Travor278/ReflexBench-Task-Examples

ReflexBench Simulation Task Examples

打开 MP4 任务浏览页

Six official task_index values 0–5. Single Franka arm; only fixed_cam and wrist_cam exist. Do not relabel the wrist as left/right. Success rules describe evaluation, not an unprovided per-demo score.

所有示例是完整 H.264 MP4。单臂相机保留官方名称：fixed_cam / wrist_cam。每条有同步合并视频、各路原视频与官方动作/状态 Parquet。

评估标准根据官方代码和文档整理；发布数据未保存逐条示教 success 标签，故 actual_episode_success 为 null。本文不编造 0–100 得分。

官方 task_index	Task / instruction scenario	分类	直接浏览
0	Ball Catching	Reaction-critical	打开
1	Conveyor Belt Pick And Place	Reaction-critical	打开
2	Whack A Mole	Reaction-critical	打开
3	Rolling Ball Interception	Reaction-critical	打开
4	Ball Throwing	Reaction-critical	打开
5	Rotating Peg Insertion	Reaction-critical	打开

ReflexBench 上游 episode 本身很短，多数选取记录只有约 1 秒。此处保持完整官方 length 和时间区间，没有人为截短、慢放或补帧。

task_index=0 · Ball Catching

Instruction: hold the container with the gripper and catch the thrown ball in the container

Description: Catch a launched ball with a held container.

Success / evaluation: Episode success is task_phase == 4. The ball must remain in the virtual catch zone below the end effector for the configured consecutive-step threshold.

官方说明

Gym ID: BallCatching-Franka-DataCollection-v0

episode_index=0 · 24 frames / 0.96 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=100 · 27 frames / 1.08 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=199 · 37 frames / 1.48 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

task_index=1 · Conveyor Belt Pick And Place

Instruction: pick up the cube from the moving conveyor and place it into the bin

Description: Pick from the moving conveyor and release into the bin.

Success / evaluation: Success requires the object inside the bin in environment-local coordinates: x in [-0.2,0.2], y in [-0.6,-0.3], z in [0.0,0.08] m.

官方说明

Gym ID: ConveyorBeltPickAndPlace-Franka-DataCollection-v0

episode_index=200 · 31 frames / 1.24 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=318 · 37 frames / 1.48 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=435 · 36 frames / 1.44 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

task_index=2 · Whack A Mole

Instruction: hit the mole that pops up on the board with the closed gripper

Description: Strike the active mole using the closed gripper during its popup window.

Success / evaluation: Unified evaluation success is valid_hits > 0. A valid hit requires proximity to the active mole, closed gripper and the configured dwell. Current eval profile uses 2.0 s popup, 0.3 s gap, 0 s initial delay and 3.0 s evaluation length. Completing the window schedule alone is not success.

官方说明

Gym ID: WhackAMole-Franka-DataCollection-v0

episode_index=436 · 18 frames / 0.72 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=536 · 16 frames / 0.64 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=635 · 16 frames / 0.64 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

task_index=3 · Rolling Ball Interception

Instruction: hold the container with the gripper and catch the orange rolling down the ramp in the container

Description: Intercept the ball or orange rolling down the ramp.

Success / evaluation: Episode success is task_phase == 4. The rolling object must stay in the virtual catch zone for the configured hold threshold.

官方说明

Gym ID: RollingBallInterception-Franka-DataCollection-v0

episode_index=636 · 26 frames / 1.04 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=736 · 26 frames / 1.04 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=835 · 26 frames / 1.04 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

task_index=4 · Ball Throwing

Instruction: toss the ball into the bin

Description: Throw the pre-grasped ball into the target bin.

Success / evaluation: Success is task_phase == 2, meaning the ball entered the target bin. Documentation bounds relative to bin center: |x-cx| <= 0.13, |y-cy| <= 0.09, z in [0.02,0.18] m.

官方说明

Gym ID: BallThrowing-Franka-DataCollection-v0

episode_index=836 · 33 frames / 1.32 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=936 · 35 frames / 1.40 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=1035 · 33 frames / 1.32 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

task_index=5 · Rotating Peg Insertion

Instruction: insert the peg into the hole on the rotating disc

Description: Time peg insertion into the moving hole of a rotating disc.

Success / evaluation: Success is task_phase == 4. Peg tip enters the hole within its radius tolerance, descends at least 0.02 m below the disc surface, and holds for at least 5 control steps (task README).

官方说明

Gym ID: RotatingPegInsertion-Franka-DataCollection-v0

episode_index=1036 · 28 frames / 1.12 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=1136 · 59 frames / 2.36 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

episode_index=1235 · 34 frames / 1.36 s

同步 MP4 · fixed_cam MP4 · wrist_cam MP4 · 官方轨迹

来源、许可与复现

官方数据：原仓库 · 固定 revision 9295b6e9878609a992047f0b8b65421a493299e7。

官方代码：GitHub · revision 8bb931485093c6d98f8729774ad01bf824964e16。

保留上游 LICENSE 和来源文件在 reference/。ReflexBench 官方数据未单列许可证元数据；保留官方实现 BSD-3-Clause 来源，不扩大作者权利。

选择性提取记录、原始时间区间、task/episode 对应、相机元数据和校验均在 provenance/。不下载场景资产、模型权重或完整数据仓库。

复现脚本：scripts/build_examples.py。浏览页源码另见 browser/ 和 scripts/build_browser.py。