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RoboPaint runs

Agent runs on the tasks of RoboPaint, 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

91 tasks × 2 modes · 9 of them excluded from the benchmark · results as of 09-30 05:08

Count9 of the run's tasks are excluded from the benchmark: last in the table
Unlimited49 / 82 success
49 success33 failed82 done · 60%
Limited1 / 82 success
1 success81 failed82 done · 1%
Mean progress0.71
final_reward · 164 graded
Agent time166.6 h
finished trials

16,037 requests1.75B in (98% cached)17.0M out (13.0M reasoning)≈ $29.81 at list pricebilled: none (subscription)

Grader metrics
Final reward0.654mean · median 0.705 · 164 graded
IoU0.706mean · median 0.749 · 121 graded
Precision—mean · 0 graded
Recall—mean · 0 graded
Min colour recall—mean · 0 graded
Chamfer paint→target—median · 0 graded
Chamfer target→paint—median · 0 graded
SSIM (blurred)—mean · 0 graded
By family

The grader's final reward depends on the task family: the metric in the third column. Each mean is the plain mean over the graded trials, a success at its own value.

FamilyTasksIts final reward isUnlimited: successmean final rewardLimited: successmean final reward
Lettering10IoU8/10 80%0.8391/10 10%0.677
Kaishu35IoU26/35 74%0.7970/35 0%0.587
Xingshu16IoU8/16 50%0.7640/16 0%0.569
Acrylic101 - mean ΔE / 203/10 30%0.7720/10 0%0.440
Oil111 - mean ΔE / 204/11 36%0.6140/11 0%0.315
Run details
Harness
Codex CLI 0.157.0 as our Harbor agent CodexChatGPT: Codex with our model gateway pointed at ChatGPT's backend
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
robopaint-lunaxh-0928 robopaint-lunaxh-0928b robopaint-lunaxh-rerun-0928 robopaint-lunaxh-limited-0929 robopaint-lunaxh-limited-rerun-0929
A later batch replaces an earlier one's run of the tasks it reruns; the earlier one stays as history.
Scope
82 tasks in the run + 9 excluded from the benchmark (last in the table) · 0 not in it · 0 removed (lists at the end)
Progress
the grader's final_reward, 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/robopaint.yml · formerly codex-0.157-gpt6luna-xhigh-cgpt
Results
as collected 09-30 05:08, published with make publish-runs
ⓘ Notes
  • Kaishu · Fu unlimited the agent's own `pkill -f '/app/output/gen.py'` also matched the Codex process, whose command line carries the instruction, and ended the agent at 17 min
TaskTrial (its log page)ProgressFinal rewardIoUPrecisionRecallMin colour recallChamfer paint→target (mm)Chamfer target→paint (mm)SSIM (blurred)Agent timeRequestsTokens in / outEst. cost
Kaishu · DamediumU✓ 1h 43m1.000.8320.832——————1h 43m15721.4M / 135k$0.309
L✗ 21m 65% prev0.650.6540.654——————21m523.3M / 56k$0.073
Kaishu · KoumediumU✓ 28m1.000.8330.833——————28m322.0M / 52k$0.055
L✗ 20m 64% prev0.640.6360.636——————20m442.6M / 59k$0.067
Kaishu · RenmediumU✓ 31m1.000.8460.846——————31m523.8M / 62k$0.081
L✗ 39m 72% prev0.720.7190.719——————39m523.4M / 77k$0.086
Kaishu · ShanmediumU✓ 1h 01m1.000.8440.844——————1h 01m615.8M / 85k$0.115
