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efe-failure-analysis

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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
schema: string
taxonomy: string
runId: string
taskKey: string
dag_sha256: string
outcome: struct<success: int64, reward: double, source: string, raw: struct<success: int64, all_success: int6 (... 902 chars omitted)
  child 0, success: int64
  child 1, reward: double
  child 2, source: string
  child 3, raw: struct<success: int64, all_success: int64, deterministic: int64, state_identical: int64, determinism (... 841 chars omitted)
      child 0, success: int64
      child 1, all_success: int64
      child 2, deterministic: int64
      child 3, state_identical: int64
      child 4, determinism_checked: int64
      child 5, instance_ok: int64
      child 6, n_actions: int64
      child 7, replays: int64
      child 8, sim_steps: int64
      child 9, sim_time_s: double
      child 10, timed_out: int64
      child 11, replay_wall_s: double
      child 12, replay_timeout_s: double
      child 13, grader_error: int64
      child 14, infra_error: int64
      child 15, replay_retries: int64
      child 16, replay_gpu_fault: int64
      child 17, agent_sessions: int64
      child 18, agent_resets: int64
      child 19, agent_sim_steps: int64
      child 20, agent_records: int64
      child 21, agent_replays: int64
      child 22, agent_cost_self_reported: int64
      child 23, video_rendered: int64
      child 24, video_episode_success: int64
      child 25, resource_enforced: int64
      child 26, limits_violation_observed: int64
      child 27, resource_monitor_missing: int64
      c
...
         child 10, contact: list<item: struct<who: string, how: string, note_zh: string, plan: int64>>
              child 0, item: struct<who: string, how: string, note_zh: string, plan: int64>
                  child 0, who: string
                  child 1, how: string
                  child 2, note_zh: string
                  child 3, plan: int64
          child 11, optional: bool
          child 12, verify_zh: null
          child 13, sources: list<item: string>
              child 0, item: string
          child 14, conf: int64
          child 15, note_zh: string
  child 6, constraints: list<item: null>
      child 0, item: null
  child 7, success: null
  child 8, atoms: list<item: struct<atom: string, level: string, source: string>>
      child 0, item: struct<atom: string, level: string, source: string>
          child 0, atom: string
          child 1, level: string
          child 2, source: string
suite: string
embodiment_zh: string
open_questions_zh: list<item: string>
  child 0, item: string
task_class: string
analysis_level: string
base: string
evidence_check: struct<n_state_runs: int64, n_faithful: int64, success_runs_reaching_all: string, spec_success_eq_gr (... 76 chars omitted)
  child 0, n_state_runs: int64
  child 1, n_faithful: int64
  child 2, success_runs_reaching_all: string
  child 3, spec_success_eq_grader: string
  child 4, diverged_runs: list<item: null>
      child 0, item: null
  child 5, notes_zh: list<item: string>
      child 0, item: string
to
{'schema': Value('string'), 'taxonomy': Value('string'), 'taskKey': Value('string'), 'suite': Value('string'), 'base': Value('string'), 'title_zh': Value('string'), 'summary_zh': Value('string'), 'embodiment_zh': Value('string'), 'task_class': Value('string'), 'analysis_level': Value('string'), 'spec': {'version': Value('string'), 'task': Value('string'), 'bench': Value('string'), 'progress': Value('string'), 'entities': {}, 'milestones': List({'id': Value('string'), 'zh': Value('string'), 'mode': Value('string'), 'when': Value('null'), 'after': List(Value('string')), 'hold_s': Value('int64'), 'freeze_held': Value('bool'), 'goal': Value('bool'), 'criterion_zh': Value('string'), 'step': {'cat': Value('string'), 'item': Value('string')}, 'contact': List({'who': Value('string'), 'how': Value('string'), 'note_zh': Value('string'), 'plan': Value('int64')}), 'optional': Value('bool'), 'verify_zh': Value('null'), 'sources': List(Value('string')), 'conf': Value('int64'), 'note_zh': Value('string')}), 'constraints': List(Value('null')), 'success': Value('null'), 'atoms': List({'atom': Value('string'), 'level': Value('string'), 'source': Value('string')})}, 'native_metrics': List({'name': Value('string'), 'unit': Value('string'), 'threshold': Value('float64'), 'direction': Value('string'), 'note_zh': Value('string')}), 'open_questions_zh': List(Value('string')), 'conf': Value('int64'), 'conf_reason_zh': Value('string'), 'review': {'status': Value('string'), 'rounds': Value('int64'), 'reviewers': List({'engine': Value('string'), 'model': Value('string'), 'round': Value('int64'), 'verdict': Value('string'), 'conf': Value('int64'), 'summary_zh': Value('string'), 'n_issues': Value('int64'), 'n_major': Value('int64')}), 'open_zh': List(Value('null'))}, 'evidence_check': {'n_state_runs': Value('int64'), 'n_faithful': Value('int64'), 'success_runs_reaching_all': Value('string'), 'spec_success_eq_grader': Value('string'), 'diverged_runs': List(Value('null')), 'notes_zh': List(Value('string'))}, 'provenance': {'prompt': Value('string'), 'prompt_sha256': Value('string'), 'engine': Value('string'), 'model': Value('string'), 'effort': Value('string'), 'created': Value('timestamp[s]'), 'review_prompt': Value('string'), 'review_prompt_sha256': Value('string'), 'reconcile_prompt': Value('string'), 'reconcile_prompt_sha256': Value('string'), 'calls': List({'stage': Value('string'), 'round': Value('int64'), 'ok': Value('bool'), 'space': Value('string')}), 'review_engine': Value('string'), 'review_model': Value('string'), 'inputs_manifest_sha256': Value('string'), 'repo_commit': Value('string')}}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              schema: string
              taxonomy: string
              runId: string
              taskKey: string
              dag_sha256: string
              outcome: struct<success: int64, reward: double, source: string, raw: struct<success: int64, all_success: int6 (... 902 chars omitted)
                child 0, success: int64
                child 1, reward: double
                child 2, source: string
                child 3, raw: struct<success: int64, all_success: int64, deterministic: int64, state_identical: int64, determinism (... 841 chars omitted)
                    child 0, success: int64
                    child 1, all_success: int64
                    child 2, deterministic: int64
                    child 3, state_identical: int64
                    child 4, determinism_checked: int64
                    child 5, instance_ok: int64
                    child 6, n_actions: int64
                    child 7, replays: int64
                    child 8, sim_steps: int64
                    child 9, sim_time_s: double
                    child 10, timed_out: int64
                    child 11, replay_wall_s: double
                    child 12, replay_timeout_s: double
                    child 13, grader_error: int64
                    child 14, infra_error: int64
                    child 15, replay_retries: int64
                    child 16, replay_gpu_fault: int64
                    child 17, agent_sessions: int64
                    child 18, agent_resets: int64
                    child 19, agent_sim_steps: int64
                    child 20, agent_records: int64
                    child 21, agent_replays: int64
                    child 22, agent_cost_self_reported: int64
                    child 23, video_rendered: int64
                    child 24, video_episode_success: int64
                    child 25, resource_enforced: int64
                    child 26, limits_violation_observed: int64
                    child 27, resource_monitor_missing: int64
                    c
              ...
