Stage alignment
Each stage-level environment uses the matching physical success predicate from the long task.
Household · 3 stages
Drawer & Plug
Open the middle drawer, retrieve a charger, place it on the table, and align both prongs into a socket.
Stage 01 / 03Long environment
DrawerPlug-v1EmbodimentBimanual Sharpa
Observation171 state dims
Action58 targets
Horizon3400 steps
Stage definitions
Exact slices of the parent sequence.
Canonical instructions, handedness, action width, horizon, and success conditions are drawn from the current task registry and success-contract documentation.
| # | Stage / environment | Hand | Action | Max steps | Success summary |
|---|---|---|---|---|---|
| 01 | Open drawerDrawerPlugOpen-v1 | Left | 29 | 600 | Move the middle drawer by more than 0.18 m and maintain the condition for five steps. |
| 02 | Place chargerDrawerPlugPickPlace-v1 | Right | 29 | 900 | Remove the charger from the drawer and place it stably near the designated table region. |
| 03 | Insert plugDrawerPlugInsert-v1 | Right | 29 | 900 | Insert both prongs 18–31 mm with under 9 mm lateral offset and aligned plug orientation. |
Paper results
Drawer & Plug in the benchmark.
Stage success in the training scene (%, 50 episodes). Best scores in each row are highlighted.
| Stage | PPO | RLPD | ACT | Diffusion Policy | GR00T | π0.5 |
|---|---|---|---|---|---|---|
| OpenDrawer | 98.0 | 100.0 | 98.0 | 98.0 | 98.0 | 98.0 |
| PickCharger | 0.0 | 62.0 | 92.0 | 0.0 | 78.0 | 78.0 |
| InsertPlug | 0.0 | 0.0 | 16.0 | 12.0 | 6.0 | 12.0 |
Cross-scene results · mean ± scene standard deviation
| Stage | PPO | RLPD | ACT | Diffusion Policy | GR00T | π0.5 |
|---|---|---|---|---|---|---|
| OpenDrawer | 97.3 ± 4.6 | 95.3 ± 4.2 | 82.7 ± 10.1 | 4.0 ± 5.3 | 90.0 ± 10.6 | 100.0 ± 0.0 |
| PickCharger | 0.0 ± 0.0 | 5.3 ± 9.2 | 88.0 ± 5.3 | 0.0 ± 0.0 | 64.7 ± 19.6 | 88.0 ± 0.0 |
| InsertPlug | 0.0 ± 0.0 | 0.0 ± 0.0 | 0.7 ± 1.2 | 0.0 ± 0.0 | 2.0 ± 3.5 | 1.3 ± 1.2 |
Complete sequence · end-to-end success (%)
| Task | PPO | RLPD | ACT | Diffusion Policy | GR00T | π0.5 |
|---|---|---|---|---|---|---|
| Drawer and plug | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 | 0.0 |
Source: manuscript experiment tables. Compare all methods and tasks →
Shared contractSame workstation.
Same workstation.
Same predicates.
Persistence
Hold counters or latches prevent unstable contact from being counted as task completion.
Replay
State and action traces can be restored and replayed for validation and offline rendering.