original": " down in the middle of the table, ", "modified": " down in the middle of the table, " }, { "op": "insert", "original": "", "modified": "then " }, { "op": "equal", "original": "use the right arm to ", "modified": "use the right arm to " }, { "op": "replace", "original": "pick", "modified": "hang" }, { "op": "equal", "original": " the mug ", "modified": " the mug " }, { "op": "replace", "original": "and", "modified": "by" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "hang", "modified": "its" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "it", "modified": "handle" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "onto", "modified": "on" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "rack.", "modified": "rack's peg. Seat the handle near the middle of the peg and open the right gripper to leave the mug hanging." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task03/07-hanging-mug/task.yaml" }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/08", "family": "task03", "slot": "08", "native_id": "robotwin/put-object-cabinet-aloha-agilex", "title": "Put object cabinet aloha agilex", "catalog_instruction": "use one arm to hold the object and the other arm to open the cabinet drawer, then place the object inside", "native_instruction": "use one arm to hold the object and the other arm to open the cabinet drawer, then place the object inside", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task03-08-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "catalog_id": "robotwin/put-object-cabinet-aloha-agilex", "native_identity": { "task_name": "put_object_cabinet", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/09", "family": "task03", "slot": "09", "native_id": "robotwin/blocks-ranking-size-aloha-agilex", "title": "Blocks ranking size aloha agilex", "catalog_instruction": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them in a left-to-right row from largest to smallest", "native_instruction": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task03-09-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robotwin/blocks-ranking-size-aloha-agilex", "native_identity": { "task_name": "blocks_ranking_size", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "instruction_revision": { "native_instruction": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right", "instruction": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them in a left-to-right row from largest to smallest", "native_instruction_kind": "source", "diff": [ { "op": "equal", "original": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them ", "modified": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them " }, { "op": "insert", "original": "", "modified": "in a left-to-right row " }, { "op": "equal", "original": "from largest to ", "modified": "from largest to " }, { "op": "replace", "original": "smallest, from left to right", "modified": "smallest" } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task03/09-blocks-ranking-size/task.yaml" }, "attempt_history": [], "run_status": "finished", "status_note": "Native result, execution and usage complete." }, { "key": "task03/10", "family": "task03", "slot": "10", "native_id": "robotwin/lift-pot-aloha-agilex", "title": "Lift pot \u00b7 coordinated bimanual lifting", "catalog_instruction": "Use both arms to lift the pot well clear of the tabletop, grasping the left handle with the left gripper and the right handle with the right gripper. Keep the pot upright and keep each gripper centered on its handle while holding the pot up.", "native_instruction": "use BOTH!!! arms to lift the pot", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task03-10-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "catalog_id": "robotwin/lift-pot-aloha-agilex", "native_identity": { "task_name": "lift_pot", "embodiment": "aloha_agilex", "max_steps": 7500, "task_config": "demo_clean", "allow_seed_substitution": false }, "instruction_revision": { "native_instruction": "use BOTH!!! arms to lift the pot", "instruction": "Use both arms to lift the pot well clear of the tabletop, grasping the left handle with the left gripper and the right handle with the right gripper. Keep the pot upright and keep each gripper centered on its handle while holding the pot up.", "native_instruction_kind": "source", "diff": [ { "op": "replace", "original": "u", "modified": "U" }, { "op": "equal", "original": "se ", "modified": "se " }, { "op": "replace", "original": "BOTH!!!", "modified": "both" }, { "op": "equal", "original": " arms to lift the pot", "modified": " arms to lift the pot" }, { "op": "insert", "original": "", "modified": " well clear of the tabletop, grasping the left handle with the left gripper and the right handle with the right gripper. Keep the pot upright and keep each gripper centered on its handle while holding the pot up." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task03/10-lift-pot/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Retain the existing instruction describing two-handle grasping, upright orientation and sufficient lift; rerun using the current Kinex source." }, "attempt_history": [], "run_status": "finished", "status_note": "Native TCP repair evaluation and native evidence complete." }, { "key": "task04/01", "family": "task04", "slot": "01", "native_id": "robodojo/make-toast", "title": "Make toast", "catalog_instruction": "Place two bread slices upright in the toaster, one per slot, leaving the other two on the rack. Press the lever down, then return both arms to their starting poses.", "native_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-01-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", "instruction": "Place two bread slices upright in the toaster, one per slot, leaving the other two on the rack. Press the lever down, then return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Pick up", "modified": "Place" }, { "op": "equal", "original": " two ", "modified": " two " }, { "op": "insert", "original": "", "modified": "bread " }, { "op": "equal", "original": "slices ", "modified": "slices " }, { "op": "replace", "original": "of", "modified": "upright" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "bread, place them into", "modified": "in" }, { "op": "equal", "original": " the toaster, ", "modified": " the toaster, " }, { "op": "replace", "original": "and", "modified": "one" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "press", "modified": "per slot, leaving the other two on the rack. Press" }, { "op": "equal", "original": " the lever ", "modified": " the lever " }, { "op": "replace", "original": "down.", "modified": "down, then return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/01-robodojo-make-toast/task.yaml" }, "display_slot": "01", "display_key": "task04/01", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [ { "id": "01-robodojo-make-toast-codex-seed0-attempt01", "execution": { "reason": "process_error", "status": "interrupted" }, "links": { "native_session": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/agent/session.jsonl", "trace": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/agent/trajectory.json", "provider_usage": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/agent/provider-usage.jsonl", "transcript": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/transcript.json", "verdict": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/verifier/episode.json", "protocol": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/verifier/protocol.json", "native_goal": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/instructions.json", "workspace": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/verifier/workspace.tar.gz", "workspace_changes": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/verifier/workspace.json", "owner_journal": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/evidence/episode/evidence/journal/actions.jsonl", "recording_manifest": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/native/evidence/episode/evidence/recording/manifest.json", "usage": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/usage.json", "analysis": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/analysis.json", "provenance": "attempts/task04/01/01-robodojo-make-toast-codex-seed0-attempt01/provenance.json" } } ] }, { "key": "task04/02", "family": "task04", "slot": "02", "native_id": "robodojo/classify-objects-by-language", "title": "Classify objects by language", "catalog_instruction": "Complete the benchmark task: classify objects by language.", "native_instruction": "Put car objects into the left basket, watch objects into the middle basket, and wooden_toy objects into the right basket, then reset the robot arm.