Manipulation · hammer_nail_and_hang_picture¶
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 VLABench runs for every task of a run.
Codex + GPT-6 Luna, reasoning xhigh (ChatGPT login)default runclosed
Not in this run: not in the sample (robot_coding_bench PR
Task instruction (upstream)
Please hang the 本所立川 on the wall safely and steadily: drive the nail into the wall with the hammer (VLABench checks that the nail's joint position is between 0.05 and 0.08) and bring the 本所立川 painting to the nail (its grasp point within 5 cm of the nail's).
Recorded by us: our reference solution, replayed by the verifier (the front camera).
What VLABench states about this task
| Success criteria | 1. VLABench's own success check for hammer_nail_and_hang_picture (the task's termination condition). The episode ends the moment it holds. 2. This states exactly what VLABench's success check requires. 3. unlimited (privileged): both fresh-process replays of the handed-in trajectory end in the same state, and the check holds on it 4. limited (standard): the one episode (no reset) is recorded by the service and replays to the same state; the check holds on it live and in the replay |
| Family | vlabench/hammer_nail_and_hang_picture |
| Robot | Franka Panda (7-DoF arm, two-finger gripper) |
| Category | Manipulation |
| Instance | seed 0 |
| Reference Solution | 361 control steps on this instance (solution/oracle.npy), replayed by solution/solve.sh. Source: VLABench's own expert (get_expert_skill_sequence) driving its general skills, recorded as control steps during PR #4's authoring; only the recorded steps were committed (PR #4 @ ad3c510, refs/pull/4/head). VLABench's experts are removed from the image. Re-verified by scripts/vlabench/freeze.sh: the replay ends with the task's success at its last step. |
| Limited Mode | VLABench's hammer_nail_and_hang_picture as a robot service: a Franka Panda arm at a table, instructed "Please hang the 本所立川 on the wall safely and steadily: drive the nail into the wall with the hammer (VLABench checks that the nail's joint position is between 0.05 and 0.08) and bring the 本所立川 painting to the nail (its grasp point within 5 cm of the nail's)." (a direct command), on the same frozen instance as vlabench-hammer-nail-and-hang-picture-i00-privileged. The simulator runs in the sim sidecar (environment/sim/server.py on main's rcb_service.py); the agent only has the client: four cameras (RGB 320×320, depth on request, calibrated), the robot's own state, and joint-position chunks. One episode, no reset, no object poses; nothing to hand in. |
| Oracle | full |
| Base Image | ghcr.io/mll-lab-nu/eai-vlabench:0.1.0 |
| Agent Budget | 3600 s of wall clock per mode |
| Task Dirs | vlabench-hammer-nail-and-hang-picture-i00-privileged, vlabench-hammer-nail-and-hang-picture-i00-standard |
From https://github.com/OpenMOSS/VLABench @ cf588fe, as defined in our task definitions @ 8c5594a43.
Tags¶
Why this task is interesting¶
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Capability notes¶
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Oracle demo review¶
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