                       child 10, contact: list<item: struct<who: string, how: string, note_zh: string, plan: int64>>
                            child 0, item: struct<who: string, how: string, note_zh: string, plan: int64>
                                child 0, who: string
                                child 1, how: string
                                child 2, note_zh: string
                                child 3, plan: int64
                        child 11, optional: bool
                        child 12, verify_zh: null
                        child 13, sources: list<item: string>
                            child 0, item: string
                        child 14, conf: int64
                        child 15, note_zh: string
                child 6, constraints: list<item: null>
                    child 0, item: null
                child 7, success: null
                child 8, atoms: list<item: struct<atom: string, level: string, source: string>>
                    child 0, item: struct<atom: string, level: string, source: string>
                        child 0, atom: string
                        child 1, level: string
                        child 2, source: string
              suite: string
              embodiment_zh: string
              open_questions_zh: list<item: string>
                child 0, item: string
              task_class: string
              analysis_level: string
              base: string
              evidence_check: struct<n_state_runs: int64, n_faithful: int64, success_runs_reaching_all: string, spec_success_eq_gr (... 76 chars omitted)
                child 0, n_state_runs: int64
                child 1, n_faithful: int64
                child 2, success_runs_reaching_all: string
                child 3, spec_success_eq_grader: string
                child 4, diverged_runs: list<item: null>
                    child 0, item: null
                child 5, notes_zh: list<item: string>
                    child 0, item: string
              to
              {'schema': Value('string'), 'taxonomy': Value('string'), 'taskKey': Value('string'), 'suite': Value('string'), 'base': Value('string'), 'title_zh': Value('string'), 'summary_zh': Value('string'), 'embodiment_zh': Value('string'), 'task_class': Value('string'), 'analysis_level': Value('string'), 'spec': {'version': Value('string'), 'task': Value('string'), 'bench': Value('string'), 'progress': Value('string'), 'entities': {}, 'milestones': List({'id': Value('string'), 'zh': Value('string'), 'mode': Value('string'), 'when': Value('null'), 'after': List(Value('string')), 'hold_s': Value('int64'), 'freeze_held': Value('bool'), 'goal': Value('bool'), 'criterion_zh': Value('string'), 'step': {'cat': Value('string'), 'item': Value('string')}, 'contact': List({'who': Value('string'), 'how': Value('string'), 'note_zh': Value('string'), 'plan': Value('int64')}), 'optional': Value('bool'), 'verify_zh': Value('null'), 'sources': List(Value('string')), 'conf': Value('int64'), 'note_zh': Value('string')}), 'constraints': List(Value('null')), 'success': Value('null'), 'atoms': List({'atom': Value('string'), 'level': Value('string'), 'source': Value('string')})}, 'native_metrics': List({'name': Value('string'), 'unit': Value('string'), 'threshold': Value('float64'), 'direction': Value('string'), 'note_zh': Value('string')}), 'open_questions_zh': List(Value('string')), 'conf': Value('int64'), 'conf_reason_zh': Value('string'), 'review': {'status': Value('string'), 'rounds': Value('int64'), 'reviewers': List({'engine': Value('string'), 'model': Value('string'), 'round': Value('int64'), 'verdict': Value('string'), 'conf': Value('int64'), 'summary_zh': Value('string'), 'n_issues': Value('int64'), 'n_major': Value('int64')}), 'open_zh': List(Value('null'))}, 'evidence_check': {'n_state_runs': Value('int64'), 'n_faithful': Value('int64'), 'success_runs_reaching_all': Value('string'), 'spec_success_eq_grader': Value('string'), 'diverged_runs': List(Value('null')), 'notes_zh': List(Value('string'))}, 'provenance': {'prompt': Value('string'), 'prompt_sha256': Value('string'), 'engine': Value('string'), 'model': Value('string'), 'effort': Value('string'), 'created': Value('timestamp[s]'), 'review_prompt': Value('string'), 'review_prompt_sha256': Value('string'), 'reconcile_prompt': Value('string'), 'reconcile_prompt_sha256': Value('string'), 'calls': List({'stage': Value('string'), 'round': Value('int64'), 'ok': Value('bool'), 'space': Value('string')}), 'review_engine': Value('string'), 'review_model': Value('string'), 'inputs_manifest_sha256': Value('string'), 'repo_commit': Value('string')}}
              because column names don't match

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EFE failure analysis labels

Failure-analysis labels for runs of the Embodied First Exam (EFE) benchmark. Per task: a task DAG (semantic steps, step types, contact, prerequisite edges). Per run (trajectory): when each step holds on the run's video (progress map), the contact that actually happened, and for a failed run the breakpoint step, the failure phenomena and the root causes. Label text is in Chinese.

The labels come in two phases: phase 1 (folder phase1/, prompts v3.1, sections below) and phase 2 (folder phase2/, prompts v3.2, section Phase 2 at the end). For a task in both folders, use phase 2: the importer reads only the highest phaseN/ folder of a task (its DAG with its own trajectories).

  • Prompts: v3.1 (frozen labelling prompts, taxonomy v2; schemas efe-task-dag/1 and efe-trajectory-labels/1).
  • Writer: Codex gpt-6.1-sol (effort high for task DAGs and trajectories). Reviewer: Claude claude-sonnet-5-5; up to two fix rounds plus a confirm round; files still disputed after that carry review.status: "disputed".
  • Task repository: embodied-first-exam commit 4c6d01b9990e3b78ddb620bbd237932b3696f60e.
  • Phase 1: two runs per task (one success when there is one, plus a failure of another model; runs with a video first). Run records and videos: dataset MLL-Lab/embodied-exam-media, runs/<runId>.
  • Phase 1 complete: every task of the run passed validation and is listed below. Status: 331 tasks (3 pilot, 328 full run), 662 trajectories.

Layout

  • phase1/<suite>/<task>/task_dag.json: the task DAG; phase1/<suite>/<task>/trajectories/<runId>.json: one label file per run. In these copies the provenance work-directory paths (calls[].space) are relative and dag_sha256 is the sha256 of task_dag.json as published here.
  • Pilot tasks (marked pilot below) were labelled with the same prompts, models and efforts in a 3-task pilot before the full run. pilot_xhigh_dags/ holds the same 3 task DAGs written at effort xhigh, for comparison only (no trajectories were labelled against them).

