DexToolBench runs¶
Agent runs on the tasks of DexToolBench, one run at a time.
How to read this page
A run is one agent configuration, harness + model + settings; each task in it runs once per mode. Pick a run above; the table lists every task of it, one row per mode, in the default order (finished first, then running, easier tasks first). A pill links to that trial's log page. Filter the table with the chips above it.
successfailederror / stalledrunninggradingqueuednot run
Bars count trials, one per task and mode, by state. Progress is the partial credit beside success, in [0, 1]: BEHAVIOR's 2026 challenge q_score, elsewhere the grader's final_reward. A success always counts as full progress, 1.0, whatever that key says (RoboLab's final_reward is 0 for a task without scored subtasks); mean progress averages it over the graded trials. Agent time adds up finished trials; running ones are shown apart. A benchmark can also declare grader metrics, continuous scores its grader writes (IoU, F1, a distance): they get a column each, a sort, and a run figure, the mean or the median of the graded trials.
Tokens are the model gateway's count of every request (input includes the cached part, output the reasoning part). ≈ $ is those tokens at the list prices in data/prices.yml, an estimate and never a bill; billed is what a provider charged, where it says. The two are never added together.
A benchmark's owner can exclude tasks from the final benchmark (excluded: in state/tasks/<benchmark>.yml). Their trials stay, last in a run's table under Excluded from the benchmark; the numbers count the benchmark's own tasks, and the Count switch adds the excluded ones.
Runs are registered per benchmark: how to register a run.
Codex + GPT-6 Luna, reasoning xhigh (ChatGPT login)default
0 requests699.1M in (98% cached)6.0M out≈ $11.30 at list pricebilled: none (subscription)
Run details
- Harness
- Since 2026-10-01 (batch mj-luna-xh-f1-1001, the official run): Harbor's built-in codex agent (-a codex, Codex CLI 0.159.0) on Azure OpenAI's API (gpt-6-luna), reasoning effort xhigh with detailed reasoning summaries, no model gateway (token counts are Harbor's per-trial totals); the tasks it has not reached yet still show the earlier result: Harbor's built-in codex agent (-a codex, Codex CLI 0.158.0) on the owner's ChatGPT login, reasoning effort xhigh with detailed reasoning summaries; not the CodexChatGPT wrapper the other benchmarks used, so Codex applies ChatGPT's metadata for gpt-6-luna (its base instructions, verbosity low); token counts are Harbor's per-trial totals
- Model
chatgpt/openai/gpt-6-luna- Route
- the owner's ChatGPT login (a Pro subscription), through our model gateway
- Settings
- reasoning_effort xhigh, version 0.157.0
- Modes
- unlimited, limited
- Batches
mj-luna-xh-0928mj-luna-xh-nt-0929mj-luna-xh-nt-rerun-0929mj-luna-xh-f1-1001
A later batch replaces an earlier one's run of the tasks it reruns; the earlier one stays as history.- Scope
- 21 tasks in the run · 3 not in it · 0 removed (lists at the end)
- Progress
- the grader's progress, in [0, 1]; a success counts as 1.0
- Billing
- subscription: a subscription login: no per-token bill
- List price
- openai/gpt-6-luna: $0.1 in / $0.01 cached / $0.5 out per 1M tokens, as of 2026-09-25
- Notes
- Limited mode: the RoboLab, RoboPaint and RoboWits results are from the robot service's rcb-limited/2.2 protocol; RoboPaint's and RoboWits' earlier limited round is kept as history, RoboLab's (2.0) was withdrawn. BEHAVIOR-1K's limited results are from its earlier round.
