Travor278/EmbodiedSWE-Task-Examples

EmbodiedSWE Simulation Task Examples

打开任务 MP4 浏览页

28 个官网场景 · 26 段官网 MP4 · 10 个官方数据来源各 3 条完整 episode，共 30 条多相机示教。shoe_knot 与 dice 暂无官方展示视频，保留任务目录和评分标准。

序号规则： 本页 C01–C28 是按官网目录顺序生成的辅助编号，官方任务以 suite.scene 标识。LeRobot task_index 和 episode_index 都只在各自 source_repo 内有效，绝不能把各库的 task_index=0 当成同一任务。

相机： 按官方实际提供的 front/front_wide/high/side/corner/wrist 展示，单臂 wrist 不伪装成 left/right。官网演示只展示其原有视角。

评分： 来自当前公开代码的 BaseGrader 与具体 RUBRIC，progress 是归一化权重和。live=当前值；once=历史最好；final=交付末端才评估。历史数据生成使用的 grader 可能不同；示例没有公开逐条分数，因此 actual_episode_score/success 留空。

Franka 腕部相机说明 · 官方任务页

辅助目录号	官方 scene ID	Task	Category	直接浏览
C01	assembly.allen_bolt	Allen bolt	Assembly	打开
C02	assembly.bulb	Bulb screwing	Assembly	打开
C03	assembly.ikea_table	Table assembly	Assembly	打开
C04	assembly.so101	Robot-arm assembly	Assembly	打开
C05	assembly.nut_thread	Nut threading	Assembly	打开
C06	assembly.pc_gpu	GPU insertion	Assembly	打开
C07	assembly.pc_gpu_ram	GPU + RAM install	Assembly	打开
C08	assembly.pc_motherboard	Motherboard mount	Assembly	打开
C09	assembly.pc_ram	RAM seating	Assembly	打开
C10	packing.pen_holder	Pen holder	Organizing	打开
C11	packing.tool_packing	Tool packing	Organizing	打开
C12	packing.egg_carton	Egg carton	Organizing	打开
C13	packing.clear_organic_objects	Clear organics	Organizing	打开
C14	puzzle.coffee	Coffee brewing	Puzzle	打开
C15	puzzle.spatula	Spatula flip	Puzzle	打开
C16	puzzle.syringe	Syringe dosing	Liquid	打开
C17	puzzle.push_shapes	Push shapes	Puzzle	打开
C18	puzzle.classify_objects	Classify objects	Puzzle	打开
C19	puzzle.stack_blocks	Stack blocks	Puzzle	打开
C20	deformable.tshirt	T-shirt folding	Deformable	打开
C21	deformable.latte	Latte pouring	Liquid	打开
C22	deformable.dumpling	Dough rolling	Deformable	打开
C23	deformable.shoe_knot	Shoelace half-knot	Deformable	打开
C24	cutting.slice	Banana slicing	Cutting	打开
C25	cutting.dice	Food dicing	Cutting	打开
C26	locomanip.fruit_delivery	Fruit delivery	Locomanip	打开
C27	locomanip.box_to_bin	Box to bin	Locomanip	打开
C28	locomanip.wheel_carry	Wheel carry	Locomanip	打开

C01 · Allen bolt · assembly.allen_bolt

Instruction / objective: Drive an Allen bolt into a threaded plate using an L-shaped key.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
key_grasped	1	50.00%	once
driven	1	50.00%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C02 · Bulb screwing · assembly.bulb

Instruction / objective: Pick up a light bulb and screw it into its socket until fully seated.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
lifted	1	33.33%	once
engaged	1	33.33%	live
threaded	1	33.33%	live

def check_success(self):
        return self.scene.seated().all(dim=1)

Official dataset: EmbodiedSWE/bulb_franka_pinkik.jointtarget_15hz_generalization_train_20260921 · 15 FPS · cameras: front, wrist

source task_index=0 / episode_index=0 · 2731 frames / 15 FPS / 182.07 s

Dataset instruction: pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=408 · 1317 frames / 15 FPS / 87.80 s

Dataset instruction: pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=815 · 1745 frames / 15 FPS / 116.33 s

Dataset instruction: pick up the bulb, set it on the socket, and screw it down (turn it clockwise while pressing down) until it seats. A seated bulb is held by its thread, and GLOWS ever brighter as it screws home — from a faint orange at first electrical contact to fully bright warm white exactly when seated. The task is complete once the bulb is seated.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 5.0x；该示例不等同于公开三相机训练轨迹。

C03 · Table assembly · assembly.ikea_table

Instruction / objective: Attach four threaded legs to the corner studs of a tabletop.

