Simulation benchmark
Task catalog
10 long-horizon tasks and 30 stage-level environments, all verified against the current SoftHandGrasping codebase.
10sequences30stages
01
Household · 3 stagesMeal PreparationOpen a lunch box, place bread on a plate, then use a spoon to scoop and transfer a tomato.Explore task ↗
02
Household · 4 stagesCabinet & PouringOpen a cabinet, retrieve and place a bottle, unscrew and place its cap, then pour the contents into a bowl.Explore task ↗
03
Household · 3 stagesDrawer & PlugOpen the middle drawer, retrieve a charger, place it on the table, and align both prongs into a socket.Explore task ↗
04
Industrial · 3 stagesNut & BoltStand a bolt upright, seat a nut on its axis, then rotate the nut counterclockwise through a full half turn.Explore task ↗
05
Office · 3 stagesOffice DeskOpen a laptop, type PAIR followed by Enter, and complete the sequence with a left mouse click.Explore task ↗
06
Industrial · 3 stagesFurniture AssemblyLay a panel flat, slide a rail into its groove, and fasten it by turning a wing screw by hand.Explore task ↗
07
Laboratory · 2 stagesPipette TransferAspirate from a sample cup, return the pipette, then dispense into a target well and return it again.Explore task ↗
08
Household · 5 stagesJuice PreparationOpen a refrigerator, move an apple into a blender, close the door, place the lid, and press the power button.Explore task ↗
09
Household · 2 stagesPackage OpeningOpen both package flaps with two hands, then extract the apple and place it stably on the plate.Explore task ↗
10
Household · 2 stagesTable CleaningPick three debris blocks into a dustpan, then tip all three into a trash bin.Explore task ↗