L✗ 42m 68% prev0.680.6840.684——————42m492.7M / 60k$0.068
Kaishu · ShuimediumU✓ 1h 44m1.000.8140.814——————1h 44m19628.4M / 124k$0.375
L✗ 31m 61% prev0.610.6100.610——————31m705.7M / 92k$0.120
Kaishu · TianmediumU✓ 48m1.000.8490.849——————48m444.1M / 93k$0.103
L✗ 19m 66% prev0.660.6590.659——————19m442.8M / 56k$0.067
Kaishu · XinmediumU✗ 2h 00m 78%0.780.7780.778——————2h 00m10511.0M / 106k$0.182
L✗ 1h 30m 55% prev0.550.5510.551——————1h 30m797.5M / 118k$0.154
Kaishu · YongmediumU✓ 1h 29m1.000.8000.800——————1h 29m19522.3M / 172k$0.366
L✗ 1h 04m 56% prev0.560.5580.558——————1h 04m887.9M / 116k$0.157
Kaishu · YuemediumU✓ 1h 08m1.000.8510.851——————1h 08m14017.9M / 132k$0.272
L✗ 20m 58% prev0.580.5790.579——————20m462.9M / 61k$0.073
Kaishu · ZhongmediumU✓ 46m1.000.8210.821——————46m565.6M / 102k$0.123
L✗ 24m 73% prev0.730.7270.727——————24m483.2M / 70k$0.080
Lettering · MinimmediumU✗ 1h 30m 76%0.760.7620.762——————1h 30m879.3M / 117k$0.172
L✗ 45m 60% prev0.600.6040.604——————45m705.5M / 99k$0.121
Lettering · MoonmediumU✓ 1h 17m1.000.8510.851——————1h 17m10013.1M / 143k$0.226
L✗ 48m 84% prev0.840.8420.842——————48m8710.6M / 129k$0.192
Acrylic · ApplesorangeshardU✗ 49m 83%0.830.832———————49m10710.6M / 99k$0.175
L✗ 1h 17m 71% prev0.710.707———————1h 17m13819.5M / 157k$0.317
Acrylic · BedroomhardU✗ 1h 18m 87%0.870.874———————1h 18m12715.7M / 114k$0.236
L✗ 37m 71% prev0.710.710———————37m796.3M / 84k$0.131
Acrylic · BluehorseshardU✗ 48m 86%0.860.861———————48m11413.1M / 93k$0.197
L✗ 42m 0% prev0.000.000———————42m664.3M / 75k$0.095
Acrylic · GreatwavehardU✗ 1h 57m 89%0.890.893———————1h 57m22232.5M / 126k$0.418
L✗ 55m 0% prev0.000.000———————55m15017.4M / 138k$0.270
Acrylic · KajikazawahardU✓ 1h 05m1.000.908———————1h 05m727.7M / 120k$0.156
L✗ 1h 11m 85% prev0.850.845———————1h 11m11113.6M / 117k$0.217
Acrylic · PlumparkhardU✓ 1h 43m1.000.903———————1h 43m14119.1M / 127k$0.279
L✗ 1h 22m 49% prev0.490.492———————1h 22m13919.3M / 158k$0.300
Acrylic · RedfujihardU✓ 50m1.000.909———————50m716.7M / 87k$0.127
L✗ 41m 66% prev0.660.662———————41m613.9M / 59k$0.082
Acrylic · SuddenshowerhardU✗ 2h 00m 0%0.000.000———————2h 00m14116.3M / 133k$0.254
L✗ 43m 49% prev0.490.486———————43m10711.1M / 93k$0.179
Acrylic · SunflowershardU✗ 1h 23m 88%0.880.883———————1h 23m12817.7M / 135k$0.270
L✗ 1h 04m 0% prev0.000.000———————1h 04m989.6M / 116k$0.175
Acrylic · VisionhardU✗ 57m 66%0.660.659———————57m999.4M / 88k$0.156
L✗ 53m 50% prev0.500.495———————53m674.9M / 65k$0.096
Kaishu · AihardU✓ 1h 59m1.000.8190.819——————1h 59m12614.6M / 101k$0.234
L✗ 44m 24% prev0.240.2390.258——————44m634.2M / 76k$0.106
Kaishu · ChunhardU✗ 2h 00m 80%0.800.8000.800——————2h 00m13918.1M / 161k$0.290
L✗ 34m 70% prev0.700.7040.704——————34m515.2M / 79k$0.109
Kaishu · DaohardU✗ 1h 42m 77%0.770.7720.772——————1h 42m23326.3M / 197k$0.425
L✗ 37m 61% prev0.610.6120.612——————37m412.9M / 77k$0.085
Kaishu · DehardU✓ 1h 17m1.000.8180.818——————1h 17m11512.5M / 97k$0.194
L✗ 29m 60% prev0.600.5970.597——————29m603.7M / 56k$0.077
