Flat spatula · serve plate¶
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
| Trial | Started | Agent time | Model requests | Tokens in / out | Est. cost | Grade |
|---|---|---|---|---|---|---|
| U✗ 1h 00m 0% | 09-29 03:55 | 1h 00m | — | 9.1M / 113k | $0.169 | grader_error 0, missing_trajectory 1 |
| L✗ 59m 0% | 09-29 09:09 | 59m | — | 33.8M / 151k | $0.447 | deterministic 1, grader_error 0, video_rendered 1 |
1 other run(s) of DexToolBench
Codex + GPT-6 Luna, reasoning xhigh (Azure OpenAI API, 2026-09-30 stress test)
| Trial | Started | Agent time | Model requests | Tokens in / out | Est. cost | Grade |
|---|---|---|---|---|---|---|
| U✗ 1h 00m 0% ⓘ | 10-01 01:34 | 1h 00m | — | 17.5M / 232k | $0.330 | deterministic 1, grader_error 0, n_actions 1800, video_rendered 1 |
| L✗ 1h 00m 0% ⓘ | 10-01 00:31 | 1h 00m | — | 16.3M / 162k | $0.267 | deterministic 1, grader_error 0, video_rendered 1 |
Task instruction (upstream)
Pick up the flat spatula and move it through the demonstrated motion (serving onto a plate): bring it to each of the 33 goal poses in order.
Recorded by us: SimToolReal's pretrained RL policy replayed in our MuJoCo port of the task, four views (front, side / top, oblique); it reaches 9 of 33 goals here. The green ghost tool is the current goal.
What DexToolBench states about this task
| Defined in | dextoolbench/trajectories/spatula/flat_spatula/serve_plate.json |
| Category | spatula |
| Object | flat_spatula |
| Task | serve_plate |
| N Goals | 33 |
| Tool Model | assets/urdf/dextoolbench/spatula/flat_spatula/flat_spatula.urdf |
| Table | table_narrow_bowl_plate.urdf (a bowl and a plate) |
| 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 | dextoolbench_spatula_flat_spatula_serve_plate |
| Oracle | SimToolReal's pretrained policy, recorded in this scene and replayed: 9/33 goals |
Read from run in our MuJoCo port (robot_coding_bench tasks/dextoolbench_spatula_flat_spatula_serve_plate, image rcb-mujoco 0.1.1), 2026-09-28.
Tags¶
Why this task is interesting¶
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Oracle demo review¶
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