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-02-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "02", "display_key": "task04/02", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/03", "family": "task04", "slot": "03", "native_id": "robodojo/store-laptop-and-headphones", "title": "Store laptop and headphones", "catalog_instruction": "Hang the headphones by the middle of their headband, aligned with the stand cradle so both earcups hang evenly below it. Close the laptop fully and seat it upright in its vertical stand. Release both objects and return both arms to their starting poses.", "native_instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-03-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", "instruction": "Hang the headphones by the middle of their headband, aligned with the stand cradle so both earcups hang evenly below it. Close the laptop fully and seat it upright in its vertical stand. Release both objects and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Hang the headphones ", "modified": "Hang the headphones " }, { "op": "replace", "original": "on", "modified": "by" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "headphone", "modified": "middle" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "stand,", "modified": "of" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "close", "modified": "their headband, aligned with" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "laptop,", "modified": "stand" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "then", "modified": "cradle" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "place", "modified": "so both earcups hang evenly below it. Close the laptop fully and seat" }, { "op": "equal", "original": " it ", "modified": " it " }, { "op": "replace", "original": "into", "modified": "upright" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "the", "modified": "in its" }, { "op": "equal", "original": " vertical ", "modified": " vertical " }, { "op": "replace", "original": "laptop", "modified": "stand." }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "stand.", "modified": "Release both objects and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/03-robodojo-store-laptop-and-headphones/task.yaml" }, "display_slot": "03", "display_key": "task04/03", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/04", "family": "task04", "slot": "04", "native_id": "robodojo/cover-blocks", "title": "Cover blocks", "catalog_instruction": "Use the three cups to cover the blocks one at a time, from left to right. Remember the block colors. Once all three are covered, uncover them one at a time in this order: red, green, blue. Keep every cup upside down throughout, leave the blocks in their original positions, and return both arms to their starting poses when finished.", "native_instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-04-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.", "instruction": "Use the three cups to cover the blocks one at a time, from left to right. Remember the block colors. Once all three are covered, uncover them one at a time in this order: red, green, blue. Keep every cup upside down throughout, leave the blocks in their original positions, and return both arms to their starting poses when finished.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Cover", "modified": "Use the three cups to cover" }, { "op": "equal", "original": " the blocks", "modified": " the blocks" }, { "op": "insert", "original": "", "modified": " one at a time," }, { "op": "equal", "original": " from left to ", "modified": " from left to " }, { "op": "replace", "original": "right,", "modified": "right." }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "remember", "modified": "Remember" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "their", "modified": "the" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "colors,", "modified": "block" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "then", "modified": "colors. Once all three are covered," }, { "op": "equal", "original": " uncover them ", "modified": " uncover them " }, { "op": "insert", "original": "", "modified": "one at a time " }, { "op": "equal", "original": "in ", "modified": "in " }, { "op": "replace", "original": "the", "modified": "this" }, { "op": "equal", "original": " order: red, green, ", "modified": " order: red, green, " }, { "op": "insert", "original": "", "modified": "blue. Keep every cup upside down throughout, leave the blocks in their original positions, " }, { "op": "equal", "original": "and ", "modified": "and " }, { "op": "replace", "original": "blue.", "modified": "return both arms to their starting poses when finished." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/04-robodojo-cover-blocks/task.yaml" }, "display_slot": "04", "display_key": "task04/04", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/05", "family": "task04", "slot": "05", "native_id": "robodojo/play-xylophone", "title": "Play xylophone", "catalog_instruction": "Complete the benchmark task: play Xylophone.", "native_instruction": "Pick up the mallet and strike all xylophone keys from left to right.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-05-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "05", "display_key": "task04/05", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/06", "family": "task04", "slot": "06", "native_id": "robodojo/store-tools-in-toolbox", "title": "Store tools in toolbox", "catalog_instruction": "Place each tool flat in its matching shaped recess, aligned with the outline and fully below the toolbox rim. Release all tools and return both arms to their starting poses.", "native_instruction": "Place each tool into its matching position in the toolbox, then reset the robot arm.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-06-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Place each tool into its matching position in the toolbox, then reset the robot arm.", "instruction": "Place each tool flat in its matching shaped recess, aligned with the outline and fully below the toolbox rim. Release all tools and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Place each tool ", "modified": "Place each tool " }, { "op": "replace", "original": "into", "modified": "flat in" }, { "op": "equal", "original": " its matching ", "modified": " its matching " }, { "op": "replace", "original": "position", "modified": "shaped" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "in", "modified": "recess, aligned with" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "toolbox,", "modified": "outline" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "then", "modified": "and" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "reset", "modified": "fully below" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "robot", "modified": "toolbox" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "arm.", "modified": "rim. Release all tools and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/06-robodojo-store-tools-in-toolbox/task.yaml" }, "display_slot": "06", "display_key": "task04/06", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/07", "family": "task04", "slot": "07", "native_id": "robodojo/insert-tubes", "title": "Insert tubes", "catalog_instruction": "Insert the three tubes upright into the rack one by one, pointed ends down, until they are fully seated. Release them and return both arms to their starting poses.", "native_instruction": "Insert the three tubes into the rack one by one.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-07-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Insert the three tubes into the rack one by one.", "instruction": "Insert the three tubes upright into the rack one by one, pointed ends down, until they are fully seated. Release them and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Insert the three tubes", "modified": "Insert the three tubes" }, { "op": "insert", "original": "", "modified": " upright" }, { "op": "equal", "original": " into the rack one by one", "modified": " into the rack one by one" }, { "op": "insert", "original": "", "modified": ", pointed ends down, until they are fully seated" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Release them and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/07-robodojo-insert-tubes/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Describe fully seated tubes without exposing the verifier insertion-depth threshold." }, "display_slot": "07", "display_key": "task04/07", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [ { "id": "07-robodojo-insert-tubes-codex-seed0-attempt01", "execution": { "reason": "process_error", "status": "interrupted" }, "links": { "native_session": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/agent/session.jsonl", "trace": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/agent/trajectory.json", "provider_usage": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/agent/provider-usage.jsonl", "transcript": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/transcript.json", "verdict": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/verifier/episode.json", "protocol": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/verifier/protocol.json", "native_goal": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/instructions.json", "workspace": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/verifier/workspace.tar.gz", "workspace_changes": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/verifier/workspace.json", "owner_journal": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/evidence/episode/evidence/journal/actions.jsonl", "recording_manifest": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/native/evidence/episode/evidence/recording/manifest.json", "usage": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/usage.json", "analysis": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/analysis.json", "provenance": "attempts/task04/07/07-robodojo-insert-tubes-codex-seed0-attempt01/provenance.json" } } ] }, { "key": "task04/08", "family": "task04", "slot": "08", "native_id": "robodojo/deposit-coin", "title": "Deposit coin", "catalog_instruction": "Pick up the coin from its holder and deposit it through the slot of the coin bank. Let the coin fall fully inside the bank, then return both arms to their starting poses.", "native_instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-08-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.", "instruction": "Pick up the coin from its holder and deposit it through the slot of the coin bank. Let the coin fall fully inside the bank, then return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Pick up the coin from ", "modified": "Pick up the coin from " }, { "op": "replace", "original": "the", "modified": "its" }, { "op": "equal", "original": " holder and ", "modified": " holder and " }, { "op": "replace", "original": "insert", "modified": "deposit" }, { "op": "equal", "original": " it ", "modified": " it " }, { "op": "replace", "original": "precisely", "modified": "through" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "into", "modified": "the slot of" }, { "op": "equal", "original": " the coin bank.", "modified": " the coin bank." }, { "op": "insert", "original": "", "modified": " Let the coin fall fully inside the bank, then return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/08-robodojo-deposit-coin/task.yaml" }, "display_slot": "08", "display_key": "task04/08", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/09", "family": "task04", "slot": "09", "native_id": "robodojo/fasten-screws", "title": "Fasten screws", "catalog_instruction": "Fit each nut upright onto the bolt of the same color and seat it fully. Release the nuts, fully open both grippers, and return both arms to their starting poses.", "native_instruction": "Insert and tighten each screw into the nut of the same color.