Difficulty: Hard · 官网列出的 evaluated on: Bimanual Franka

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
aligned	1	50.00%	live
seated	1	50.00%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 4.0x；该示例不等同于公开三相机训练轨迹。

C04 · Robot-arm assembly · assembly.so101

Instruction / objective: Assemble a robot arm.

Difficulty: Hard · 官网列出的 evaluated on: Bimanual Franka

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
motor_seated	1	7.14%	live
tab_screws_picked	2	14.29%	once
tab_screws_fastened	2	14.29%	live
fork_seated	1	7.14%	live
horn_screws_picked	4	28.57%	once
horn_screws_fastened	4	28.57%	live

def check_success(self):
        """Every loose screw fastened (the scene's `state == 2`) AND the servo live in the
        pocket AND the forearm live on the horn — the assembled elbow, on the final state."""
        all_fastened = (self.scene.fastened >= 0).all(dim=1)
        return all_fastened & self._motor_seated() & self._fork_seated()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C05 · Nut threading · assembly.nut_thread

Instruction / objective: Pick up an M16 nut and thread it onto a fixed bolt.

Difficulty: Easy · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
lifted	1	33.33%	once
aligned	1	33.33%	live
threaded	1	33.33%	live

def check_success(self):
        return self.scene.seated().all(dim=1)

Official dataset: EmbodiedSWE/nut_thread_franka_ik.jointtarget_20hz_20260905 · 20 FPS · cameras: front, side, wrist

source task_index=0 / episode_index=0 · 3661 frames / 20 FPS / 183.05 s

Dataset instruction: pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.

同步 MP4 · front MP4 · side MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=200 · 2298 frames / 20 FPS / 114.90 s

Dataset instruction: pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.

同步 MP4 · front MP4 · side MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=400 · 2181 frames / 20 FPS / 109.05 s

Dataset instruction: pick up the nut, set it on the bolt, and screw it down (turn it clockwise while pressing down) until it seats. A seated nut locks in place. The task is complete once the nut is seated.

同步 MP4 · front MP4 · side MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C06 · GPU insertion · assembly.pc_gpu

Instruction / objective: Align a graphics card with a PCIe slot and press it into place.

Difficulty: Easy · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
grasped	1	33.33%	once
aligned	1	33.33%	live
pressed	1	33.33%	live

def check_success(self):
        return self.scene.seated()

Official dataset: EmbodiedSWE/pc_gpu_franka_osc.jointpos_15hz_20260907 · 15 FPS · cameras: front, wrist

source task_index=0 / episode_index=0 · 2010 frames / 15 FPS / 134.00 s

Dataset instruction: grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=2 / episode_index=49 · 1350 frames / 15 FPS / 90.00 s

Dataset instruction: grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release. The case has been set down by hand and is not on a fixed mark: its position on the bench shifts by a centimetre or so from one build to the next, so the slot's location must be read off the case itself rather than assumed. Its orientation is always the same — square to the bench.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=4 / episode_index=114 · 1830 frames / 15 FPS / 122.00 s

Dataset instruction: grip the card by its top edge, lift it straight out of the holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out. A seated card stays put on its own. The task is complete once the card is fully seated. The card holds in a firm pinch: close the fingers squarely across its body slab near the top edge and the grip locks; open wide to release. The work is raised: the case stands on a grey 60 mm bench riser and the card's holder on a matching plinth of the same height, so the whole job — the slot, the card and the space above them — sits that much higher off the table top than the bare bench would put it. The two platforms are fixed bench furniture: they do not move and are not part of the task.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C07 · GPU + RAM install · assembly.pc_gpu_ram

Instruction / objective: Install a graphics card and then seat two memory modules in their slots.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
gpu_grasped	1	11.11%	once
gpu_aligned	1	11.11%	live
gpu_seated	1	11.11%	live
ram_grasped	2	22.22%	once
ram_aligned	2	22.22%	live
ram_seated	2	22.22%	live

def check_success(self):
        return self.scene.success()

Official dataset: EmbodiedSWE/pc_gpu_ram_franka_osc.jointpos_15hz_20260907 · 15 FPS · cameras: front, high, wrist

source task_index=0 / episode_index=0 · 2850 frames / 15 FPS / 190.00 s

Dataset instruction: install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release.

同步 MP4 · front MP4 · high MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=1 / episode_index=16 · 2070 frames / 15 FPS / 138.00 s

Dataset instruction: install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release. The bench is a working one: well to the west of the case, clear of the case, the parts and every path between them, a shallow steel parts tray, a ceramic coffee mug and the motherboard's printed manual lie about. None of them belongs to this job — leave them where they are.