Kaishu · FenghardU✓ 43m1.000.8140.814——————43m887.7M / 74k$0.130
L✗ 48m 62% prev0.620.6210.621——————48m967.9M / 106k$0.153
Kaishu · FuhardU✗ 17m 26% ⓘ0.260.2630.263——————17m20909k / 32k$0.032
L✗ 49m 53% prev0.530.5320.532——————49m564.4M / 73k$0.094
Kaishu · GuohardU✓ 37m1.000.8030.803——————37m857.2M / 65k$0.120
L✗ 39m 65% prev0.650.6480.648——————39m787.5M / 110k$0.153
Kaishu · HehardU✓ 32m1.000.8350.835——————32m382.6M / 56k$0.065
L✗ 34m 67% prev0.670.6690.669——————34m705.8M / 94k$0.122
Kaishu · HuahardU✓ 39m1.000.8430.843——————39m422.8M / 51k$0.065
L✗ 20m 67% prev0.670.6720.672——————20m452.9M / 60k$0.072
Kaishu · JiahardU✓ 1h 44m1.000.8110.811——————1h 44m23229.4M / 217k$0.473
L✗ 45m 42% prev0.420.4160.416——————45m604.0M / 73k$0.091
Kaishu · JianghardU✓ 1h 05m1.000.8290.829——————1h 05m706.4M / 94k$0.127
L✗ 1h 01m 65% prev0.650.6490.757——————1h 01m797.9M / 135k$0.168
Kaishu · JinghardU✓ 1h 14m1.000.8360.836——————1h 14m796.4M / 57k$0.106
L✗ 41m 56% prev0.560.5650.565——————41m949.8M / 122k$0.182
Kaishu · LehardU✗ 2h 00m 76%0.760.7610.761——————2h 00m18921.9M / 184k$0.372
L✗ 25m 52% prev0.520.5180.518——————25m352.1M / 55k$0.060
Kaishu · LinhardU✓ 28m1.000.8850.885——————28m574.1M / 50k$0.077
L✗ 25m 73% prev0.730.7270.727——————25m422.7M / 61k$0.070
Kaishu · LonghardU✗ 2h 00m 74%0.740.7370.737——————2h 00m11514.4M / 133k$0.233
L✗ 57m 60% prev0.600.5980.598——————57m10910.6M / 119k$0.187
Kaishu · MahardU✓ 1h 02m1.000.8010.801——————1h 02m12916.3M / 115k$0.244
L✗ 37m 54% prev0.540.5390.539——————37m837.1M / 108k$0.145
Kaishu · MinghardU✓ 1h 50m1.000.8030.803——————1h 50m696.7M / 96k$0.142
L✗ 17m 56% prev0.560.5580.558——————17m382.2M / 51k$0.058
Kaishu · QinghardU✓ 40m1.000.8030.803——————40m605.2M / 79k$0.106
L✗ 24m 60% prev0.600.5980.598——————24m513.3M / 73k$0.085
Kaishu · RanhardU✓ 44m1.000.8230.823——————44m675.8M / 82k$0.115
L✗ 44m 53% prev0.530.5320.532——————44m696.3M / 97k$0.130
Kaishu · ShuhardU✗ 2h 00m 79%0.790.7920.792——————2h 00m10312.7M / 175k$0.265
L✗ 24m 57% prev0.570.5670.567——————24m463.1M / 72k$0.082
Kaishu · ZihardU✓ 1h 10m1.000.8100.810——————1h 10m11312.3M / 97k$0.192
L✗ 23m 58% prev0.580.5840.584——————23m584.2M / 60k$0.086
Lettering · DonumhardU✓ 1h 05m1.000.8650.865——————1h 05m1039.4M / 85k$0.154
L✗ 1h 30m 68% prev0.680.6760.676——————1h 30m11612.1M / 197k$0.274
Lettering · InunumhardU✓ 29m1.000.8630.863——————29m594.3M / 64k$0.088
L✗ 1h 01m 75% prev0.750.7460.746——————1h 01m1049.9M / 123k$0.182
Lettering · MiniumhardU✗ 1h 30m 78%0.780.7810.781——————1h 30m9212.9M / 165k$0.237
L✗ 50m 25% prev0.250.2510.531——————50m837.5M / 119k$0.154
Lettering · NimiumhardU✓ 28m1.000.8880.888——————28m422.7M / 54k$0.064
L✗ 55m 79% prev0.790.7900.790——————55m806.4M / 98k$0.131
Lettering · NunhardU✓ 28m1.000.8510.851——————28m513.4M / 55k$0.072
L✗ 35m 49% prev0.490.4900.490——————35m654.7M / 74k$0.099
Lettering · OmniumhardU✓ 24m1.000.8590.859——————24m321.9M / 46k$0.050
L✗ 1h 30m 80% prev0.800.8020.802——————1h 30m10414.0M / 175k$0.257