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-09-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Insert and tighten each screw into the nut of the same color.", "instruction": "Fit each nut upright onto the bolt of the same color and seat it fully. Release the nuts, fully open both grippers, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Insert and tighten", "modified": "Fit" }, { "op": "equal", "original": " each ", "modified": " each " }, { "op": "replace", "original": "screw", "modified": "nut" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "into", "modified": "upright onto" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "nut", "modified": "bolt" }, { "op": "equal", "original": " of the same color", "modified": " of the same color" }, { "op": "insert", "original": "", "modified": " and seat it fully" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Release the nuts, fully open both grippers, and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/09-robodojo-fasten-screws/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Use a natural paragraph for matching and seating nuts; omit geometric scoring thresholds." }, "display_slot": "09", "display_key": "task04/09", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/10", "family": "task04", "slot": "10", "native_id": "robodojo/play-stacking-toy", "title": "Play stacking toy", "catalog_instruction": "Place all stacking toy pieces onto their matching pegs, with the pieces neatly stacked and fully seated, then release them and return both arms to their starting poses.", "native_instruction": "Place all stacking toy pieces onto the correct pegs.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-10-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Place all stacking toy pieces onto the correct pegs.", "instruction": "Place all stacking toy pieces onto their matching pegs, with the pieces neatly stacked and fully seated, then release them and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Place all stacking toy pieces onto ", "modified": "Place all stacking toy pieces onto " }, { "op": "insert", "original": "", "modified": "their matching pegs, with " }, { "op": "equal", "original": "the ", "modified": "the " }, { "op": "replace", "original": "correct", "modified": "pieces" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "pegs", "modified": "neatly stacked and fully seated, then release them and return both arms to their starting poses" }, { "op": "equal", "original": ".", "modified": "." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/10-robodojo-play-stacking-toy/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Leave piece counts and peg matching to the agent while retaining the intended completed arrangement." }, "display_slot": "10", "display_key": "task04/10", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/11", "family": "task04", "slot": "11", "native_id": "robodojo/align-blocks", "title": "Align blocks", "catalog_instruction": "Complete the benchmark task: align blocks.", "native_instruction": "Use the set square to push the three blocks into a straight, aligned row, then reset the robot arm.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-11-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "11", "display_key": "task04/11", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/12", "family": "task04", "slot": "12", "native_id": "robodojo/arrange-largest-number", "title": "Arrange largest number", "catalog_instruction": "Arrange all the digits on the pads to form the largest possible number when read from left to right. Leave one digit lying flat on each pad, readable from the robot's side, then return both arms to their starting poses.", "native_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-12-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.", "instruction": "Arrange all the digits on the pads to form the largest possible number when read from left to right. Leave one digit lying flat on each pad, readable from the robot's side, then return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Arrange", "modified": "Arrange" }, { "op": "insert", "original": "", "modified": " all" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "numbers", "modified": "digits" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "from", "modified": "on" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "left", "modified": "the" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "to right", "modified": "pads" }, { "op": "equal", "original": " to form the largest possible number", "modified": " to form the largest possible number" }, { "op": "delete", "original": ",", "modified": "" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "and", "modified": "when" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "place", "modified": "read" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "them", "modified": "from left to right. Leave one digit lying flat" }, { "op": "equal", "original": " on ", "modified": " on " }, { "op": "insert", "original": "", "modified": "each pad, readable from " }, { "op": "equal", "original": "the ", "modified": "the " }, { "op": "replace", "original": "pad", "modified": "robot's side, then return both arms to their starting poses" }, { "op": "equal", "original": ".", "modified": "." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/12-robodojo-arrange-largest-number/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Leave the numerical ordering strategy to the agent while retaining readable placement on the pads." }, "display_slot": "12", "display_key": "task04/12", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/14", "family": "task04", "slot": "14", "native_id": "robodojo/build-tower", "title": "Build tower", "catalog_instruction": "Build a tower, from bottom to top: two white blocks, the long board, two white blocks, the short board, the small plank, and the green roof. Use one white block from each original side in each pair. Keep the white blocks, boards and plank horizontal on their original bottom faces, and the roof upright on its base. Center the short board, plank and roof over the piece directly below. Align the plank lengthwise with the short board, with the roof ridge perpendicular to the plank\u2019s long edges. Release everything, open both grippers, and return both arms to their starting poses.", "native_instruction": "Build a tower using the wooden blocks and wooden boards.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-14-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Build a tower using the wooden blocks and wooden boards.", "instruction": "Build a tower, from bottom to top: two white blocks, the long board, two white blocks, the short board, the small plank, and the green roof. Use one white block from each original side in each pair. Keep the white blocks, boards and plank horizontal on their original bottom faces, and the roof upright on its base. Center the short board, plank and roof over the piece directly below. Align the plank lengthwise with the short board, with the roof ridge perpendicular to the plank\u2019s long edges. Release everything, open both grippers, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Build a tower", "modified": "Build a tower" }, { "op": "insert", "original": "", "modified": "," }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "using", "modified": "from bottom" }, { "op": "equal", "original": " t", "modified": " t" }, { "op": "replace", "original": "he", "modified": "o top: two" }, { "op": "equal", "original": " w", "modified": " w" }, { "op": "replace", "original": "ood", "modified": "hit" }, { "op": "equal", "original": "e", "modified": "e" }, { "op": "delete", "original": "n", "modified": "" }, { "op": "equal", "original": " blocks", "modified": " blocks" }, { "op": "insert", "original": "", "modified": ", the long board, two white blocks, the short board, the small plank," }, { "op": "equal", "original": " and ", "modified": " and " }, { "op": "replace", "original": "w", "modified": "the green r" }, { "op": "equal", "original": "oo", "modified": "oo" }, { "op": "insert", "original": "", "modified": "f. Use one white block from each original si" }, { "op": "equal", "original": "de", "modified": "de" }, { "op": "insert", "original": "", "modified": " i" }, { "op": "equal", "original": "n", "modified": "n" }, { "op": "insert", "original": "", "modified": " each pair. Keep the white blocks," }, { "op": "equal", "original": " boards", "modified": " boards" }, { "op": "insert", "original": "", "modified": " and plank horizontal on their original bottom faces, and the roof upright on its base" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Center the short board, plank and roof over the piece directly below. Align the plank lengthwise with the short board, with the roof ridge perpendicular to the plank\u2019s long edges. Release everything, open both grippers, and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/14-robodojo-build-tower/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Shorten the successful instruction while preserving the tower structure, original bottom faces, horizontal orientation, centering, plank alignment, perpendicular roof ridge, release and arm return requirements." }, "display_slot": "13", "display_key": "task04/13", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/15", "family": "task04", "slot": "15", "native_id": "robodojo/classify-objects", "title": "Classify objects", "catalog_instruction": "Sort all objects by category into the three baskets, with one category per basket. Place every object fully inside and below the basket rim. Release the objects and return both arms to their starting poses.", "native_instruction": "Sort the objects by category into the three baskets.