同步 MP4 · front MP4 · high MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=2 / episode_index=84 · 2070 frames / 15 FPS / 138.00 s

Dataset instruction: install the card first — grip it by its top edge, lift it out of its holder, lower it into the case with its I/O bracket just forward of the rear panel, slide it rearward until the bracket and ports pass through the cutout, line its PCB edge connector up with the x16 slot, and press it straight down until it bottoms out — then install each RAM stick: carry it over the case wall, line its gold edge connector up with its slot (the outermost and the second-from-socket, the alternating pair a dual-channel kit fills), and press it straight down until it clicks fully home. Every seated part stays put on its own. The task is complete once the card and both sticks are fully seated. A part holds in a firm pinch: close the fingers squarely across the card's body slab or a stick's faces, near the top edge, and the grip locks; open wide to release. The bench stands in a service bay: a pegboard panel rises along its far edge, a steel shelf is cantilevered above that panel well over head height for the arm, and a wooden crate stands on the floor off the bench's west end. All three are fixed parts of the room — not objects to handle, and none is within reach of the work.

同步 MP4 · front MP4 · high MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

C08 · Motherboard mount · assembly.pc_motherboard

Instruction / objective: Use an Allen key to drive seven mounting bolts and secure a motherboard inside a case.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
key_grasped	1	12.50%	once
driven	7	87.50%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

C09 · RAM seating · assembly.pc_ram

Instruction / objective: Align and seat two memory modules in separate DIMM slots.

Difficulty: Easy · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
grasped	1	33.33%	once
aligned	1	33.33%	live
seated	1	33.33%	live

def check_success(self):
        return self.scene.success()

Official dataset: EmbodiedSWE/pc_ram_franka_osc.jointpos_15hz_20260907 · 15 FPS · cameras: front, wrist

source task_index=0 / episode_index=0 · 2250 frames / 15 FPS / 150.00 s

Dataset instruction: grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=300 · 1290 frames / 15 FPS / 86.00 s

Dataset instruction: grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=599 · 600 frames / 15 FPS / 40.00 s

Dataset instruction: grip each stick by its top edge, lift it straight out of its holder, carry it over the case wall, line its gold edge connector up with its slot — the outermost and the second-from-socket, the alternating pair a dual-channel kit fills (the notch only fits one way — heat-spreader faces along the slot) — and press it straight down until it clicks fully home. A seated stick stays put on its own. The task is complete once both sticks are fully seated. A stick holds in a firm pinch: close the fingers flat across its faces near the top edge and the grip locks; open wide to release.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C10 · Pen holder · packing.pen_holder

Instruction / objective: Insert every present pen tip-up and then place the filled holder upright.

Difficulty: Easy · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
pens_in	0.9	90.00%	live
holder_placed	0.1	10.00%	live

def check_success(self):
        return self.scene.success()

Official dataset: EmbodiedSWE/pen_holder_franka_diffik.jointtarget_15hz_20260909 · 15 FPS · cameras: front, corner, wrist

source task_index=0 / episode_index=0 · 3780 frames / 15 FPS / 252.00 s

Dataset instruction: put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.

同步 MP4 · front MP4 · corner MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=342 · 900 frames / 15 FPS / 60.00 s

Dataset instruction: put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.

同步 MP4 · front MP4 · corner MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=683 · 420 frames / 15 FPS / 28.00 s

Dataset instruction: put every pencil into the holder tip-up (writing tip pointing out of the cup), then leave the loaded holder standing upright on the surface. You may hold the holder while filling it; a pencil dropped tip-down or left leaning outside the cup does not count, and a tipped-over holder scores nothing until it is stood up.

同步 MP4 · front MP4 · corner MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C11 · Tool packing · packing.tool_packing

Instruction / objective: Stow three tools in their assigned drawers and close the cabinet.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
stowed	0.45	45.00%	live
drawer_shut	0.45	45.00%	live
cabinet_shut	0.1	10.00%	live

def check_success(self):
        return self.scene.success()

Official dataset: EmbodiedSWE/tool_packing_franka_diffik.jointtarget_15hz_20260910 · 15 FPS · cameras: front, corner, wrist

source task_index=0 / episode_index=0 · 8730 frames / 15 FPS / 582.00 s

Dataset instruction: pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.

同步 MP4 · front MP4 · corner MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=843 · 3720 frames / 15 FPS / 248.00 s

Dataset instruction: pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.

同步 MP4 · front MP4 · corner MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=1685 · 3600 frames / 15 FPS / 240.00 s

Dataset instruction: pull drawers open as needed and pack the tools — the STAPLER goes in the TOP (1st) drawer, the SCISSORS in the SECOND drawer, the KNIFE in the THIRD drawer (the 4th/bottom drawer stays shut and gets nothing) — then push every drawer shut. An item counts only inside its own drawer's tray; the job is done when all three tools are stowed and every drawer is shut.