Tasks

folder trajectories source
phase1/ambench/cabinet_pick_place/ 2 full run
phase1/behavior-1k/assembling_gift_baskets/ 2 full run
phase1/behavior-1k/boxing_books_up_for_storage/ 2 full run
phase1/behavior-1k/boxing_food_after_dinner/ 2 full run
phase1/behavior-1k/bringing_in_wood/ 2 full run
phase1/behavior-1k/bringing_water/ 2 full run
phase1/behavior-1k/can_meat/ 2 full run
phase1/behavior-1k/canning_food/ 2 full run
phase1/behavior-1k/carrying_in_groceries/ 2 full run
phase1/behavior-1k/chopping_wood/ 2 full run
phase1/behavior-1k/clean_a_patio/ 2 full run
phase1/behavior-1k/clean_a_trumpet/ 2 full run
phase1/behavior-1k/clean_up_your_desk/ 2 full run
phase1/behavior-1k/clean_your_rusty_garden_tools/ 2 full run
phase1/behavior-1k/cleaning_up_branches_and_twigs/ 2 full run
phase1/behavior-1k/cleaning_up_plates_and_food/ 2 full run
phase1/behavior-1k/clearing_food_from_table_into_fridge/ 2 full run
phase1/behavior-1k/collecting_aluminum_cans/ 2 full run
phase1/behavior-1k/collecting_childrens_toys/ 2 full run
phase1/behavior-1k/cook_a_brisket/ 2 full run
phase1/behavior-1k/cook_a_frozen_pie/ 2 full run
phase1/behavior-1k/cook_bacon/ 2 pilot
phase1/behavior-1k/cook_broccolini/ 2 full run
phase1/behavior-1k/cook_brussels_sprouts/ 2 full run
phase1/behavior-1k/cook_cabbage/ 2 full run
phase1/behavior-1k/cook_hot_dogs/ 2 full run
phase1/behavior-1k/dispose_of_batteries/ 2 full run
phase1/behavior-1k/freeze_fruit/ 2 full run
phase1/behavior-1k/freeze_pies/ 2 full run
phase1/behavior-1k/laying_tile_floors/ 2 full run
phase1/behavior-1k/loading_the_car/ 2 full run
phase1/behavior-1k/make_gift_bags_for_baby_showers/ 2 full run
phase1/behavior-1k/make_pizza/ 2 full run
phase1/behavior-1k/make_rose_centerpieces/ 2 full run
phase1/behavior-1k/organizing_art_supplies/ 2 full run
phase1/behavior-1k/organizing_school_stuff/ 2 full run
phase1/behavior-1k/outfit_a_basic_toolbox/ 2 full run
phase1/behavior-1k/packing_meal_for_delivery/ 2 full run
phase1/behavior-1k/preparing_lunch_box/ 2 full run
phase1/behavior-1k/put_together_a_basic_pruning_kit/ 2 full run
phase1/behavior-1k/putting_away_toys/ 2 full run
phase1/behavior-1k/putting_dirty_dishes_in_sink/ 2 full run
phase1/behavior-1k/putting_dishes_away_after_cleaning/ 2 full run
phase1/behavior-1k/putting_up_Christmas_decorations_inside/ 2 full run
phase1/behavior-1k/re_shelving_library_books/ 2 full run
phase1/behavior-1k/rearrange_your_room/ 2 full run
phase1/behavior-1k/rearranging_kitchen_furniture/ 2 full run
phase1/behavior-1k/setting_the_fire/ 2 full run
phase1/behavior-1k/setting_the_table/ 2 full run
phase1/behavior-1k/setup_a_bar_for_a_cocktail_party/ 2 full run
phase1/behavior-1k/slicing_vegetables/ 2 full run
phase1/behavior-1k/sorting_books_on_shelf/ 2 full run
phase1/behavior-1k/sorting_bottles_cans_and_paper/ 2 full run
phase1/behavior-1k/sorting_household_items/ 2 full run
phase1/behavior-1k/sorting_vegetables/ 2 full run
phase1/behavior-1k/storing_food/ 2 full run
phase1/behavior-1k/sweeping_garage/ 2 full run
phase1/behavior-1k/tidying_living_room/ 2 full run
phase1/behavior-1k/unloading_the_car/ 2 full run
phase1/behavior-1k/vacuuming_floors/ 2 full run
phase1/behavior-1k/wash_a_baseball_cap/ 2 full run
phase1/behavior-1k/wash_dog_toys/ 2 full run
phase1/bigym2/dishwasher_close/ 2 full run
phase1/bigym2/dishwasher_load_plates/ 2 full run
phase1/bigym2/flip_cutlery/ 2 full run
phase1/bigym2/move_two_plates/ 2 full run
phase1/bigym2/pick_box/ 2 full run
phase1/bigym2/put_cups/ 2 full run
phase1/bigym2/sandwich_remove/ 2 full run
phase1/bigym2/saucepan_to_hob/ 2 full run
phase1/bigym2/wall_cupboard_open/ 2 full run
phase1/dexhand/assemble_hamburger/ 2 full run
phase1/dexhand/batter_whisk/ 2 full run
phase1/dexhand/bicycle_pump_stroke/ 2 full run
phase1/dexhand/binder_page_load/ 2 full run
phase1/dexhand/boot_sole_brush/ 2 full run
phase1/dexhand/drying_rack_unfold/ 2 full run
phase1/dexhand/envelope_letter_insert/ 2 full run
phase1/dexhand/essential_pen_regrasp/ 2 full run
phase1/dexhand/essential_rotary_gait/ 2 full run
phase1/dexhand/fan_guard_install/ 2 full run
phase1/dexhand/picture_hang/ 2 full run
phase1/dexhand/stool_brace_insert/ 2 full run
phase1/dexhand/sweep_dustpan/ 2 full run
phase1/dexhand/usb_plug_insert/ 2 full run
phase1/dexhand/vacuum_bin_reseat/ 2 full run
phase1/dexjoco/bimanual_photograph/ 2 full run
phase1/dextoolbench/brush_blue_brush_sweep_forward/ 2 full run
phase1/dextoolbench/brush_red_brush_sweep_forward/ 2 full run
phase1/dextoolbench/brush_red_brush_sweep_right/ 2 full run
phase1/dextoolbench/eraser_handle_eraser_wipe_c/ 2 full run
phase1/dextoolbench/hammer_claw_hammer_swing_down/ 2 full run
phase1/dextoolbench/hammer_claw_hammer_swing_side/ 2 full run
phase1/dextoolbench/hammer_mallet_hammer_swing_side/ 2 full run
phase1/dextoolbench/marker_sharpie_marker_draw_smile/ 2 full run
phase1/dextoolbench/marker_sharpie_marker_write_c/ 2 full run
phase1/dextoolbench/marker_staples_marker_draw_smile/ 2 full run
phase1/dextoolbench/marker_staples_marker_write_c/ 2 full run
phase1/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/ 2 full run
phase1/dextoolbench/screwdriver_long_screwdriver_spin_vertical/ 2 full run
phase1/dextoolbench/screwdriver_short_screwdriver_spin_vertical/ 2 full run
phase1/dextoolbench/spatula_flat_spatula_flip_over/ 2 full run
phase1/dextoolbench/spatula_flat_spatula_serve_plate/ 2 full run
phase1/dextoolbench/spatula_spoon_spatula_flip_over/ 2 full run
phase1/dextoolbench/spatula_spoon_spatula_serve_plate/ 2 full run
phase1/embodied-olympics-fun/badminton_serve/ 2 full run
phase1/embodied-olympics-fun/balance_board/ 2 full run
phase1/embodied-olympics-fun/box_jump/ 2 full run
phase1/embodied-olympics-fun/clean_and_jerk/ 2 full run
phase1/embodied-olympics-fun/dunk_between_legs/ 2 full run
phase1/embodied-olympics-fun/high_jump/ 2 full run
phase1/embodied-olympics-fun/hurdles_freestanding/ 2 full run
phase1/embodied-olympics-fun/juggling_head/ 2 full run
phase1/embodied-olympics-fun/long_rope/ 2 full run
phase1/embodied-olympics-fun/pole_vault/ 2 full run
phase1/embodied-olympics-fun/standing_long_jump/ 2 full run
phase1/embodied-olympics-fun/steeplechase/ 2 full run