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-15-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Sort the objects by category into the three baskets.", "instruction": "Sort all objects by category into the three baskets, with one category per basket. Place every object fully inside and below the basket rim. Release the objects and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Sort ", "modified": "Sort " }, { "op": "replace", "original": "the", "modified": "all" }, { "op": "equal", "original": " objects by category into the three ", "modified": " objects by category into the three " }, { "op": "replace", "original": "baskets.", "modified": "baskets, with one category per basket. Place every object fully inside and below the basket rim. Release the objects and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/15-robodojo-classify-objects/task.yaml" }, "display_slot": "14", "display_key": "task04/14", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/16", "family": "task04", "slot": "16", "native_id": "robodojo/fill-egg-holder", "title": "Fill egg holder", "catalog_instruction": "Place all four eggs from the basket into the egg holder, seated fully down in its egg compartments. Close the lid fully without dislodging the eggs, release the holder, and return both arms to their starting poses.", "native_instruction": "Place the four eggs from the basket into the egg holder, then close the lid.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-16-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Place the four eggs from the basket into the egg holder, then close the lid.", "instruction": "Place all four eggs from the basket into the egg holder, seated fully down in its egg compartments. Close the lid fully without dislodging the eggs, release the holder, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Place ", "modified": "Place " }, { "op": "replace", "original": "the", "modified": "all" }, { "op": "equal", "original": " four eggs from the basket into the egg holder, ", "modified": " four eggs from the basket into the egg holder, " }, { "op": "replace", "original": "then", "modified": "seated" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "close", "modified": "fully down in its egg compartments. Close" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "lid.", "modified": "lid fully without dislodging the eggs, release the holder, and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/16-robodojo-fill-egg-holder/task.yaml" }, "display_slot": "15", "display_key": "task04/15", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/17", "family": "task04", "slot": "17", "native_id": "robodojo/fill-pen-holder", "title": "Fill pen holder", "catalog_instruction": "Hold the pen holder with one hand and insert all the pens with the other, writing ends down and fully seated inside. Put the holder down upright, release it, and return both arms to their starting poses.", "native_instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-17-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Hold the pen holder with one hand, place all pens into it with the other hand, then put it back down.", "instruction": "Hold the pen holder with one hand and insert all the pens with the other, writing ends down and fully seated inside. Put the holder down upright, release it, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Hold the pen holder with one hand", "modified": "Hold the pen holder with one hand" }, { "op": "delete", "original": ",", "modified": "" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "place", "modified": "and insert" }, { "op": "equal", "original": " all ", "modified": " all " }, { "op": "insert", "original": "", "modified": "the " }, { "op": "equal", "original": "pens", "modified": "pens" }, { "op": "delete", "original": " into it", "modified": "" }, { "op": "equal", "original": " with the other", "modified": " with the other" }, { "op": "delete", "original": " hand", "modified": "" }, { "op": "equal", "original": ", ", "modified": ", " }, { "op": "replace", "original": "then", "modified": "writing" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "put", "modified": "ends down and fully seated inside. Put the holder down upright, release" }, { "op": "equal", "original": " it", "modified": " it" }, { "op": "insert", "original": "", "modified": "," }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "back", "modified": "and" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "down", "modified": "return both arms to their starting poses" }, { "op": "equal", "original": ".", "modified": "." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/17-robodojo-fill-pen-holder/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Retain the native two-hand roles and final pen orientation without the insertion-depth threshold." }, "display_slot": "16", "display_key": "task04/16", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/18", "family": "task04", "slot": "18", "native_id": "robodojo/fold-clothes", "title": "Fold clothes", "catalog_instruction": "Fold the garment into a compact rectangle, with both sleeves folded across the chest and the lower half folded up toward the shoulders. Release the garment, open both grippers, and return both arms to their starting poses when finished.", "native_instruction": "Fold the clothes neatly.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-18-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Fold the clothes neatly.", "instruction": "Fold the garment into a compact rectangle, with both sleeves folded across the chest and the lower half folded up toward the shoulders. Release the garment, open both grippers, and return both arms to their starting poses when finished.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Fold the ", "modified": "Fold the " }, { "op": "replace", "original": "clothes", "modified": "garment" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "neatly", "modified": "into a compact rectangle, with both sleeves folded across the chest and the lower half folded up toward the shoulders" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Release the garment, open both grippers, and return both arms to their starting poses when finished." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/18-robodojo-fold-clothes/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Describe the folded garment without enumerating tracked point correspondences or grasping steps." }, "display_slot": "17", "display_key": "task04/17", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/20", "family": "task04", "slot": "20", "native_id": "robodojo/general-pickup", "title": "General pickup", "catalog_instruction": "Complete the episode's pickup instruction (read the scene)", "native_instruction": "Pick up the mint green scissors by 10 cm.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-20-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "18", "display_key": "task04/18", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/21", "family": "task04", "slot": "21", "native_id": "robodojo/hang-mugs", "title": "Hang mugs", "catalog_instruction": "Hang all three mugs by their handles on the raised supports of the mug rack. Seat each handle securely over a support, with the mug hanging clear of the table. Release all mugs and return both arms to their starting poses.", "native_instruction": "Hang all the mugs on the mug rack.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-21-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Hang all the mugs on the mug rack.", "instruction": "Hang all three mugs by their handles on the raised supports of the mug rack. Seat each handle securely over a support, with the mug hanging clear of the table. Release all mugs and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Hang all ", "modified": "Hang all " }, { "op": "replace", "original": "the", "modified": "three" }, { "op": "equal", "original": " mugs ", "modified": " mugs " }, { "op": "insert", "original": "", "modified": "by their handles " }, { "op": "equal", "original": "on", "modified": "on" }, { "op": "insert", "original": "", "modified": " the raised supports of" }, { "op": "equal", "original": " the mug rack.", "modified": " the mug rack." }, { "op": "insert", "original": "", "modified": " Seat each handle securely over a support, with the mug hanging clear of the table. Release all mugs and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/21-robodojo-hang-mugs/task.yaml" }, "display_slot": "19", "display_key": "task04/19", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/23", "family": "task04", "slot": "23", "native_id": "robodojo/imitate-sorting-sequence", "title": "Imitate sorting sequence", "catalog_instruction": "Keep both arms at their starting poses while the other robot demonstrates the five-object placement sequence. After it finishes, place your corresponding objects one at a time into the empty basket in the same order. Keep every previously placed object inside, and leave the demonstration objects in the other basket. Return both arms to their starting poses when finished.", "native_instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-23-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", "instruction": "Keep both arms at their starting poses while the other robot demonstrates the five-object placement sequence. After it finishes, place your corresponding objects one at a time into the empty basket in the same order. Keep every previously placed object inside, and leave the demonstration objects in the other basket. Return both arms to their starting poses when finished.