DexArenaDexterous intelligence
Tasks/Pipette Transfer
Laboratory · 2 stages

Pipette Transfer

Aspirate from a sample cup, return the pipette, then dispense into a target well and return it again.

Tool graspingAspiratePrecision dispense
Pipette TransferStage 01 / 02
Long environmentDualSharpaPipetteTransfer-v1
EmbodimentBimanual Sharpa
Observation148 state dims
Action58 targets
Horizon1600 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
01Aspirate liquidSharpaAngledMobilePipetteAspirate-v1Right29800Prime the plunger, dip the tip, release the plunger, then return and release the pipette.
02Dispense liquidSharpaAngledMobilePipetteDispense-v1Left291100Insert the tip within 12 mm of the tube axis, depress the plunger, then return and release the pipette.
Paper results

Pipette Transfer 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
AspirateLiquid0.00.040.02.08.026.0
DispenseLiquid0.00.00.02.08.00.0
Cross-scene results · mean ± scene standard deviation
Cross-scene: success rates in percent
StagePPORLPDACTDiffusion PolicyGR00Tπ0.5
AspirateLiquid0.0 ± 0.00.0 ± 0.08.7 ± 8.11.3 ± 1.22.0 ± 2.034.0 ± 6.9
DispenseLiquid0.0 ± 0.00.0 ± 0.00.0 ± 0.00.0 ± 0.02.0 ± 2.04.0 ± 0.0
Complete sequence · end-to-end success (%)
Long-horizon: success rates in percent
TaskPPORLPDACTDiffusion PolicyGR00Tπ0.5
Pipette transfer0.00.00.00.00.00.0

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.