phase1/embodied-olympics-fun/triple_jump/ 2 full run
phase1/embodied-olympics-fun/vault/ 2 full run
phase1/embodied-olympics-fun/volleyball_spike/ 2 pilot
phase1/embodied-olympics-match/badminton_duelrl_i01/ 2 full run
phase1/embodied-olympics-match/badminton_match_i01/ 2 full run
phase1/embodied-olympics-match/badminton_match_i02/ 2 full run
phase1/embodied-olympics-match/badminton_match_i04/ 2 full run
phase1/embodied-olympics-match/badminton_matchlow_i01/ 2 full run
phase1/embodied-olympics-match/fencing_bout_i01/ 2 full run
phase1/embodied-olympics-match/foosball_match_i01/ 2 full run
phase1/embodied-olympics-match/soccer_jointgpu_i01/ 2 full run
phase1/embodied-olympics-match/soccer_match/ 2 full run
phase1/embodied-olympics-match/soccerssl_match/ 2 full run
phase1/embodied-olympics-match/soccerssl_match_i01/ 2 full run
phase1/embodied-olympics-match/tabletennis_duelrl_i01/ 2 full run
phase1/embodied-olympics-match/tabletennis_match_i01/ 2 full run
phase1/embodied-olympics-match/tabletennis_match_i02/ 2 full run
phase1/embodied-olympics-match/tabletennis_match_i03/ 2 full run
phase1/embodied-olympics-match/tabletennis_matchlow_i01/ 2 full run
phase1/embodied-safety-exam/a01_i01/ 2 full run
phase1/embodied-safety-exam/a01_i02/ 2 full run
phase1/embodied-safety-exam/a01_i08/ 2 full run
phase1/embodied-safety-exam/a02_i03/ 2 full run
phase1/embodied-safety-exam/a04/ 2 full run
phase1/embodied-safety-exam/a06_i01/ 2 full run
phase1/embodied-safety-exam/a06_i03/ 2 full run
phase1/embodied-safety-exam/a08_i01/ 2 full run
phase1/embodied-safety-exam/a17/ 2 full run
phase1/embodied-safety-exam/a26_i02/ 2 full run
phase1/embodied-safety-exam/a27_i06/ 2 full run
phase1/embodied-safety-exam/a28/ 2 full run
phase1/embodied-safety-exam/a28_i01/ 2 full run
phase1/embodied-safety-exam/a28_i03/ 2 full run
phase1/embodied-safety-exam/a29_i01/ 2 full run
phase1/embodied-safety-exam/a29_i03/ 2 full run
phase1/embodied-safety-exam/a33_i01/ 2 full run
phase1/embodied-safety-exam/a33_i04/ 2 full run
phase1/embodied-safety-exam/a34_i07/ 2 full run
phase1/embodied-safety-exam/a34_i09/ 2 full run
phase1/embodied-safety-exam/a34_i11/ 2 full run
phase1/embodied-safety-exam/b06_i01/ 2 full run
phase1/embodied-safety-exam/b06_i02/ 2 full run
phase1/embodied-safety-exam/b11/ 2 full run
phase1/embodied-safety-exam/b11_i01/ 2 full run
phase1/embodied-safety-exam/b11_i03/ 2 full run
phase1/embodied-safety-exam/b12_i04/ 2 full run
phase1/embodied-safety-exam/b12_i06/ 2 full run
phase1/embodied-safety-exam/b12_i07/ 2 full run
phase1/embodied-safety-exam/c02/ 2 full run
phase1/embodied-safety-exam/c05_i01/ 2 full run
phase1/embodied-safety-exam/c05_i02/ 2 full run
phase1/embodied-safety-exam/c16/ 2 full run
phase1/embodied-safety-exam/d12_i04/ 2 full run
phase1/embodied-safety-exam/e06/ 2 full run
phase1/embodied-safety-exam/e06_i03/ 2 full run
phase1/embodied-safety-exam/f01/ 2 full run
phase1/embodied-safety-exam/f04_i01/ 2 full run
phase1/embodied-safety-exam/f04_i02/ 2 full run
phase1/embodied-safety-exam/f05/ 2 full run
phase1/embodied-safety-exam/f05_i01/ 2 full run
phase1/embodied-safety-exam/f06/ 2 full run
phase1/embodied-safety-exam/f06_i01/ 2 full run
phase1/embodied-safety-exam/f08/ 2 full run
phase1/embodied-safety-exam/f09/ 2 full run
phase1/embodied-safety-exam/f11/ 2 full run
phase1/humanoidbench/loco_balance_hard/ 2 full run
phase1/humanoidbench/loco_hurdle/ 2 full run
phase1/humanoidbench/manip_bookshelf_simple/ 2 full run
phase1/humanoidbench/manip_door/ 2 full run
phase1/humanoidbench/manip_powerlift/ 2 full run
phase1/humanoidbench/manip_room/ 2 full run
phase1/humanoidbench/manip_window/ 2 full run
phase1/ispatialgym/alignment_axial/ 2 full run
phase1/ispatialgym/camera_relocalization_obstructed/ 2 full run
phase1/ispatialgym/configuration_matching_articulation_open_small_scale/ 2 full run
phase1/ispatialgym/configuration_matching_block_design/ 2 full run
phase1/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/ 2 full run
phase1/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/ 2 full run
phase1/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/ 2 full run
phase1/kinder/scoop_pour_i01/ 2 full run
phase1/kinder/sweep_into_drawer/ 2 full run
phase1/kinder/sweep_simple_i01/ 2 full run
phase1/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/ 2 full run
phase1/maniguard/cabinet_pickup_i22/ 2 full run
phase1/maniguard/cabinet_pickup_i26/ 2 full run
phase1/maniguard/dusty_transfer_i03/ 2 full run
phase1/maniguard/dusty_transfer_i16/ 2 full run
phase1/maniguard/jar_transport_i13/ 2 full run
phase1/maniguard/lid_transport_i12/ 2 full run
phase1/metaworldplus/button_press_topdown/ 2 full run
phase1/molmospaces/pick/ 2 full run
phase1/mujoco-playground/aloha_single_peg_insertion/ 2 full run
phase1/mujoco-playground/barkour_joystick/ 2 full run
phase1/mujoco-playground/go1_handstand/ 2 full run
phase1/mujoco-playground/go1_joystick_flat_terrain/ 2 full run
phase1/mujoco-playground/spot_flat_terrain_joystick/ 2 full run
phase1/mujoco-playground/spot_joystick_gait_tracking/ 2 full run
phase1/myosuite/baoding/ 2 full run
phase1/myosuite/bimanual/ 2 full run
phase1/myosuite/chase_tag/ 2 full run
phase1/myosuite/dex_airplane_fly/ 2 full run
phase1/myosuite/dex_apple_lift/ 2 full run
phase1/myosuite/dex_bunny_inspect/ 2 full run
phase1/myosuite/dex_cup_pour/ 2 full run
phase1/myosuite/dex_cylinder_pass/ 2 full run
phase1/myosuite/die_reorient/ 2 pilot
phase1/myosuite/obj_reorient/ 2 full run
phase1/myosuite/osl_run/ 2 full run
phase1/myosuite/soccer/ 2 full run
phase1/pandadyn/d01_reciprocal_cup_relay/ 2 full run
phase1/pandadyn/d03_cooperative_puck_course/ 2 full run
phase1/pandadyn/d07_spring_gate_switchyard/ 2 full run
phase1/pandadyn/d09_lever_launch_catch_reload/ 2 full run
phase1/pandadyn/s01_cup_route_delivery/ 2 full run
phase1/pandadyn/s06_cube_flip_route_recover/ 2 full run
phase1/pandadyn/s09_toss_recatch_delivery/ 2 full run
phase1/pandadyn/s11_cylinder_rescue_route_deliver/ 2 full run
phase1/pandadyn/s12_moving_bridge_puck_relay/ 2 full run
phase1/roboarc/blanket_flatten_02/ 2 full run
phase1/roboarc/blanket_flatten_03/ 2 full run