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Observe", "modified": "Keep both arms at their starting poses while" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "object", "modified": "other robot demonstrates the five-object" }, { "op": "equal", "original": " placement ", "modified": " placement " }, { "op": "replace", "original": "order,", "modified": "sequence." }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "remember", "modified": "After" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "it,", "modified": "it" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "then", "modified": "finishes," }, { "op": "equal", "original": " place ", "modified": " place " }, { "op": "replace", "original": "the", "modified": "your" }, { "op": "equal", "original": " corresponding objects ", "modified": " corresponding objects " }, { "op": "insert", "original": "", "modified": "one at a time " }, { "op": "equal", "original": "into the", "modified": "into the" }, { "op": "insert", "original": "", "modified": " empty" }, { "op": "equal", "original": " basket in the same order.", "modified": " basket in the same order." }, { "op": "insert", "original": "", "modified": " Keep every previously placed object inside, and leave the demonstration objects in the other basket. Return both arms to their starting poses when finished." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/23-robodojo-imitate-sorting-sequence/task.yaml" }, "display_slot": "20", "display_key": "task04/20", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/24", "family": "task04", "slot": "24", "native_id": "robodojo/insert-key", "title": "Insert key", "catalog_instruction": "Pick up the key, hand it over to the other hand, and insert its blade fully into the keyhole with the handle above it. Keeping the key upright and seated, turn it clockwise by about 60 degrees from the keyhole's insertion orientation, as viewed from above.", "native_instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-24-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.", "instruction": "Pick up the key, hand it over to the other hand, and insert its blade fully into the keyhole with the handle above it. Keeping the key upright and seated, turn it clockwise by about 60 degrees from the keyhole's insertion orientation, as viewed from above.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Pick up the key, hand it over to the other hand, ", "modified": "Pick up the key, hand it over to the other hand, " }, { "op": "insert", "original": "", "modified": "and " }, { "op": "equal", "original": "insert ", "modified": "insert " }, { "op": "replace", "original": "it", "modified": "its blade fully" }, { "op": "equal", "original": " into the ", "modified": " into the " }, { "op": "replace", "original": "keyhole,", "modified": "keyhole" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "then", "modified": "with the handle above it. Keeping the key upright and seated," }, { "op": "equal", "original": " turn ", "modified": " turn " }, { "op": "replace", "original": "it.", "modified": "it clockwise by about 60 degrees from the keyhole's insertion orientation, as viewed from above." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/24-robodojo-insert-key/task.yaml" }, "display_slot": "21", "display_key": "task04/21", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/25", "family": "task04", "slot": "25", "native_id": "robodojo/make-kong", "title": "Make kong", "catalog_instruction": "Wait with both arms at their starting poses until the opponent finishes discarding. Declare a kong by laying your three matching tiles face up, leaving the rest of your hand upright. Draw the top replacement tile from the nearer stack on your left, keeping it face down and parallel to your row, then stand it in the vacant place at the right end of your hand and release it.", "native_instruction": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-25-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Wait for the opponent to discard a tile, then declare a kong with the matching tiles.", "instruction": "Wait with both arms at their starting poses until the opponent finishes discarding. Declare a kong by laying your three matching tiles face up, leaving the rest of your hand upright. Draw the top replacement tile from the nearer stack on your left, keeping it face down and parallel to your row, then stand it in the vacant place at the right end of your hand and release it.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Wait ", "modified": "Wait " }, { "op": "replace", "original": "for", "modified": "with both arms at their starting poses until" }, { "op": "equal", "original": " the opponent ", "modified": " the opponent " }, { "op": "replace", "original": "to", "modified": "finishes" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "discard", "modified": "discarding." }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "a tile, then declare", "modified": "Declare" }, { "op": "equal", "original": " a kong ", "modified": " a kong " }, { "op": "replace", "original": "with", "modified": "by" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "the", "modified": "laying your three" }, { "op": "equal", "original": " matching tiles", "modified": " matching tiles" }, { "op": "insert", "original": "", "modified": " face up, leaving the rest of your hand upright" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Draw the top replacement tile from the nearer stack on your left, keeping it face down and parallel to your row, then stand it in the vacant place at the right end of your hand and release it." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/25-robodojo-make-kong/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "State the turn and replacement-tile rules in one paragraph without a manipulation plan." }, "display_slot": "22", "display_key": "task04/22", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/27", "family": "task04", "slot": "27", "native_id": "robodojo/match-and-pick-from-conveyor", "title": "Match and pick from conveyor", "catalog_instruction": "Complete the benchmark task: match and pick from conveyor.", "native_instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-27-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "23", "display_key": "task04/23", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/28", "family": "task04", "slot": "28", "native_id": "robodojo/organize-table", "title": "Organize table", "catalog_instruction": "Place the alarm clock upright on top of the drawer unit and stand the figurine upright at the center of its small stand. Place the mouse flat on the mouse pad in its normal working orientation, with its front pointing toward the monitor. Push the keyboard flat into the outlined frame, aligned with the frame and facing the robot. Let all four objects settle, release them, and return both arms to their starting poses.", "native_instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-28-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame.", "instruction": "Place the alarm clock upright on top of the drawer unit and stand the figurine upright at the center of its small stand. Place the mouse flat on the mouse pad in its normal working orientation, with its front pointing toward the monitor. Push the keyboard flat into the outlined frame, aligned with the frame and facing the robot. Let all four objects settle, release them, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Place the alarm clock ", "modified": "Place the alarm clock " }, { "op": "insert", "original": "", "modified": "upright " }, { "op": "equal", "original": "on", "modified": "on" }, { "op": "insert", "original": "", "modified": " top of" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "drawer,", "modified": "drawer" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "put", "modified": "unit and stand" }, { "op": "equal", "original": " the figurine ", "modified": " the figurine " }, { "op": "replace", "original": "on", "modified": "upright at" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "stand,", "modified": "center" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "place", "modified": "of its small stand. Place" }, { "op": "equal", "original": " the mouse", "modified": " the mouse" }, { "op": "insert", "original": "", "modified": " flat" }, { "op": "equal", "original": " on the mouse ", "modified": " on the mouse " }, { "op": "replace", "original": "pad,", "modified": "pad" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "and", "modified": "in" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "push", "modified": "its normal working orientation, with its front pointing toward the monitor. Push" }, { "op": "equal", "original": " the keyboard ", "modified": " the keyboard " }, { "op": "insert", "original": "", "modified": "flat " }, { "op": "equal", "original": "into the ", "modified": "into the " }, { "op": "replace", "original": "frame.", "modified": "outlined frame, aligned with the frame and facing the robot. Let all four objects settle, release them, and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/28-robodojo-organize-table/task.yaml" }, "display_slot": "24", "display_key": "task04/24", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/29", "family": "task04", "slot": "29", "native_id": "robodojo/pack-objects-into-box", "title": "Pack objects into box", "catalog_instruction": "Place all four objects inside the bottom of the box, with their front sides facing left from the robot's viewpoint and their lengths aligned along the box. Keep the box upright with its long sides running left to right across the table. Release the objects and return both arms to their starting poses.", "native_instruction": "Place all the objects into the box with their front sides facing left.