Lettering · UnpinhardU✓ 41m1.000.9180.918——————41m837.8M / 82k$0.136
L✗ 43m 80% prev0.800.8040.804——————43m392.5M / 71k$0.072
Xingshu · ChunhardU✓ 1h 03m1.000.8240.824——————1h 03m17424.9M / 132k$0.343
L✗ 19m 57% prev0.570.5670.567——————19m472.5M / 58k$0.066
Xingshu · FenghardU✓ 1h 32m1.000.8510.851——————1h 32m17726.8M / 153k$0.400
L✗ 32m 66% prev0.660.6610.661——————32m573.9M / 72k$0.089
Xingshu · HehardU✗ 1h 15m 73%0.730.7340.734——————1h 15m19025.1M / 121k$0.339
L✗ 42m 61% prev0.610.6090.609——————42m939.1M / 108k$0.165
Xingshu · JianhardU✗ 2h 00m 84%0.840.8420.842——————2h 00m28631.5M / 217k$0.493
L✗ 31m 57% prev0.570.5690.569——————31m443.2M / 82k$0.087
Xingshu · NianhardU✓ 1h 22m1.000.8640.864——————1h 22m21032.7M / 143k$0.430
L✗ 1h 15m 61% prev0.610.6130.613——————1h 15m10310.7M / 131k$0.196
Xingshu · RenhardU✓ 21m1.000.9150.915——————21m20859k / 28k$0.028
L✗ 23m 74% prev0.740.7420.742——————23m513.2M / 65k$0.078
Xingshu · ShanhardU✓ 1h 10m1.000.8730.873——————1h 10m19227.0M / 140k$0.369
L✗ 26m 66% prev0.660.6570.657——————26m563.7M / 73k$0.087
Xingshu · TonghardU✓ 1h 59m1.000.8760.876——————1h 59m24431.1M / 215k$0.485
L✗ 52m 46% prev0.460.4580.573——————52m968.0M / 105k$0.151
Xingshu · XianhardU✗ 2h 00m 80%0.800.8040.804——————2h 00m848.6M / 106k$0.158
L✗ 49m 67% prev0.670.6660.666——————49m676.5M / 109k$0.164
Xingshu · XinhardU✗ 1h 52m 74%0.740.7390.739——————1h 52m17320.9M / 110k$0.289
L✗ 27m 42% prev0.420.4240.424——————27m371.8M / 47k$0.051
Xingshu · YonghardU✗ 2h 00m 0% prev0.000.000———————2h 00m14418.3M / 179k$0.328
L✗ 1h 01m 45% prev0.450.4490.449——————1h 01m626.2M / 109k$0.136
Xingshu · YuhardU✗ 2h 00m 72%0.720.7240.724——————2h 00m26634.6M / 174k$0.498
L✗ 59m 52% prev0.520.5200.520——————59m847.8M / 113k$0.155
Xingshu · ZhihardU✓ 1h 52m prev1.000.8270.827——————1h 52m9113.5M / 165k$0.243
L✗ 27m 50% prev0.500.4970.497——————27m452.8M / 65k$0.073
Kaishu · HoudezaiwuextremeU✓ 56m1.000.8230.823——————56m10811.8M / 94k$0.185
L✗ 40m 50% prev0.500.5010.501——————40m645.2M / 90k$0.114
Kaishu · NingjingzhiyuanextremeU✓ 47m1.000.8090.809——————47m685.3M / 63k$0.097
L✗ 46m 45% prev0.450.4480.448——————46m645.1M / 88k$0.111
Kaishu · TiandaochouqinextremeU✗ 1h 05m 76%0.760.7550.755——————1h 05m17124.9M / 125k$0.339
L✗ 24m 58% prev0.580.5800.580——————24m512.9M / 57k$0.071
Kaishu · YongzibafaextremeU✗ 2h 00m 79%0.790.7950.795——————2h 00m30940.1M / 212k$0.583
L✗ 54m 50% prev0.500.5020.502——————54m878.9M / 111k$0.165
Lettering · MinimumextremeU✓ 14m1.000.7490.749——————14m341.5M / 24k$0.033
L✓ 37m prev1.000.7690.769——————37m908.2M / 109k$0.156
Oil · BathersextremeU✓ 28m1.000.673———————28m281.7M / 48k$0.050
L✗ 27m 0% prev0.000.000———————27m533.9M / 64k$0.085
Oil · CafeterraceextremeU✗ 2h 00m 44%0.440.443———————2h 00m27441.6M / 166k$0.570
L✗ 1h 41m 44% prev0.440.445———————1h 41m979.5M / 120k$0.175
Oil · CypressesextremeU✓ 1h 09m1.000.558———————1h 09m10511.4M / 84k$0.175
L✗ 41m 43% prev0.430.430———————41m847.6M / 92k$0.139