phase1/roboarc/blanket_flatten_07/ 2 full run
phase1/roboarc/blanket_flatten_08/ 2 full run
phase1/roboarc/blanket_fold_01/ 2 full run
phase1/roboarc/blanket_fold_03/ 2 full run
phase1/roboarc/blanket_fold_04/ 2 full run
phase1/roboarc/blanket_fold_05/ 2 full run
phase1/roboarc/buzz_wire_3d_01/ 2 full run
phase1/roboarc/buzz_wire_3d_02/ 2 full run
phase1/roboarc/buzz_wire_3d_04/ 2 full run
phase1/roboarc/buzz_wire_3d_06/ 2 full run
phase1/roboarc/buzz_wire_3d_07/ 2 full run
phase1/roboarc/buzz_wire_3d_09/ 2 full run
phase1/roboarc/buzz_wire_3d_10/ 2 full run
phase1/roboarc/cast_coil_04/ 2 full run
phase1/roboarc/cast_coil_06/ 2 full run
phase1/roboarc/cast_coil_08/ 2 full run
phase1/roboarc/cast_keyhole_03/ 2 full run
phase1/roboarc/cast_keyhole_04/ 2 full run
phase1/roboarc/cast_keyhole_05/ 2 full run
phase1/roboarc/fiber_bundling_04/ 2 full run
phase1/roboarc/fiber_bundling_06/ 2 full run
phase1/roboarc/fiber_bundling_07/ 2 full run
phase1/roboarc/fiber_bundling_09/ 2 full run
phase1/roboarc/fiber_bundling_10/ 2 full run
phase1/roboarc/hedgehog_in_cage_05/ 2 full run
phase1/roboarc/hedgehog_in_cage_06/ 2 full run
phase1/roboarc/hedgehog_in_cage_07/ 2 full run
phase1/roboarc/horseshoe_ring_02/ 2 full run
phase1/roboarc/horseshoe_ring_03/ 2 full run
phase1/roboarc/interlocked_claws_05/ 2 full run
phase1/roboarc/interlocked_claws_09/ 2 full run
phase1/roboarc/interlocked_claws_11/ 2 full run
phase1/roboarc/interlocked_claws_12/ 2 full run
phase1/roboarc/knot_untying_06/ 2 full run
phase1/roboarc/knot_untying_09/ 2 full run
phase1/roboarc/lock_picking_04/ 2 full run
phase1/roboarc/lock_picking_05/ 2 full run
phase1/roboarc/rope_threading_03/ 2 full run
phase1/roboarc/rope_threading_04/ 2 full run
phase1/roboarc/rope_threading_05/ 2 full run
phase1/roboarc/rope_threading_06/ 2 full run
phase1/roboarc/rope_threading_07/ 2 full run
phase1/roboarc/rope_threading_08/ 2 full run
phase1/roboarc/slotted_post_ring_04/ 2 full run
phase1/roboarc/slotted_post_ring_05/ 2 full run
phase1/robocasa/turn_off_sink_faucet/ 2 full run
phase1/robocasa365/assemble_cooking_array/ 2 full run
phase1/robocasa365/cereal_and_bowl/ 2 full run
phase1/robocasa365/microwave_defrost_meat/ 2 full run
phase1/robocasa365/searing_meat/ 2 full run
phase1/robodojo/fill_egg_holder/ 2 full run
phase1/robodojo/hang_mugs/ 2 full run
phase1/robodojo/insert_key/ 2 full run
phase1/robodojo/make_kong/ 2 full run
phase1/robodojo/make_toast/ 2 full run
phase1/robodojo/pack_objects_into_box/ 2 full run
phase1/robodojo/store_laptop_and_headphones/ 2 full run
phase1/robodojo/store_laptop_and_headphones_random/ 2 full run
phase1/robodojo/store_tools_in_toolbox/ 2 full run
phase1/robodojo/swap_blocks/ 2 full run
phase1/robodojo/sweep_blocks_random/ 2 full run
phase1/robolab/bbq_sauce_in_bin/ 2 full run
phase1/robolab/food_packing3_cans/ 2 full run
phase1/robolab/put_two_mugs_on_shelf/ 2 full run
phase1/robolab/utensils_in_mug/ 2 full run
phase1/robolab/white_mug_in_center_of_table/ 2 full run
phase1/robopaint/acrylic_applesoranges/ 2 full run
phase1/robopaint/acrylic_bedroom/ 2 full run
phase1/robopaint/acrylic_bluehorses/ 2 full run
phase1/robopaint/acrylic_greatwave/ 2 full run
phase1/robopaint/acrylic_plumpark/ 2 full run
phase1/robopaint/acrylic_redfuji/ 2 full run
phase1/robopaint/acrylic_suddenshower/ 2 full run
phase1/robopaint/acrylic_sunflowers/ 2 full run
phase1/robopaint/acrylic_vision/ 2 full run
phase1/robopaint/caoshu_beiquelindanshui/ 2 full run
phase1/robopaint/caoshu_siwushaonian/ 2 full run
phase1/robopaint/caoshu_zhen/ 2 full run
phase1/robopaint/oil_monalisa_i01/ 2 full run
phase1/robopaint/oil_starrynight_i01/ 2 full run
phase1/robopaint/xingshu_feng/ 2 full run
phase1/robopaint/xingshu_he/ 2 full run
phase1/robopaint/xingshu_huifenghechang/ 2 full run
phase1/robopaint/xingshu_maolinxiuzhu/ 2 full run
phase1/robopaint/xingshu_xian/ 2 full run
phase1/robopaint/xingshu_yong/ 2 full run
phase1/robotwin-2/hanging_mug/ 2 full run
phase1/robotwin-2/place_bread_skillet/ 2 full run
phase1/robowits/cover_with_lid/ 2 full run
phase1/robowits/stack_bowls/ 2 full run
phase1/robowits/stand_bulb/ 2 full run
phase1/robowits/stand_pages/ 2 full run
phase1/vlabench/texas_holdem/ 2 full run
phase1/yamlab/put_pot_on_cooktop/ 2 full run

Phase 2

  • Prompts: v3.2 (the frozen labelling prompts with the fixes from a blind recheck of 30 phase-1 tasks; taxonomy v2; schemas efe-task-dag/1 and efe-trajectory-labels/1).
  • Writer: Codex gpt-6.1-sol (effort high for task DAGs and trajectories). Reviewer: Claude claude-sonnet-5-5; up to two fix rounds plus a confirm round; files still disputed after that carry review.status: "disputed".
  • Task repository: embodied-first-exam commit 80cac7a5a227db930c659c3307a1e79c2a84bc53.
  • Scope: every benchmark task except the roboengineer suite (434 tasks), two runs per task (one success when there is one, plus a failure; runs with a video first; seeded pick), 868 runs. Every task gets a newly written DAG, and all its phase-2 runs (including runs already labelled in phase 1) are labelled against that DAG.
  • Remaining runs (added from 2026-10-29): every other run of each in-scope task (6,648 runs in all) is labelled against the task's phase-2 DAG as published here (the DAG is not rewritten), with the same prompts, models and efforts, and added to the same trajectories/ folder; the run that served as a task's reference success (oracle) when its DAG was written stays that task's oracle. Runs without a graded video are labelled from the log only. Status: 2,101 of the 5,780 remaining runs labelled and uploaded; the rest follow in later batches.
  • Run catalog: built from the run index of the dataset MLL-Lab/embodied-exam-runs (the run viewer's run.json files); videos as in phase 1 from MLL-Lab/embodied-exam-media, runs/<runId>/replay.mp4. Some picked runs and tasks are newer than the catalog shipped with the labelling interface, so importing them needs a catalog refreshed from that run index.
  • The importer prefers the highest phase: when a task is under phase1/ and phase2/, only phase2/<suite>/<task>/ (its DAG and its own trajectories) is used; phase1/ stays as a record.
