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SO-100 pick-cube-into-bowl (ManiSkill3, domain-randomized) — v2 val-S0
Language-conditioned pick-and-place on a simulated SO-100: three coloured cubes (red/green/blue) and a bowl at random poses,
instruction put the {color} cube in the bowl. Built for an offline-metric ↔ closed-loop-success study (CI-MSE) with a
MolmoAct2 checkpoint zoo. Every episode succeeds (target cube inside the bowl, released, arm at rest).
| env | PickCubeBowlSO100-v1 (custom ManiSkill3 env, code in fd-studio/eval/sim_so100_v2/sim/), 30 Hz, max 450 steps |
| cameras | observation.images.cam0 front/top-down, observation.images.cam1 side, 224×224, per-episode pose ±2 cm / ±3°, fov ±2.5° |
| state / action | 6-D joint positions / absolute joint targets, degrees (pan, lift, elbow, wrist_flex, wrist_roll, gripper; gripper 0 open, −46 closed) |
| DR | lighting (ambient, directional), cube size 1.25–1.45 cm, colour jitter, bowl grey jitter, camera pose |
| tasks | 3 (meta/tasks.parquet); per-episode task = target colour; meta/episode_targets.json |
| stats | q01/q99 quantiles included (MolmoAct2 normalization) |
| filter | episodes > 450 steps dropped (3–5 %) |
Demonstrator sources
| source | how | oracle SR |
|---|---|---|
| S0 clean | screw→RRT motion planner, ±1 cm waypoint jitter, dz×yaw release candidates | 0.56 |
| S1 noisy | + joint noise σ 2.5°/step, pauses 0.2–0.5 s, 20 % first-miss + regrasp, 10 % random carry waypoint | 0.40 |
| S2 strategy-varied | planner speed 0.4–1.6×, carry height 3–8 cm, grasp yaw +90° (30 %), lateral approach then slide (50 %) | 0.44 |
Validation split S0 (clean oracle), 100 episodes, seeds 1e8+. Held out; used only for offline metric computation.
Related: Kavin60606/cimse-so100-experiment-v2 (raw h5, videos, proof grids, verify reports, eval seeds), v1 study Kavin60606/cimse-so100-experiment.
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