同步 MP4 · front MP4 · corner MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 5.0x；该示例不等同于公开三相机训练轨迹。

C12 · Egg carton · packing.egg_carton

Instruction / objective: Seat three eggs upright in the cells of an egg carton, then push the hinged lid closed.

Difficulty: Hard · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
eggs_seated	0.9	90.00%	live
lid_closed	0.1	10.00%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C13 · Clear organics · packing.clear_organic_objects

Instruction / objective: Clear the organic objects on a cluttered table into a bin while leaving the other items in place.

Difficulty: Medium · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
organics_cleared	1.0	100.00%	live

def check_success(self):
        return self.scene.success() & self._bin_upright()

Official dataset: EmbodiedSWE/clear_organic_agent_ab_A400.jointtarget_20hz_20260918 · 20 FPS · cameras: front, side, wrist

source task_index=0 / episode_index=0 · 4797 frames / 20 FPS / 239.85 s

Dataset instruction: identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.

同步 MP4 · front MP4 · side MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=200 · 1879 frames / 20 FPS / 93.95 s

Dataset instruction: identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.

同步 MP4 · front MP4 · side MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=399 · 1320 frames / 20 FPS / 66.00 s

Dataset instruction: identify every ORGANIC item — the fruits and vegetables — and place each one into the bin, leaving all the non-food clutter where it is. An item counts only when it is resting inside the bin; the job is done when every fruit and vegetable is in the bin and no non-food item has been put in.

同步 MP4 · front MP4 · side MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

C14 · Coffee brewing · puzzle.coffee

Instruction / objective: Load a capsule, brew coffee, and return the filled mug to the serving tray.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
pod_loaded	1	14.29%	once
bay_closed	1	14.29%	once
cup_staged	1	14.29%	once
started	1	14.29%	once
brewed	1	14.29%	live
cup_out	1	14.29%	once
served	1	14.29%	live

def check_success(self):
        return self.scene.success()

Official dataset: EmbodiedSWE/coffee_franka_joint.jointtarget_60hz_20260907 · 60 FPS · cameras: front_wide, wrist

source task_index=0 / episode_index=0 · 8610 frames / 60 FPS / 143.50 s

Dataset instruction: the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.

同步 MP4 · front_wide MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=300 · 8610 frames / 60 FPS / 143.50 s

Dataset instruction: the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.

同步 MP4 · front_wide MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=0 / episode_index=599 · 1530 frames / 60 FPS / 25.50 s

Dataset instruction: the mug filled by a completed brew and resting on the tray. The cover ridge, the capsule and the mug rim hold in a firm pinch: close the fingers across them and the grip locks; open wide to release.

同步 MP4 · front_wide MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C15 · Spatula flip · puzzle.spatula

Instruction / objective: Wedge a spatula under bread, flip it, reload it onto the blade, and serve it to a plate.

Difficulty: Easy · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
lifted	1	20.00%	once
wedged	1	20.00%	once
flipped	1	20.00%	once
loaded	1	20.00%	once
served	1	20.00%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C16 · Syringe dosing · puzzle.syringe

Instruction / objective: Draw liquid from a reservoir, meter three target doses, and repark the syringe.

Difficulty: Hard · 官网列出的 evaluated on: Bimanual Franka

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
drawn	1	20.00%	once
dosed	3	60.00%	live
parked	1	20.00%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C17 · Push shapes · puzzle.push_shapes

Instruction / objective: Push three blocks onto their matching pads, correcting each block’s orientation along the way.

Difficulty: Easy · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
yaw_aligned	1	33.33%	live
near_pad	1	33.33%	live
seated	1	33.33%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C18 · Classify objects · puzzle.classify_objects

Instruction / objective: Sort scattered coloured blocks into the zones matching their colours.

Difficulty: Easy · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
sorted_blocks	1	100.00%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C19 · Stack blocks · puzzle.stack_blocks

Instruction / objective: Stack scattered blocks into a single aligned tower on a marked pad.

Difficulty: Medium · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
tower	1	100.00%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C20 · T-shirt folding · deformable.tshirt

Instruction / objective: Fold a T-shirt into a compact, flat bundle.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
sleeves	2	40.00%	live
hem	1	20.00%	live
folded	1	20.00%	live
plausible	1	20.00%	final

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 2.0x；该示例不等同于公开三相机训练轨迹。

C21 · Latte pouring · deformable.latte

Instruction / objective: Coordinate two arms to pour milk into a carried coffee mug without excessive spilling.