- Run id
codex-gpt6_luna-xhigh·data/agents/codex-gpt6_luna-xhigh.yml,state/runs/dextoolbench.yml· formerlycodex-0.157-gpt6luna-xhigh-cgpt- Results
- as collected 10-01 17:29, published with
make publish-runs
| Task | Trial (its log page) | Progress | Goals reached | Agent time | Requests | Tokens in / out | Est. cost |
|---|---|---|---|---|---|---|---|
| Claw hammer · swing downhard | U✗ 54m 32% | 0.32 | 12 | 54m | — | 15.6M / 137k | $0.254 |
| L✗ 1h 00m 0% prev | 0.00 | 0 | 1h 00m | — | 26.1M / 124k | $0.364 | |
| Handle eraser · wipe smilehard | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 7.9M / 103k | $0.152 |
| L✗ 56m 0% prev | 0.00 | 0 | 56m | — | 23.8M / 149k | $0.348 | |
| Long screwdriver · spin horizontalhard | U✗ 1h 00m 0% prev | 0.00 | 0 | 1h 00m | — | 15.9M / 241k | $0.313 |
| L✗ 58m 0% prev | 0.00 | 0 | 58m | — | 18.6M / 200k | $0.324 | |
| Mallet hammer · swing downhard | U✓ 28m | 1.00 | 36 | 28m | — | 3.0M / 60k | $0.071 |
| L✗ 57m 0% prev | 0.00 | 0 | 57m | — | 7.4M / 82k | $0.131 | |
| Sharpie marker · draw smilehard | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 10.6M / 169k | $0.230 |
| L✗ 1h 00m 0% prev | 0.00 | 0 | 1h 00m | — | 18.4M / 131k | $0.281 | |
| Sharpie marker · write chard | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 12.0M / 165k | $0.247 |
| L✗ 1h 00m 0% prev | 0.00 | 0 | 1h 00m | — | 22.6M / 173k | $0.343 | |
| Staples marker · draw smilehard | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 10.9M / 161k | $0.227 |
| L✗ 1h 00m 0% prev | 0.00 | 0 | 1h 00m | — | 20.4M / 124k | $0.293 | |
| Blue brush · sweep forwardextreme | U✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 5.6M / 106k | $0.126 |
| L✗ 53m 0% prev | 0.00 | 0 | 53m | — | 25.3M / 136k | $0.377 | |
| Claw hammer · swing sideextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 5.3M / 96k | $0.119 |
| L✗ 58m 0% prev | 0.00 | 0 | 58m | — | 25.5M / 157k | $0.370 | |
| Flat spatula · flip overextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 9.4M / 130k | $0.186 |
| L✗ 53m 0% prev | 0.00 | 0 | 53m | — | 25.4M / 130k | $0.349 | |
| Flat spatula · serve plateextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 9.1M / 113k | $0.169 |
| L✗ 59m 0% prev | 0.00 | 0 | 59m | — | 33.8M / 151k | $0.447 | |
| Handle eraser · wipe cextreme | U✗ 1h 00m 19% | 0.19 | 6 | 1h 00m | — | 11.2M / 118k | $0.195 |
| L✗ 1h 00m 0% prev | 0.00 | 0 | 1h 00m | — | 34.1M / 148k | $0.461 | |
| Long screwdriver · spin verticalextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 7.5M / 122k | $0.159 |
| L✗ 1h 00m 0% prev | 0.00 | 0 | 1h 00m | — | 18.2M / 120k | $0.267 | |
| Mallet hammer · swing sideextreme | U✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 13.0M / 166k | $0.252 |
| L✗ 58m 0% prev | 0.00 | 0 | 58m | — | 24.9M / 114k | $0.336 | |
| Red brush · sweep forwardextreme | U✗ 37m 42% prev | 0.42 | 16 | 37m | — | 12.8M / 178k | $0.252 |
| L✗ 59m 0% prev | 0.00 | 0 | 59m | — | 22.2M / 203k | $0.353 | |
| Red brush · sweep rightextreme | U✗ 1h 00m 5% | 0.05 | 2 | 1h 00m | — | 17.7M / 139k | $0.274 |
| L✗ 57m 0% prev | 0.00 | 0 | 57m | — | 15.5M / 107k | $0.232 | |
| Short screwdriver · spin horizontalextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 7.6M / 104k | $0.154 |
| L✗ 56m 0% prev | 0.00 | 0 | 56m | — | 24.1M / 139k | $0.340 | |
| Short screwdriver · spin verticalextreme | U✗ 1h 00m 14% | 0.14 | 11 | 1h 00m | — | 16.1M / 143k | $0.267 |
| L✗ 58m 0% prev | 0.00 | 0 | 58m | — | 18.8M / 138k | $0.293 | |
| Spoon spatula · flip overextreme | U✗ 54m 15% | 0.15 | 6 | 54m | — | 9.3M / 118k | $0.173 |
| L✗ 59m 0% prev | 0.00 | 0 | 59m | — | 19.9M / 166k | $0.330 | |
| Spoon spatula · serve plateextreme | U✗ 56m 0% prev | 0.00 | 0 | 56m | — | 16.6M / 284k | $0.356 |
| L✗ 58m 0% prev | 0.00 | 0 | 58m | — | 21.5M / 167k | $0.323 | |
| Staples marker · write cextreme | U✗ 1h 00m 3% | 0.03 | 1 | 1h 00m | — | 13.7M / 159k | $0.249 |
| L✗ 57m 0% prev | 0.00 | 0 | 57m | — | 21.7M / 118k | $0.312 |
3 task(s) not in this run
| Task | Why |
|---|---|
| Blue brush · sweep right | not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port |
