Flat eraser · wipe smile¶
Agent runs
Each mode of this task runs once per run. Est. cost is tokens at list price (data/prices.yml), never a bill; see the DexToolBench runs for every task of a run.
Codex + GPT-6 Luna, reasoning xhigh (ChatGPT login)default run
Not in this run: not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port
1 other run(s) of DexToolBench
Codex + GPT-6 Luna, reasoning xhigh (Azure OpenAI API, 2026-09-30 stress test)
Not in this run: not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port
Task instruction (upstream)
Pick up the flat eraser and move it through the demonstrated motion (wiping a smiley face): bring it to each of the 33 goal poses in order.
make demos to fetch the ones published upstream.What DexToolBench states about this task
| Defined in | dextoolbench/trajectories/eraser/flat_eraser/wipe_smile.json |
| Category | eraser |
| Object | flat_eraser |
| Task | wipe_smile |
| N Goals | 33 |
| Tool Model | assets/urdf/dextoolbench/eraser/flat_eraser/flat_eraser.urdf |
| Table | table_narrow_whiteboard.urdf (a whiteboard at the table's edge) |
| Metric | task progress: goals reached / goals (8 grasp-box keypoints within 1.5 cm; 10 s per goal) |
From https://github.com/tylerlum/simtoolreal @ 313d5ae.
Measured on the stack we run — MuJoCo 3.3.7 (CPU, bit-exact replay), KUKA iiwa 14 (MuJoCo Menagerie 1b86ece) + Sharpa HA4, 600 Hz physics, 60 Hz control
| Harness Task | not built |
| Oracle | the pretrained policy reaches no goal in our MuJoCo port, so the task is not built until a solution is verified |
Read from run in our MuJoCo port (robot_coding_bench tasks/dextoolbench_eraser_flat_eraser_wipe_smile, image rcb-mujoco 0.1.1), 2026-09-28.
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Why this task is interesting¶
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Oracle demo review¶
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