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-29-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Place all the objects into the box with their front sides facing left.", "instruction": "Place all four objects inside the bottom of the box, with their front sides facing left from the robot's viewpoint and their lengths aligned along the box. Keep the box upright with its long sides running left to right across the table. Release the objects and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Place all ", "modified": "Place all " }, { "op": "replace", "original": "the", "modified": "four" }, { "op": "equal", "original": " objects ", "modified": " objects " }, { "op": "replace", "original": "into", "modified": "inside" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "box", "modified": "bottom of the box," }, { "op": "equal", "original": " with their front sides facing ", "modified": " with their front sides facing " }, { "op": "replace", "original": "left.", "modified": "left from the robot's viewpoint and their lengths aligned along the box. Keep the box upright with its long sides running left to right across the table. Release the objects and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/29-robodojo-pack-objects-into-box/task.yaml" }, "display_slot": "25", "display_key": "task04/25", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/31", "family": "task04", "slot": "31", "native_id": "robodojo/pick-from-conveyor-by-image", "title": "Pick from conveyor by image", "catalog_instruction": "Identify the target object on the conveyor from the image on the board. Lift and hold the basket more than 8 cm above its starting height, then pick up the matching object and place it down inside the basket. Keep the basket raised, with the object resting at its bottom and more than 8 cm above its original height.", "native_instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-31-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket.", "instruction": "Identify the target object on the conveyor from the image on the board. Lift and hold the basket more than 8 cm above its starting height, then pick up the matching object and place it down inside the basket. Keep the basket raised, with the object resting at its bottom and more than 8 cm above its original height.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Lift the basket more than 8 cm, identify", "modified": "Identify" }, { "op": "equal", "original": " the target object on the conveyor ", "modified": " the target object on the conveyor " }, { "op": "replace", "original": "according to", "modified": "from" }, { "op": "equal", "original": " the image on the ", "modified": " the image on the " }, { "op": "replace", "original": "board,", "modified": "board. Lift and hold the basket more than 8 cm above its starting height, then" }, { "op": "equal", "original": " pick ", "modified": " pick " }, { "op": "replace", "original": "it", "modified": "up" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "up,", "modified": "the matching object" }, { "op": "equal", "original": " and place it ", "modified": " and place it " }, { "op": "replace", "original": "into", "modified": "down inside" }, { "op": "equal", "original": " the basket.", "modified": " the basket." }, { "op": "insert", "original": "", "modified": " Keep the basket raised, with the object resting at its bottom and more than 8 cm above its original height." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/31-robodojo-pick-from-conveyor-by-image/task.yaml" }, "display_slot": "26", "display_key": "task04/26", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/32", "family": "task04", "slot": "32", "native_id": "robodojo/play-tic-tac-toe", "title": "Play tic tac toe", "catalog_instruction": "Take the first turn and alternate with the opponent until the tic-tac-toe board is full, placing one ring flat in an empty cell on each turn. After each move, release the piece and return both arms to their starting poses, waiting there until the opponent finishes its move.", "native_instruction": "Play tic-tac-toe as the first player and fill the board with the opponent.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-32-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Play tic-tac-toe as the first player and fill the board with the opponent.", "instruction": "Take the first turn and alternate with the opponent until the tic-tac-toe board is full, placing one ring flat in an empty cell on each turn. After each move, release the piece and return both arms to their starting poses, waiting there until the opponent finishes its move.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Play", "modified": "Take the first turn and alternate with the opponent until the" }, { "op": "equal", "original": " tic-tac-toe ", "modified": " tic-tac-toe " }, { "op": "replace", "original": "as", "modified": "board is full, placing one ring flat in an empty cell on each turn. After each move, release" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "first player", "modified": "piece" }, { "op": "equal", "original": " and ", "modified": " and " }, { "op": "replace", "original": "fill", "modified": "return" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "the", "modified": "both" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "board", "modified": "arms" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "with", "modified": "to their starting poses, waiting there until" }, { "op": "equal", "original": " the opponent", "modified": " the opponent" }, { "op": "insert", "original": "", "modified": " finishes its move" }, { "op": "equal", "original": ".", "modified": "." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/32-robodojo-play-tic-tac-toe/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "State alternating turns and waiting rules without supplying the inferred ring counts." }, "display_slot": "27", "display_key": "task04/27", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/33", "family": "task04", "slot": "33", "native_id": "robodojo/plug-in-charger", "title": "Plug in charger", "catalog_instruction": "Plug the charger fully into a socket on the power strip, then release it and return both arms to their starting poses.", "native_instruction": "Plug the charger into the power strip.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-33-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Plug the charger into the power strip.", "instruction": "Plug the charger fully into a socket on the power strip, then release it and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Plug the charger ", "modified": "Plug the charger " }, { "op": "insert", "original": "", "modified": "fully " }, { "op": "equal", "original": "into", "modified": "into" }, { "op": "insert", "original": "", "modified": " a socket on" }, { "op": "equal", "original": " the power strip", "modified": " the power strip" }, { "op": "insert", "original": "", "modified": ", then release it and return both arms to their starting poses" }, { "op": "equal", "original": ".", "modified": "." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/33-robodojo-plug-in-charger/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Describe a fully plugged-in charger without the verifier insertion-depth threshold." }, "display_slot": "28", "display_key": "task04/28", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/34", "family": "task04", "slot": "34", "native_id": "robodojo/pour-balls-into-vase", "title": "Pour balls into vase", "catalog_instruction": "Pour all seven balls from the cup into the vase. Leave every ball inside the vase, put the empty cup down upright, and return both arms to their starting poses.", "native_instruction": "Pour all the balls from the cup into the vase.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-34-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Pour all the balls from the cup into the vase.", "instruction": "Pour all seven balls from the cup into the vase. Leave every ball inside the vase, put the empty cup down upright, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Pour all ", "modified": "Pour all " }, { "op": "replace", "original": "the", "modified": "seven" }, { "op": "equal", "original": " balls from the cup into the vase.", "modified": " balls from the cup into the vase." }, { "op": "insert", "original": "", "modified": " Leave every ball inside the vase, put the empty cup down upright, and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/34-robodojo-pour-balls-into-vase/task.yaml" }, "display_slot": "29", "display_key": "task04/29", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/35", "family": "task04", "slot": "35", "native_id": "robodojo/pour-by-language", "title": "Pour by language", "catalog_instruction": "Complete the benchmark task: pour by language.", "native_instruction": "Pour the liquid from the first violet bottle into the first black bowl, from the second red bottle into the second white bowl, and from the third turquoise bottle into the third brown bowl. Then reset the robot arm.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-35-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "30", "display_key": "task04/30", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/36", "family": "task04", "slot": "36", "native_id": "robodojo/pour-liquid-into-cup", "title": "Pour liquid into cup", "catalog_instruction": "Pour nearly all the liquid into the cup with almost no spillage. Keep the bottle tilted over the cup until the flow stops and the liquid settles, then return it upright, leaving only a small residue inside.", "native_instruction": "Pour the liquid from the bottle into the cup.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-36-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Pour the liquid from the bottle into the cup.", "instruction": "Pour nearly all the liquid into the cup with almost no spillage. Keep the bottle tilted over the cup until the flow stops and the liquid settles, then return it upright, leaving only a small residue inside.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Pour", "modified": "Pour" }, { "op": "insert", "original": "", "modified": " nearly all" }, { "op": "equal", "original": " the liquid", "modified": " the liquid" }, { "op": "delete", "original": " from the bottle", "modified": "" }, { "op": "equal", "original": " into the cup", "modified": " into the cup" }, { "op": "insert", "original": "", "modified": " with almost no spillage" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Keep the bottle tilted over the cup until the flow stops and the liquid settles, then return it upright, leaving only a small residue inside." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/36-robodojo-pour-liquid-into-cup/task.yaml", "native_predicates_unchanged": true, "evaluation_status": "Evaluated with this modified instruction.", "review_reason": "Wait for flow to stop and liquid to settle while tilted before returning the bottle upright." }, "display_slot": "31", "display_key": "task04/31", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/38", "family": "task04", "slot": "38", "native_id": "robodojo/press-by-number", "title": "Press by number", "catalog_instruction": "Starting with the left red button, press and release each red button the number of times shown on its card, confirming that button's count with a press and release of the blue button before moving to the next. Return both arms to their starting poses when finished.", "native_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-38-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.", "instruction": "Starting with the left red button, press and release each red button the number of times shown on its card, confirming that button's count with a press and release of the blue button before moving to the next. Return both arms to their starting poses when finished.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Press", "modified": "Starting with" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "two", "modified": "left" }, { "op": "equal", "original": " red ", "modified": " red " }, { "op": "replace", "original": "buttons", "modified": "button, press and release each red button" }, { "op": "equal", "original": " the", "modified": " the" }, { "op": "delete", "original": " required", "modified": "" }, { "op": "equal", "original": " number of times ", "modified": " number of times " }, { "op": "replace", "original": "according", "modified": "shown" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "to", "modified": "on" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "the", "modified": "its" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "number cards", "modified": "card" }, { "op": "equal", "original": ", ", "modified": ", " }, { "op": "replace", "original": "then", "modified": "confirming that button's count with a" }, { "op": "equal", "original": " press", "modified": " press" }, { "op": "insert", "original": "", "modified": " and release of" }, { "op": "equal", "original": " the blue button ", "modified": " the blue button " }, { "op": "insert", "original": "", "modified": "before moving " }, { "op": "equal", "original": "to ", "modified": "to " }, { "op": "replace", "original": "confirm", "modified": "the next" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Return both arms to their starting poses when finished." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/38-robodojo-press-by-number/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Retain the per-button counting and confirmation rules without button-joint thresholds or card answers." }, "display_slot": "32", "display_key": "task04/32", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/39", "family": "task04", "slot": "39", "native_id": "robodojo/push-t", "title": "Push t", "catalog_instruction": "Slide the T-shaped block along the table until it neatly matches the gray T-shaped pad in position and orientation. Keep the block on the table and return both arms to their starting poses when finished.", "native_instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-39-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Push the T-shaped block to align it precisely with the gray T-shaped pad.", "instruction": "Slide the T-shaped block along the table until it neatly matches the gray T-shaped pad in position and orientation. Keep the block on the table and return both arms to their starting poses when finished.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Push", "modified": "Slide" }, { "op": "equal", "original": " the T-shaped block ", "modified": " the T-shaped block " }, { "op": "replace", "original": "to", "modified": "along" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "align", "modified": "the table until" }, { "op": "equal", "original": " it ", "modified": " it " }, { "op": "replace", "original": "precisely", "modified": "neatly" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "with", "modified": "matches" }, { "op": "equal", "original": " the gray T-shaped pad", "modified": " the gray T-shaped pad" }, { "op": "insert", "original": "", "modified": " in position and orientation" }, { "op": "equal", "original": ".", "modified": "." }, { "op": "insert", "original": "", "modified": " Keep the block on the table and return both arms to their starting poses when finished." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/39-robodojo-push-t/task.yaml", "evaluation_status": "Not yet evaluated with this revised instruction. The published result used the earlier instruction.", "native_predicates_unchanged": true, "review_reason": "Describe matching the target shape along the table without internal position and angle tolerances." }, "display_slot": "33", "display_key": "task04/33", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/41", "family": "task04", "slot": "41", "native_id": "robodojo/put-bottles-into-dustbin", "title": "Put bottles into dustbin", "catalog_instruction": "Put all four bottles into the dustbin, using a handover when needed. Let every bottle settle down inside the bin, release all bottles, and return both arms to their starting poses.", "native_instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-41-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Pick up the bottles and throw them into the dustbin, using handover when needed.", "instruction": "Put all four bottles into the dustbin, using a handover when needed. Let every bottle settle down inside the bin, release all bottles, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Pick", "modified": "Put" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "up", "modified": "all" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "the", "modified": "four" }, { "op": "equal", "original": " bottles", "modified": " bottles" }, { "op": "delete", "original": " and throw them", "modified": "" }, { "op": "equal", "original": " into the dustbin, using ", "modified": " into the dustbin, using " }, { "op": "insert", "original": "", "modified": "a " }, { "op": "equal", "original": "handover when needed.", "modified": "handover when needed." }, { "op": "insert", "original": "", "modified": " Let every bottle settle down inside the bin, release all bottles, and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/41-robodojo-put-bottles-into-dustbin/task.yaml" }, "display_slot": "34", "display_key": "task04/34", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/42", "family": "task04", "slot": "42", "native_id": "robodojo/solve-equation", "title": "Solve equation", "catalog_instruction": "Complete the benchmark task: solve equation.", "native_instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-42-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "35", "display_key": "task04/35", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/43", "family": "task04", "slot": "43", "native_id": "robodojo/sort-nesting-dolls-by-size", "title": "Sort nesting dolls by size", "catalog_instruction": "Arrange all five nesting dolls upright in a straight row from left to right, from smallest to largest. Keep their centers aligned front to back and leave the dolls clearly separated. Release them and return both arms to their starting poses.", "native_instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-43-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest.", "instruction": "Arrange all five nesting dolls upright in a straight row from left to right, from smallest to largest. Keep their centers aligned front to back and leave the dolls clearly separated. Release them and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Arrange ", "modified": "Arrange " }, { "op": "replace", "original": "the", "modified": "all" }, { "op": "equal", "original": " five nesting dolls ", "modified": " five nesting dolls " }, { "op": "insert", "original": "", "modified": "upright " }, { "op": "equal", "original": "in a", "modified": "in a" }, { "op": "insert", "original": "", "modified": " straight" }, { "op": "equal", "original": " row from left to right, from smallest to largest.", "modified": " row from left to right, from smallest to largest." }, { "op": "insert", "original": "", "modified": " Keep their centers aligned front to back and leave the dolls clearly separated. Release them and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/43-robodojo-sort-nesting-dolls-by-size/task.yaml" }, "display_slot": "36", "display_key": "task04/36", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/45", "family": "task04", "slot": "45", "native_id": "robodojo/stack-blocks", "title": "Stack blocks", "catalog_instruction": "Stack all three differently textured blocks in a single vertical tower, in any order. Center each block over the one below, release the completed stack, and return both arms to their starting poses.", "native_instruction": "Stack the three blocks with different textures.