| Flat eraser · wipe c | not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port |
| Flat eraser · wipe smile | not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port |
Codex + GPT-6 Luna, reasoning xhigh (Azure OpenAI API, 2026-09-30 stress test)
0 requests761.8M in (98% cached)7.5M out≈ $12.66 at list pricebilled: —
Run details
- Harness
- Harbor's built-in codex agent (-a codex, Codex CLI 0.159.0) on Azure OpenAI's API (gpt-6-luna), reasoning effort xhigh with detailed reasoning summaries; limited mode on rcb-limited/2.1 with crash recovery; image rcb-mujoco 0.1.2. No model gateway: token counts are Harbor's
- Model
azure/gpt-6-luna- Route
- Azure OpenAI deployments of gpt-6-luna, one endpoint per Harbor job: the lab's main resource (1M tokens/min) and two more (333k tokens/min each); each trial talked to one endpoint
- Settings
- reasoning_effort xhigh, reasoning_summary detailed, version 0.159.0
- Modes
- unlimited, limited
- Batches
mj-luna-xh-az-0930mj-luna-xh-az-rerun-0930
A later batch replaces an earlier one's run of the tasks it reruns; the earlier one stays as history.- Scope
- 21 tasks in the run · 3 not in it · 0 removed (lists at the end)
- Progress
- the grader's progress, in [0, 1]; a success counts as 1.0
- Billing
- api: billed by the provider's API; we hold no per-trial bill, so only the estimate is shown
- List price
- openai/gpt-6-luna: $0.1 in / $0.01 cached / $0.5 out per 1M tokens, as of 2026-09-25
- Notes
- Not an official result. A large-batch stress run of every task on robot_coding_bench dev/kangrui (RoboTwin 2.0, DexToolBench, MuJoCo Playground), both modes, limited mode on rcb-limited/2.1 with crash recovery. RoboTwin ran mostly on an AWS g6e (L40S); the four RoboTwin tasks whose frozen instance does not rebuild bit-exactly there, and every MuJoCo task, ran on the lab machine.
- Run id
codex-gpt6_luna-xhigh-azure·data/agents/codex-gpt6_luna-xhigh-azure.yml,state/runs/dextoolbench.yml- Results
- as collected 10-01 17:29, published with
make publish-runs
- Red brush · sweep right unlimited rerun: the first trial got no model response: its endpoint (a second Azure resource, *.services.ai.azure.com) is not on the task's egress allowlist
- Handle eraser · wipe c limited rerun: the first trial ended on Azure's token rate limit (Codex retries its remote context compaction only twice)
- Claw hammer · swing down unlimited rerun: the first trial ended on Azure's token rate limit (Codex retries its remote context compaction only twice)
- Claw hammer · swing down limited rerun: the first trial was lost when its task directory was regenerated under the running robot service
- Claw hammer · swing side unlimited rerun: the first trial got no model response: its endpoint (a second Azure resource, *.services.ai.azure.com) is not on the task's egress allowlist
- Sharpie marker · draw smile unlimited rerun: the first trial was stopped by us to move the work to another endpoint or machine
- Sharpie marker · write c limited rerun: the first trial ended on Azure's token rate limit (Codex retries its remote context compaction only twice) (3 earlier attempts in all)
- Long screwdriver · spin horizontal unlimited rerun: the first trial got no model response: its endpoint (a second Azure resource, *.services.ai.azure.com) is not on the task's egress allowlist (2 earlier attempts in all)
- Long screwdriver · spin vertical unlimited rerun: the first trial got no model response: its endpoint (a second Azure resource, *.services.ai.azure.com) is not on the task's egress allowlist
- Flat spatula · flip over limited rerun: the first trial was stopped by us to move the work to another endpoint or machine
- Flat spatula · serve plate unlimited rerun: the first trial was stopped by us to move the work to another endpoint or machine
- Flat spatula · serve plate limited rerun: the first trial was stopped by us to move the work to another endpoint or machine (2 earlier attempts in all)
- Spoon spatula · flip over limited rerun: the first trial was stopped by us to move the work to another endpoint or machine
- Spoon spatula · serve plate limited rerun: the first trial was stopped by us to move the work to another endpoint or machine