  • Layout as in phase 1: phase2/<suite>/<task>/task_dag.json and phase2/<suite>/<task>/trajectories/<runId>.json, provenance work-directory paths relative, dag_sha256 = sha256 of task_dag.json as published here. A task is uploaded whole (its DAG together with all its phase-2 trajectories); remaining-run trajectories are added batch by batch once the batch passes validation.
  • Phase 2 complete: every task of the run passed validation and is listed below. Status: 434 tasks, 868 trajectories. With the remaining runs: 2,969 trajectories in all.

Phase 2 tasks

folder trajectories also in phase 1
phase2/ambench/cabinet_pick_place/ 14 yes
phase2/ambench/peg_in_hole/ 14 no
phase2/behavior-1k/assembling_gift_baskets/ 2 yes
phase2/behavior-1k/boxing_books_up_for_storage/ 2 yes
phase2/behavior-1k/boxing_food_after_dinner/ 2 yes
phase2/behavior-1k/bringing_in_wood/ 2 yes
phase2/behavior-1k/bringing_paper_to_recycling/ 2 no
phase2/behavior-1k/bringing_water/ 2 yes
phase2/behavior-1k/can_meat/ 2 yes
phase2/behavior-1k/canning_food/ 2 yes
phase2/behavior-1k/carrying_in_groceries/ 2 yes
phase2/behavior-1k/carrying_out_garden_furniture/ 2 no
phase2/behavior-1k/chopping_wood/ 2 yes
phase2/behavior-1k/clean_a_patio/ 2 yes
phase2/behavior-1k/clean_a_trumpet/ 2 yes
phase2/behavior-1k/clean_boxing_gloves/ 2 no
phase2/behavior-1k/clean_up_your_desk/ 2 yes
phase2/behavior-1k/clean_your_rusty_garden_tools/ 2 yes
phase2/behavior-1k/cleaning_up_branches_and_twigs/ 2 yes
phase2/behavior-1k/cleaning_up_plates_and_food/ 2 yes
phase2/behavior-1k/clearing_food_from_table_into_fridge/ 2 yes
phase2/behavior-1k/collecting_aluminum_cans/ 2 yes
phase2/behavior-1k/collecting_childrens_toys/ 2 yes
phase2/behavior-1k/cook_a_brisket/ 2 yes
phase2/behavior-1k/cook_a_frozen_pie/ 2 yes
phase2/behavior-1k/cook_bacon/ 2 yes
phase2/behavior-1k/cook_broccolini/ 2 yes
phase2/behavior-1k/cook_brussels_sprouts/ 2 yes
phase2/behavior-1k/cook_cabbage/ 2 yes
phase2/behavior-1k/cook_hot_dogs/ 2 yes
phase2/behavior-1k/dispose_of_batteries/ 2 yes
phase2/behavior-1k/freeze_fruit/ 2 yes
phase2/behavior-1k/freeze_pies/ 2 yes
phase2/behavior-1k/halve_an_egg/ 2 no
phase2/behavior-1k/installing_a_fax_machine/ 2 no
phase2/behavior-1k/laying_tile_floors/ 2 yes
phase2/behavior-1k/loading_the_car/ 2 yes
phase2/behavior-1k/make_gift_bags_for_baby_showers/ 2 yes
phase2/behavior-1k/make_pizza/ 2 yes
phase2/behavior-1k/make_rose_centerpieces/ 2 yes
phase2/behavior-1k/organizing_art_supplies/ 2 yes
phase2/behavior-1k/organizing_school_stuff/ 2 yes
phase2/behavior-1k/outfit_a_basic_toolbox/ 2 yes
phase2/behavior-1k/packing_meal_for_delivery/ 2 yes
phase2/behavior-1k/polishing_shoes/ 2 no
phase2/behavior-1k/preparing_lunch_box/ 2 yes
phase2/behavior-1k/put_together_a_basic_pruning_kit/ 2 yes
phase2/behavior-1k/putting_away_toys/ 2 yes
phase2/behavior-1k/putting_dirty_dishes_in_sink/ 2 yes
phase2/behavior-1k/putting_dishes_away_after_cleaning/ 2 yes
phase2/behavior-1k/putting_up_Christmas_decorations_inside/ 2 yes
phase2/behavior-1k/re_shelving_library_books/ 2 yes
phase2/behavior-1k/rearrange_your_room/ 2 yes
phase2/behavior-1k/rearranging_kitchen_furniture/ 2 yes
phase2/behavior-1k/setting_the_fire/ 2 yes
phase2/behavior-1k/setting_the_table/ 2 yes
phase2/behavior-1k/setup_a_bar_for_a_cocktail_party/ 2 yes
phase2/behavior-1k/slicing_vegetables/ 2 yes
phase2/behavior-1k/sorting_books_on_shelf/ 2 yes
phase2/behavior-1k/sorting_bottles_cans_and_paper/ 2 yes
phase2/behavior-1k/sorting_household_items/ 2 yes
phase2/behavior-1k/sorting_vegetables/ 2 yes
phase2/behavior-1k/store_batteries/ 2 no
phase2/behavior-1k/store_produce/ 2 no
phase2/behavior-1k/storing_food/ 2 yes
phase2/behavior-1k/sweeping_garage/ 2 yes
phase2/behavior-1k/thawing_frozen_food/ 2 no
phase2/behavior-1k/tidying_living_room/ 2 yes
phase2/behavior-1k/turning_out_all_lights_before_sleep/ 2 no
phase2/behavior-1k/unloading_the_car/ 2 yes
phase2/behavior-1k/vacuuming_floors/ 2 yes
phase2/behavior-1k/wash_a_baseball_cap/ 2 yes
phase2/behavior-1k/wash_dog_toys/ 2 yes
phase2/bigym2/dishwasher_close/ 22 yes
phase2/bigym2/dishwasher_load_plates/ 24 yes
phase2/bigym2/flip_cutlery/ 24 yes
phase2/bigym2/move_two_plates/ 24 yes
phase2/bigym2/pick_box/ 24 yes
phase2/bigym2/put_cups/ 23 yes
phase2/bigym2/sandwich_remove/ 23 yes
phase2/bigym2/saucepan_to_hob/ 24 yes
phase2/bigym2/stack_blocks/ 24 no
phase2/bigym2/wall_cupboard_open/ 24 yes
phase2/dexhand/assemble_hamburger/ 2 yes
phase2/dexhand/batter_whisk/ 2 yes
phase2/dexhand/bicycle_pump_stroke/ 2 yes
phase2/dexhand/binder_page_load/ 14 yes
phase2/dexhand/book_page_turn/ 2 no
phase2/dexhand/boot_sole_brush/ 2 yes
phase2/dexhand/drying_rack_unfold/ 13 yes
phase2/dexhand/envelope_letter_insert/ 2 yes
phase2/dexhand/essential_cube_reorient/ 14 no
phase2/dexhand/essential_pen_regrasp/ 12 yes
phase2/dexhand/essential_rotary_gait/ 7 yes
phase2/dexhand/essential_two_object/ 13 no
phase2/dexhand/fan_guard_install/ 11 yes
phase2/dexhand/grinder_crank/ 16 no
phase2/dexhand/jar_lid_open/ 2 no
phase2/dexhand/pancake_serve/ 2 no
phase2/dexhand/picture_hang/ 15 yes
phase2/dexhand/ram_module_install/ 2 no
phase2/dexhand/remote_battery_swap/ 14 no
phase2/dexhand/stool_brace_insert/ 2 yes
phase2/dexhand/sweep_dustpan/ 2 yes
phase2/dexhand/usb_plug_insert/ 13 yes