Oil · IrisesextremeU✗ 1h 30m 34%0.340.341———————1h 30m13218.0M / 152k$0.282
L✗ 1h 08m 37% prev0.370.375———————1h 08m736.5M / 90k$0.128
Oil · MilkmaidextremeU✗ 2h 00m 68%0.680.680———————2h 00m19122.6M / 158k$0.362
L✗ 42m 28% prev0.280.277———————42m665.0M / 78k$0.104
Oil · MonalisaextremeU✗ 2h 00m 65%0.650.648———————2h 00m19729.2M / 154k$0.431
L✗ 43m 52% prev0.520.518———————43m675.7M / 83k$0.115
Oil · PearlearringextremeU✗ 1h 53m 62%0.620.621———————1h 53m17524.1M / 125k$0.331
L✗ 1h 12m 1% prev0.010.010———————1h 12m766.7M / 113k$0.143
Oil · SaintevictoireextremeU✗ 2h 00m 60%0.600.601———————2h 00m18426.2M / 191k$0.413
L✗ 48m 34% prev0.340.343———————48m877.9M / 84k$0.151
Oil · StarrynightextremeU✓ 40m1.000.600———————40m402.6M / 64k$0.068
L✗ 48m 42% prev0.420.415———————48m675.1M / 77k$0.104
Oil · TemeraireextremeU✗ 1h 30m 77%0.770.768———————1h 30m10412.4M / 121k$0.205
L✗ 58m 55% prev0.550.549———————58m654.4M / 78k$0.098
Oil · WandererextremeU✓ 49m1.000.817———————49m696.3M / 74k$0.117
L✗ 53m 10% prev0.100.103———————53m777.5M / 104k$0.147
Xingshu · HuifenghechangextremeU✗ 2h 00m 77%0.770.7680.768——————2h 00m17119.4M / 193k$0.351
L✗ 53m 57% prev0.570.5750.575——————53m695.6M / 104k$0.126
Xingshu · MaolinxiuzhuextremeU✗ 2h 00m 78%0.780.7810.781——————2h 00m24833.9M / 203k$0.505
L✗ 52m 62% prev0.620.6220.622——————52m1019.7M / 102k$0.168
Xingshu · TianlangqiqingextremeU✓ 1h 17m1.000.8040.804——————1h 17m16219.3M / 112k$0.274
L✗ 1h 08m 47% prev0.470.4660.466——————1h 08m989.8M / 116k$0.178
excluded Excluded from the benchmark · 9 tasks, kept for the record; the benchmark's numbers leave them out
Line · ButterflyeasyU✓ 12m1.001.0000.9291.0001.0001.0000.570.000.99412m251.0M / 23k$0.027
L✓ 22m1.001.0000.8001.0001.0001.0000.690.000.97322m382.0M / 45k$0.051
Line · CityeasyU✓ 18m1.001.0000.9521.0001.0001.0000.510.000.99018m401.9M / 38k$0.046
L✓ 17m1.000.9990.8460.9990.9990.9970.650.000.97117m371.8M / 39k$0.046
Line · CottageeasyU✓ 19m1.000.9980.9451.0000.9970.9830.730.010.99119m341.5M / 32k$0.039
L✓ 21m1.000.9980.9321.0000.9950.9820.710.010.99021m432.4M / 47k$0.057
Line · FisheasyU✓ 9m1.000.9920.8590.9860.9970.9970.710.020.9909m20853k / 20k$0.025
L✓ 12m1.001.0000.9101.0001.0001.0000.660.000.99612m20720k / 29k$0.027
Line · FlowereasyU✓ 7m1.001.0000.8071.0001.0001.0000.590.000.9857m18656k / 17k$0.020
L✓ 16m1.001.0000.6801.0001.0001.0000.480.000.96816m25924k / 29k$0.031
Line · LandscapeeasyU✓ 9m1.000.9970.8891.0000.9940.9860.660.020.9879m22771k / 14k$0.020
L✓ 12m1.000.9970.8771.0000.9940.9860.660.020.98512m331.4M / 29k$0.036
Line · RainboweasyU✓ 13m1.000.9640.8620.9310.9990.9942.920.000.97413m24881k / 21k$0.024
L✓ 9m1.001.0000.9281.0001.0001.0000.580.000.9949m19612k / 24k$0.022
Line · RocketeasyU✓ 12m1.000.9940.8800.9990.9880.9660.700.030.99012m20589k / 18k$0.019
L✓ 15m1.000.9970.7690.9990.9950.9910.620.020.97715m25819k / 29k$0.028
Line · SailboateasyU✓ 7m1.000.9990.8741.0000.9970.9830.670.010.9927m15437k / 15k$0.016
L✓ 11m1.000.9980.9321.0000.9960.9790.710.010.99511m281.0M / 24k$0.028