| Task | Trial (its log page) | Progress | Goals reached | Agent time | Requests | Tokens in / out | Est. cost |
|---|---|---|---|---|---|---|---|
| Claw hammer · swing downhard | U✗ 1h 00m 3% ⓘ prev | 0.03 | 1 | 1h 00m | — | 15.1M / 159k | $0.263 |
| L✗ 59m 0% ⓘ prev | 0.00 | 0 | 59m | — | 19.8M / 126k | $0.280 | |
| Handle eraser · wipe smilehard | U✓ 20m | 1.00 | 29 | 20m | — | 4.0M / 81k | $0.094 |
| L✗ 59m 0% | 0.00 | 0 | 59m | — | 28.9M / 154k | $0.390 | |
| Long screwdriver · spin horizontalhard | U✗ 58m 6% ⓘ prev | 0.06 | 2 | 58m | — | 16.2M / 263k | $0.350 |
| L✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 22.6M / 112k | $0.299 | |
| Mallet hammer · swing downhard | U✗ 59m 3% | 0.03 | 1 | 59m | — | 15.0M / 196k | $0.279 |
| L✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 16.9M / 112k | $0.245 | |
| Sharpie marker · draw smilehard | U✗ 59m 0% ⓘ prev | 0.00 | 0 | 59m | — | 17.8M / 235k | $0.355 |
| L✗ 57m 0% | 0.00 | 0 | 57m | — | 18.6M / 235k | $0.339 | |
| Sharpie marker · write chard | U✗ 59m 8% | 0.08 | 2 | 59m | — | 17.7M / 257k | $0.348 |
| L✗ 59m 0% ⓘ prev | 0.00 | 0 | 59m | — | 14.2M / 129k | $0.232 | |
| Staples marker · draw smilehard | U✗ 57m 0% | 0.00 | 0 | 57m | — | 17.4M / 215k | $0.315 |
| L✗ 59m 0% | 0.00 | 0 | 59m | — | 19.4M / 185k | $0.321 | |
| Blue brush · sweep forwardextreme | U✗ 1h 00m 6% | 0.06 | 2 | 1h 00m | — | 21.3M / 227k | $0.360 |
| L✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 11.9M / 84k | $0.175 | |
| Claw hammer · swing sideextreme | U✗ 57m 12% ⓘ prev | 0.12 | 5 | 57m | — | 15.0M / 244k | $0.315 |
| L✗ 58m 0% | 0.00 | 0 | 58m | — | 28.7M / 274k | $0.470 | |
| Flat spatula · flip overextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 14.8M / 177k | $0.277 |
| L✗ 53m 0% ⓘ prev | 0.00 | 0 | 53m | — | 19.9M / 124k | $0.280 | |
| Flat spatula · serve plateextreme | U✗ 1h 00m 0% ⓘ prev | 0.00 | 0 | 1h 00m | — | 17.5M / 232k | $0.330 |
| L✗ 1h 00m 0% ⓘ prev | 0.00 | 0 | 1h 00m | — | 16.3M / 162k | $0.267 | |
| Handle eraser · wipe cextreme | U✗ 43m 13% | 0.13 | 4 | 43m | — | 13.3M / 189k | $0.257 |
| L✗ 1h 00m 0% ⓘ prev | 0.00 | 0 | 1h 00m | — | 26.8M / 208k | $0.403 | |
| Long screwdriver · spin verticalextreme | U✗ 1h 00m 0% ⓘ prev | 0.00 | — | 1h 00m | — | 21.9M / 273k | $0.403 |
| L✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 23.0M / 129k | $0.312 | |
| Mallet hammer · swing sideextreme | U✗ 1h 00m 25% | 0.25 | 8 | 1h 00m | — | 20.9M / 218k | $0.354 |
| L✗ 59m 0% | 0.00 | 0 | 59m | — | 16.4M / 126k | $0.247 | |
| Red brush · sweep forwardextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 11.3M / 170k | $0.229 |
| L✗ 58m 0% | 0.00 | 0 | 58m | — | 13.7M / 88k | $0.194 | |
| Red brush · sweep rightextreme | U✗ 48m 13% ⓘ prev | 0.13 | 5 | 48m | — | 10.1M / 163k | $0.207 |
| L✗ 57m 0% | 0.00 | 0 | 57m | — | 26.5M / 131k | $0.352 | |
| Short screwdriver · spin horizontalextreme | U✗ 55m 8% | 0.08 | 3 | 55m | — | 15.3M / 203k | $0.284 |
| L✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 26.6M / 162k | $0.371 | |
| Short screwdriver · spin verticalextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 18.1M / 299k | $0.392 |
| L✗ 59m 0% | 0.00 | 0 | 59m | — | 16.7M / 122k | $0.249 | |
| Spoon spatula · flip overextreme | U✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 17.7M / 188k | $0.304 |
| L✗ 58m 0% ⓘ prev | 0.00 | 0 | 58m | — | 24.5M / 210k | $0.382 | |
| Spoon spatula · serve plateextreme | U✗ 1h 00m 0% | 0.00 | — | 1h 00m | — | 11.4M / 203k | $0.252 |
| L✗ 57m 0% ⓘ prev | 0.00 | 0 | 57m | — | 22.0M / 206k | $0.355 | |
| Staples marker · write cextreme | U✗ 1h 00m 38% | 0.38 | 11 | 1h 00m | — | 7.8M / 116k | $0.156 |
| L✗ 1h 00m 0% | 0.00 | 0 | 1h 00m | — | 28.6M / 139k | $0.377 |
3 task(s) not in this run
| Task | Why |
|---|---|
| Blue brush · sweep right | not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port |
| Flat eraser · wipe c | not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port |
| Flat eraser · wipe smile | not built: SimToolReal's pretrained policy reaches no goal on these in our MuJoCo port |