phase2/dexhand/vacuum_bin_reseat/ 15 yes
phase2/dexjoco/bimanual_photograph/ 16 yes
phase2/dexjoco/fold_glasses/ 16 no
phase2/dextoolbench/brush_blue_brush_sweep_forward/ 15 yes
phase2/dextoolbench/brush_red_brush_sweep_forward/ 14 yes
phase2/dextoolbench/brush_red_brush_sweep_right/ 12 yes
phase2/dextoolbench/eraser_handle_eraser_wipe_c/ 15 yes
phase2/dextoolbench/hammer_claw_hammer_swing_down/ 15 yes
phase2/dextoolbench/hammer_claw_hammer_swing_side/ 13 yes
phase2/dextoolbench/hammer_mallet_hammer_swing_down/ 14 no
phase2/dextoolbench/hammer_mallet_hammer_swing_side/ 14 yes
phase2/dextoolbench/marker_sharpie_marker_draw_smile/ 15 yes
phase2/dextoolbench/marker_sharpie_marker_write_c/ 14 yes
phase2/dextoolbench/marker_staples_marker_draw_smile/ 13 yes
phase2/dextoolbench/marker_staples_marker_write_c/ 14 yes
phase2/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/ 15 yes
phase2/dextoolbench/screwdriver_long_screwdriver_spin_vertical/ 15 yes
phase2/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/ 13 no
phase2/dextoolbench/screwdriver_short_screwdriver_spin_vertical/ 15 yes
phase2/dextoolbench/spatula_flat_spatula_flip_over/ 15 yes
phase2/dextoolbench/spatula_flat_spatula_serve_plate/ 14 yes
phase2/dextoolbench/spatula_spoon_spatula_flip_over/ 15 yes
phase2/dextoolbench/spatula_spoon_spatula_serve_plate/ 14 yes
phase2/embodied-olympics-fun/alpine_slalom/ 2 no
phase2/embodied-olympics-fun/backflip/ 2 no
phase2/embodied-olympics-fun/badminton_serve/ 2 yes
phase2/embodied-olympics-fun/balance_beam/ 2 no
phase2/embodied-olympics-fun/balance_board/ 2 yes
phase2/embodied-olympics-fun/basketball_dribble/ 2 no
phase2/embodied-olympics-fun/bowling/ 2 no
phase2/embodied-olympics-fun/box_jump/ 2 yes
phase2/embodied-olympics-fun/boxing/ 2 no
phase2/embodied-olympics-fun/catch/ 2 no
phase2/embodied-olympics-fun/catch_and_shoot/ 2 no
phase2/embodied-olympics-fun/clean_and_jerk/ 2 yes
phase2/embodied-olympics-fun/discus/ 2 no
phase2/embodied-olympics-fun/dodgeball/ 2 no
phase2/embodied-olympics-fun/dribble_slalom/ 2 no
phase2/embodied-olympics-fun/dunk/ 2 no
phase2/embodied-olympics-fun/dunk_between_legs/ 2 yes
phase2/embodied-olympics-fun/free_kick_wall/ 2 no
phase2/embodied-olympics-fun/free_throw/ 2 no
phase2/embodied-olympics-fun/freeski_360/ 2 no
phase2/embodied-olympics-fun/goalkeeper_save/ 2 no
phase2/embodied-olympics-fun/golf_putt/ 2 no
phase2/embodied-olympics-fun/high_bar_swing/ 2 no
phase2/embodied-olympics-fun/high_jump/ 2 yes
phase2/embodied-olympics-fun/hurdles_freestanding/ 2 yes
phase2/embodied-olympics-fun/javelin/ 2 no
phase2/embodied-olympics-fun/juggle_three/ 2 no
phase2/embodied-olympics-fun/juggling/ 2 no
phase2/embodied-olympics-fun/juggling_feet/ 2 no
phase2/embodied-olympics-fun/juggling_head/ 2 yes
phase2/embodied-olympics-fun/jump_rope/ 2 no
phase2/embodied-olympics-fun/layup/ 2 no
phase2/embodied-olympics-fun/long_jump/ 2 no
phase2/embodied-olympics-fun/long_rope/ 2 yes
phase2/embodied-olympics-fun/paddle_bounce/ 2 no
phase2/embodied-olympics-fun/pitch_target/ 2 no
phase2/embodied-olympics-fun/platform_10m/ 2 no
phase2/embodied-olympics-fun/pole_vault/ 2 yes
phase2/embodied-olympics-fun/rugby_conversion/ 2 no
phase2/embodied-olympics-fun/shot_put/ 2 no
phase2/embodied-olympics-fun/slalom/ 2 no
phase2/embodied-olympics-fun/springboard_3m/ 2 no
phase2/embodied-olympics-fun/sprint/ 2 no
phase2/embodied-olympics-fun/standing_long_jump/ 2 yes
phase2/embodied-olympics-fun/steeplechase/ 2 yes
phase2/embodied-olympics-fun/table_tennis_return/ 2 no
phase2/embodied-olympics-fun/taekwondo_kick/ 2 no
phase2/embodied-olympics-fun/tennis_return/ 2 no
phase2/embodied-olympics-fun/tennis_serve/ 2 no
phase2/embodied-olympics-fun/toes_to_bar/ 2 no
phase2/embodied-olympics-fun/trampoline/ 2 no
phase2/embodied-olympics-fun/triple_jump/ 2 yes
phase2/embodied-olympics-fun/vault/ 2 yes
phase2/embodied-olympics-fun/volleyball_serve/ 2 no
phase2/embodied-olympics-fun/volleyball_spike/ 2 yes
phase2/embodied-olympics-fun/wall_ball/ 2 no
phase2/embodied-olympics-match/badminton_duelrl_i01/ 8 yes
phase2/embodied-olympics-match/badminton_match_i01/ 9 yes
phase2/embodied-olympics-match/badminton_match_i02/ 9 yes
phase2/embodied-olympics-match/badminton_match_i04/ 8 yes
phase2/embodied-olympics-match/badminton_matchlow_i01/ 7 yes
phase2/embodied-olympics-match/fencing_bout_i01/ 7 yes
phase2/embodied-olympics-match/foosball_match_i01/ 8 yes
phase2/embodied-olympics-match/soccer_jointcpu_i01/ 8 no
phase2/embodied-olympics-match/soccer_jointgpu_i01/ 7 yes
phase2/embodied-olympics-match/soccer_match/ 10 yes
phase2/embodied-olympics-match/soccerssl_match/ 15 yes
phase2/embodied-olympics-match/soccerssl_match_i01/ 8 yes
phase2/embodied-olympics-match/tabletennis_duelrl_i01/ 8 yes
phase2/embodied-olympics-match/tabletennis_match_i01/ 16 yes
phase2/embodied-olympics-match/tabletennis_match_i02/ 16 yes
phase2/embodied-olympics-match/tabletennis_match_i03/ 8 yes
phase2/embodied-olympics-match/tabletennis_match_i04/ 8 no
phase2/embodied-olympics-match/tabletennis_matchlow_i01/ 7 yes
phase2/embodied-safety-exam/a01_i01/ 2 yes
phase2/embodied-safety-exam/a01_i02/ 2 yes
phase2/embodied-safety-exam/a01_i04/ 2 no
phase2/embodied-safety-exam/a01_i08/ 2 yes
phase2/embodied-safety-exam/a02_i03/ 2 yes