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-45-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Stack the three blocks with different textures.", "instruction": "Stack all three differently textured blocks in a single vertical tower, in any order. Center each block over the one below, release the completed stack, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Stack", "modified": "Stack" }, { "op": "insert", "original": "", "modified": " all three differently textured blocks in a single vertical tower, in any order. Center each block over" }, { "op": "equal", "original": " the ", "modified": " the " }, { "op": "replace", "original": "three", "modified": "one" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "blocks", "modified": "below," }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "with", "modified": "release" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "different", "modified": "the" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "textures.", "modified": "completed stack, and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/45-robodojo-stack-blocks/task.yaml" }, "display_slot": "37", "display_key": "task04/37", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/46", "family": "task04", "slot": "46", "native_id": "robodojo/stack-blocks-by-language", "title": "Stack blocks by language", "catalog_instruction": "Complete the benchmark task: stack blocks by language.", "native_instruction": "stack the blocks from bottom to top in the order of blue, yellow, and orange, then reset the robot arm.", "instruction_source": "runtime native task.instruction", "status": "completed", "episode_id": "task04-46-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "display_slot": "38", "display_key": "task04/38", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/48", "family": "task04", "slot": "48", "native_id": "robodojo/stack-bowls", "title": "Stack bowls", "catalog_instruction": "Stack the three bowls into one centered, nested stack with every opening facing up. Keep the bottom bowl level on the table and settle the other two evenly inside it. Release the bowls and return both arms to their starting poses.", "native_instruction": "Stack the three bowls together.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-48-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Stack the three bowls together.", "instruction": "Stack the three bowls into one centered, nested stack with every opening facing up. Keep the bottom bowl level on the table and settle the other two evenly inside it. Release the bowls and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Stack the three bowls ", "modified": "Stack the three bowls " }, { "op": "replace", "original": "together.", "modified": "into one centered, nested stack with every opening facing up. Keep the bottom bowl level on the table and settle the other two evenly inside it. Release the bowls and return both arms to their starting poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/48-robodojo-stack-bowls/task.yaml" }, "display_slot": "39", "display_key": "task04/39", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/51", "family": "task04", "slot": "51", "native_id": "robodojo/swap-t", "title": "Swap t", "catalog_instruction": "Swap the two T-shaped blocks. Put each block at the other block's original position, matching the orientation that the other block had there. Place both flat on the table, release them, and return both arms to their starting poses.", "native_instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-51-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", "instruction": "Swap the two T-shaped blocks. Put each block at the other block's original position, matching the orientation that the other block had there. Place both flat on the table, release them, and return both arms to their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "replace", "original": "Pick up", "modified": "Swap" }, { "op": "equal", "original": " the two T-shaped ", "modified": " the two T-shaped " }, { "op": "replace", "original": "blocks,", "modified": "blocks." }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "swap", "modified": "Put each block at the other block's original position, matching the orientation that the other block had there. Place both flat on the table, release them, and return both arms to" }, { "op": "equal", "original": " their ", "modified": " their " }, { "op": "replace", "original": "positions,", "modified": "starting" }, { "op": "equal", "original": " ", "modified": " " }, { "op": "replace", "original": "and place them back with the correct orientations.", "modified": "poses." } ], "changed": true, "preserve_whitespace": true, "label": "Modified instruction", "source_url": "https://huggingface.co/datasets/RLE-Bench/codex-benchmark/resolve/main/catalog/task04/51-robodojo-swap-t/task.yaml" }, "display_slot": "40", "display_key": "task04/40", "run_status": "finished", "status_note": "Queued for evaluation.", "attempt_history": [] }, { "key": "task04/52", "family": "task04", "slot": "52", "native_id": "robodojo/swap-blocks", "title": "Swap blocks", "catalog_instruction": "Swap the blocks in three moves using the empty mat as temporary space. Lift one block at a time and release it centered on its destination mat. After each placement, press the button once, withdraw the gripper completely, and wait for the button to rise fully before continuing. Finish with the blocks on each other\u2019s original mats and both arms at their starting poses.", "native_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", "instruction_source": "Current reviewed benchmark instruction; each recording retains its measured instruction.", "status": "completed", "episode_id": "task04-52-seed0-formal", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 25, "max_control_steps": 7500, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "modified" }, "instruction_revision": { "native_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", "instruction": "Swap the blocks in three moves using the empty mat as temporary space. Lift one block at a time and release it centered on its destination mat. After each placement, press the button once, withdraw the gripper completely, and wait for the button to rise fully before continuing. Finish with the blocks on each other\u2019s original mats and both arms at their starting poses.", "native_instruction_kind": "episode", "diff": [ { "op": "equal", "original": "Swap the ", "modified": "Swap the " }, { "op": "delete", "original": "two ", "modified": "" }, { "op": "equal", "original": "block", "modified": "block" }, { "op": "insert", "original": "", "modified": "s in three move" }, { "op": "equal", "original": "s using the empty mat", "modified": "s using the empty mat" }, { "op": "insert", "original": "", "modified": " as temporary space. Lift one block at a time and release it centered on its destination mat. After each placement" }, { "op": "equal", "original": ", press", "modified": ", press" }, { "op": "delete", "original": "ing", "modified": "" }, { "op": "equal", "original": " the button ", "modified": " the button " }, { "op": "insert", "original": "", "modified": "once, withdr" }, { "op": "equal", "original": "a", "modified": "a" }, { "op": "replace", "original": "f", "modified": "w the gripper comple" }, { "op": "equal", "original": "te", "modified": "te" }, { "op": "insert", "original": "", "modified": "ly, and wait fo" }, { "op": "equal", "original": "r", "modified": "r" }, { "op": "insert", "original": "", "modified": " the button to rise fully before continuing. 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"key": "task06/09", "family": "task06", "slot": "09", "native_id": "simple/open-oven", "catalog_id": "simple/open-oven", "title": "Open oven", "catalog_instruction": "move forward to the oven and open it", "native_instruction": "move forward to the oven and open it", "instruction_source": "Unchanged native SIMPLE instruction for the effective default task configuration.", "status": "completed", "episode_id": "task06-09-seed0-formal", "run_status": "finished", "status_note": "Native result, execution and usage complete.", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 50, "max_control_steps": 15000, "max_control_steps_by_task": { "task06/01": 10000, "task06/02": 15000, "task06/03": 15000, "task06/04": 15000, "task06/05": 15000, "task06/06": 15000, "task06/07": 15000, "task06/08": 10000, "task06/09": 15000, "task06/10": 15000, "task06/11": 15000, "task06/12": 15000 }, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "native_identity": { "arm_gravity_compensation": true, "dr_level": 0, "env_id": "simple/G1WholebodyOpenOvenTeleop-v0", "sim_mode": "mujoco_isaac" } }, { "key": "task06/10", "family": "task06", "slot": "10", "native_id": "simple/open-faucet", "catalog_id": "simple/open-faucet", "title": "Open faucet", "catalog_instruction": "turn the faucet", "native_instruction": "turn the faucet", "instruction_source": "Unchanged native SIMPLE instruction for the effective default task configuration.", "status": "completed", "episode_id": "task06-10-seed0-formal", "run_status": "finished", "status_note": "Native result, execution and usage complete.", "planned_protocol": { "episodes": 1, "seed": 0, "control_frequency_hz": 50, "max_control_steps": 15000, "max_control_steps_by_task": { "task06/01": 10000, "task06/02": 15000, "task06/03": 15000, "task06/04": 15000, "task06/05": 15000, "task06/06": 15000, "task06/07": 15000, "task06/08": 10000, "task06/09": 15000, "task06/10": 15000, "task06/11": 15000, 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10000, "task06/02": 15000, "task06/03": 15000, "task06/04": 15000, "task06/05": 15000, "task06/06": 15000, "task06/07": 15000, "task06/08": 10000, "task06/09": 15000, "task06/10": 15000, "task06/11": 15000, "task06/12": 15000 }, "timeout_s": 28800, "mode": "stepped", "instruction_policy": "original_native" }, "native_identity": { "arm_gravity_compensation": true, "dr_level": 0, "env_id": "simple/G1WholebodyPushOfficeChairTeleop-v0", "sim_mode": "mujoco_isaac" } }, { "key": "task06/12", "family": "task06", "slot": "12", "native_id": "simple/open-trash-can", "catalog_id": "simple/open-trash-can", "title": "Open trash can", "catalog_instruction": "move forward to the trash can and open it", "native_instruction": "move forward to the trash can and open it", "instruction_source": "Unchanged native SIMPLE instruction for the effective default task configuration.", "status": "completed", "episode_id": "task06-12-seed0-formal", "run_status": "finished", "status_note": "Native result, execution 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