DexArenaDexterous intelligence
Tasks/Juice Preparation
Household · 5 stages

Juice Preparation

Open a refrigerator, move an apple into a blender, close the door, place the lid, and press the power button.

Open / closeGrasp / placeLid seatingPress
Juice PreparationStage 01 / 05
Long environmentDualSharpaPrepareJuice-v1
EmbodimentBimanual Sharpa
Observation139 state dims
Action58 targets
Horizon1800 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 / environmentHandActionMax stepsSuccess summary
01Open refrigeratorSharpaOpenFridge-v1Left29650Open the door to at least 75° at low angular speed and hold for six steps.
02Move appleSharpaTakeAppleToBlender-v1Right29700Lift the apple out of the refrigerator and settle it inside the blender for 12 steps.
03Close refrigeratorSharpaCloseFridge-v1Left29650Close the door to within 1° at low angular speed and hold for six steps.
04Place blender lidSharpaMobilePlaceBlenderLid-v1Right29400Lift and seat the lid within 5 mm xy, 8 mm z and 15° tilt for 15 steps.
05Press buttonSharpaMobilePressBlenderButton-v1Right29400Depress the 2 mm power button by at least 80% for four steps.
Paper results

Juice Preparation in the benchmark.

Stage success in the training scene (%, 50 episodes). Best scores in each row are highlighted.

Stage benchmark: success rates in percent
StagePPORLPDACTDiffusion PolicyGR00Tπ0.5
OpenFridge90.098.0100.088.094.096.0
AppleToBlender0.00.092.042.054.038.0
CloseFridge100.0100.0100.0100.098.0100.0
PlaceLid0.078.026.026.042.016.0
PressButton26.0100.066.072.064.068.0
Cross-scene results · mean ± scene standard deviation
Cross-scene: success rates in percent
StagePPORLPDACTDiffusion PolicyGR00Tπ0.5
OpenFridge65.3 ± 22.078.7 ± 35.292.7 ± 9.568.0 ± 33.370.0 ± 45.196.0 ± 3.5
AppleToBlender0.7 ± 1.20.0 ± 0.071.3 ± 14.27.3 ± 12.718.0 ± 2.038.7 ± 4.2
CloseFridge100.0 ± 0.0100.0 ± 0.099.3 ± 1.266.0 ± 47.392.0 ± 8.7100.0 ± 0.0
PlaceLid0.0 ± 0.00.0 ± 0.018.0 ± 11.11.3 ± 2.328.7 ± 12.916.0 ± 2.0
PressButton18.0 ± 5.318.7 ± 32.354.0 ± 19.352.7 ± 40.642.7 ± 10.162.0 ± 7.2
Complete sequence · end-to-end success (%)
Long-horizon: success rates in percent
TaskPPORLPDACTDiffusion PolicyGR00Tπ0.5
Juice preparation0.00.00.00.00.00.0

Source: manuscript experiment tables. Compare all methods and tasks →

Shared contract

Same workstation.
Same predicates.

01

Stage alignment

Each stage-level environment uses the matching physical success predicate from the long task.

02

Persistence

Hold counters or latches prevent unstable contact from being counted as task completion.

03

Replay

State and action traces can be restored and replayed for validation and offline rendering.