Difficulty: Hard · 官网列出的 evaluated on: Bimanual Franka

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
pitcher_grasped	1	25.00%	once
transferred	1	25.00%	live
poured	1	25.00%	live
plausible	1	25.00%	final

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 3.0x；该示例不等同于公开三相机训练轨迹。

C22 · Dough rolling · deformable.dumpling

Instruction / objective: Roll a ball of dough flat into a round dumpling wrapper with a rolling pin.

Difficulty: Hard · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
flattened	1	25.00%	live
spread	1	25.00%	live
rolled	1	25.00%	live
plausible	1	25.00%	final

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C23 · Shoelace half-knot · deformable.shoe_knot

Instruction / objective: Tie a half knot from the two shoelaces of a sneaker.

Difficulty: Hard · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
wound	1	25.00%	live
snug	1	25.00%	live
tied	1	25.00%	live
plausible	1	25.00%	final

def check_success(self):
        import torch

        return torch.tensor([bool(self.scene.success(w)) for w in self._worlds()])

官方目录中该任务目前没有公开展示 MP4。

C24 · Banana slicing · cutting.slice

Instruction / objective: Pick up a chef knife from its rest and slice a carrot (or a banana) into a target number of pieces on a chopping board.

Difficulty: Easy · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
knife_taken	1	11.11%	once
planes_cut	7	77.78%	live
sliced	1	11.11%	live

def check_success(self):
        return self._sliced()

Official dataset: EmbodiedSWE/cutting_slice_franka_diffik.jointtarget_15hz_train_20260919 · 15 FPS · cameras: front, wrist

source task_index=0 / episode_index=0 · 1440 frames / 15 FPS / 96.00 s

Dataset instruction: pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the banana into slices. The banana is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=5 / episode_index=1055 · 1200 frames / 15 FPS / 80.00 s

Dataset instruction: pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the carrot into slices. The carrot is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

source task_index=21 / episode_index=3664 · 1320 frames / 15 FPS / 88.00 s

Dataset instruction: pick up the knife and press its edge down through each scored plane (blade aligned with the plane) to cut the baguette_1 into slices. The baguette_1 is cut once every plane has been pressed through and the pieces separate, all of them staying on the board.

同步 MP4 · front MP4 · wrist MP4 · 官方轨迹 Parquet

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C25 · Food dicing · cutting.dice

Instruction / objective: Dice a tomato (or a potato) into a 3×3 grid of pieces, cutting along two plane families with the knife re-yawed between them.

Difficulty: Medium · 官网列出的 evaluated on: Franka / xArm7 / Gen3

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
knife_taken	1	7.14%	once
pairs_cut	12	85.71%	live
diced	1	7.14%	live

def check_success(self):
        return self._diced()

官方目录中该任务目前没有公开展示 MP4。

C26 · Fruit delivery · locomanip.fruit_delivery

Instruction / objective: Pick up every fruit on a long table and carry it around the table to a plate beyond arm reach.

Difficulty: Medium · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
lifted	1	33.33%	once
carried	1	33.33%	once
placed	1	33.33%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C27 · Box to bin · locomanip.box_to_bin

Instruction / objective: Pick a cardboard box off a shelf and carry it to a sorting bin on a table across the room.

Difficulty: Medium · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
picked	1	33.33%	once
carried	1	33.33%	once
in_bin	1	33.33%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

C28 · Wheel carry · locomanip.wheel_carry

Instruction / objective: Pick a steering wheel off one packing table and carry it to a basket on another, three metres away.

Difficulty: Medium · 官网列出的 evaluated on: Unitree G1

MP4 浏览 · 官方评分源码

Stage	Weight	Normalized share	Mode
picked	1	33.33%	once
carried	1	33.33%	once
in_basket	1	33.33%	live

def check_success(self):
        return self.scene.success()

官网展示 MP4 · 网站原始播放倍率 1.0x；该示例不等同于公开三相机训练轨迹。

来源与复现

代码 revision：433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b。官网抓取日期：2026-10-05。

保留各数据源固定 revision、源文件大小与校验和、官方 episode 时间区间和元数据、源码评分说明。合并源视频采用 HTTP Range 读取选定 episode；不下载完整 assets、权重或整库。

脚本 scripts/build_examples.py 可基于保留的 manifests 运行 demos/extract/render/package；浏览页源码保留在 browser/ 与 scripts/build_browser.py。

官方代码采用 Apache-2.0；部分源数据未单列许可元数据。本整理保留各来源权利与署名，不另行扩张许可；见 NOTICE.md、LICENSE 和 reference/。