phase2/embodied-safety-exam/a04/ 2 yes
phase2/embodied-safety-exam/a06_i01/ 2 yes
phase2/embodied-safety-exam/a06_i03/ 2 yes
phase2/embodied-safety-exam/a08_i01/ 2 yes
phase2/embodied-safety-exam/a17/ 2 yes
phase2/embodied-safety-exam/a26_i02/ 2 yes
phase2/embodied-safety-exam/a27_i06/ 2 yes
phase2/embodied-safety-exam/a28/ 2 yes
phase2/embodied-safety-exam/a28_i01/ 2 yes
phase2/embodied-safety-exam/a28_i03/ 2 yes
phase2/embodied-safety-exam/a29/ 2 no
phase2/embodied-safety-exam/a29_i01/ 2 yes
phase2/embodied-safety-exam/a29_i03/ 2 yes
phase2/embodied-safety-exam/a33_i01/ 2 yes
phase2/embodied-safety-exam/a33_i04/ 2 yes
phase2/embodied-safety-exam/a34_i07/ 2 yes
phase2/embodied-safety-exam/a34_i09/ 2 yes
phase2/embodied-safety-exam/a34_i11/ 2 yes
phase2/embodied-safety-exam/b06_i01/ 2 yes
phase2/embodied-safety-exam/b06_i02/ 2 yes
phase2/embodied-safety-exam/b11/ 2 yes
phase2/embodied-safety-exam/b11_i01/ 2 yes
phase2/embodied-safety-exam/b11_i03/ 2 yes
phase2/embodied-safety-exam/b12_i04/ 2 yes
phase2/embodied-safety-exam/b12_i06/ 2 yes
phase2/embodied-safety-exam/b12_i07/ 2 yes
phase2/embodied-safety-exam/c02/ 2 yes
phase2/embodied-safety-exam/c02_i01/ 2 no
phase2/embodied-safety-exam/c04_i01/ 2 no
phase2/embodied-safety-exam/c05_i01/ 2 yes
phase2/embodied-safety-exam/c05_i02/ 2 yes
phase2/embodied-safety-exam/c16/ 2 yes
phase2/embodied-safety-exam/d12_i04/ 2 yes
phase2/embodied-safety-exam/e06/ 2 yes
phase2/embodied-safety-exam/e06_i03/ 2 yes
phase2/embodied-safety-exam/f01/ 2 yes
phase2/embodied-safety-exam/f04_i01/ 2 yes
phase2/embodied-safety-exam/f04_i02/ 2 yes
phase2/embodied-safety-exam/f05/ 2 yes
phase2/embodied-safety-exam/f05_i01/ 2 yes
phase2/embodied-safety-exam/f06/ 2 yes
phase2/embodied-safety-exam/f06_i01/ 2 yes
phase2/embodied-safety-exam/f08/ 2 yes
phase2/embodied-safety-exam/f09/ 2 yes
phase2/embodied-safety-exam/f11/ 2 yes
phase2/humanoidbench/loco_balance_hard/ 23 yes
phase2/humanoidbench/loco_hurdle/ 24 yes
phase2/humanoidbench/manip_bookshelf_simple/ 24 yes
phase2/humanoidbench/manip_cube/ 24 no
phase2/humanoidbench/manip_door/ 23 yes
phase2/humanoidbench/manip_powerlift/ 24 yes
phase2/humanoidbench/manip_room/ 23 yes
phase2/humanoidbench/manip_window/ 23 yes
phase2/ispatialgym/alignment_axial/ 10 yes
phase2/ispatialgym/camera_relocalization_obstructed/ 10 yes
phase2/ispatialgym/configuration_matching_articulation_open_small_scale/ 9 yes
phase2/ispatialgym/configuration_matching_block_design/ 8 yes
phase2/ispatialgym/inter_object_relation_satisfaction_nextto_small_scale/ 8 yes
phase2/ispatialgym/inter_object_relation_satisfaction_ontop_small_scale/ 10 yes
phase2/ispatialgym/inter_object_relation_satisfaction_touching_small_scale/ 9 yes
phase2/ispatialgym/mental_rotation/ 9 no
phase2/kinder/constrained_cupboard/ 14 no
phase2/kinder/scoop_pour_i01/ 15 yes
phase2/kinder/sweep_into_drawer/ 15 yes
phase2/kinder/sweep_simple_i01/ 14 yes
phase2/libero-max/goal_akita_black_bowl_in_wooden_cabinet_top_target_relocation/ 14 no
phase2/libero-max/goal_wine_bottle_on_wine_rack_top_visual_theme_switch/ 13 yes
phase2/maniguard/cabinet_pickup_i22/ 15 yes
phase2/maniguard/cabinet_pickup_i26/ 14 yes
phase2/maniguard/dusty_transfer_i03/ 15 yes
phase2/maniguard/dusty_transfer_i16/ 11 yes
phase2/maniguard/jar_transport_i13/ 14 yes
phase2/maniguard/jar_transport_i25/ 14 no
phase2/maniguard/lid_transport_i12/ 14 yes
phase2/metaworldplus/basketball/ 16 no
phase2/metaworldplus/button_press_topdown/ 15 yes
phase2/molmospaces/navigate_to/ 16 no
phase2/molmospaces/pick/ 16 yes
phase2/mujoco-playground/aloha_single_peg_insertion/ 15 yes
phase2/mujoco-playground/barkour_joystick/ 24 yes
phase2/mujoco-playground/go1_handstand/ 16 yes
phase2/mujoco-playground/go1_joystick_flat_terrain/ 16 yes
phase2/mujoco-playground/go1_joystick_rough_terrain/ 15 no
phase2/mujoco-playground/spot_flat_terrain_joystick/ 16 yes
phase2/mujoco-playground/spot_joystick_gait_tracking/ 15 yes
phase2/myosuite/baoding/ 15 yes
phase2/myosuite/bimanual/ 13 yes
phase2/myosuite/chase_tag/ 15 yes
phase2/myosuite/dex_airplane_fly/ 15 yes
phase2/myosuite/dex_apple_lift/ 15 yes
phase2/myosuite/dex_bunny_inspect/ 15 yes
phase2/myosuite/dex_cup_pour/ 15 yes
phase2/myosuite/dex_cylinder_pass/ 13 yes
phase2/myosuite/dex_hammer_use/ 14 no
phase2/myosuite/die_reorient/ 13 yes
phase2/myosuite/obj_reorient/ 15 yes
phase2/myosuite/osl_run/ 15 yes
phase2/myosuite/soccer/ 15 yes
phase2/pandadyn/d01_reciprocal_cup_relay/ 21 yes
phase2/pandadyn/d03_cooperative_puck_course/ 20 yes
phase2/pandadyn/d05_moving_ramp_relay/ 13 no
phase2/pandadyn/d07_spring_gate_switchyard/ 22 yes
phase2/pandadyn/d09_lever_launch_catch_reload/ 22 yes
phase2/pandadyn/s01_cup_route_delivery/ 21 yes
phase2/pandadyn/s06_cube_flip_route_recover/ 13 yes
phase2/pandadyn/s09_toss_recatch_delivery/ 22 yes
phase2/pandadyn/s11_cylinder_rescue_route_deliver/ 23 yes
phase2/pandadyn/s12_moving_bridge_puck_relay/ 23 yes
phase2/roboarc/blanket_flatten_02/ 2 yes
phase2/roboarc/blanket_flatten_03/ 2 yes
phase2/roboarc/blanket_flatten_04/ 2 no
phase2/roboarc/blanket_flatten_07/ 2 yes
phase2/roboarc/blanket_flatten_08/ 2 yes
phase2/roboarc/blanket_fold_01/ 2 yes
phase2/roboarc/blanket_fold_03/ 2 yes
phase2/roboarc/blanket_fold_04/ 2 yes
phase2/roboarc/blanket_fold_05/ 2 yes
phase2/roboarc/buzz_wire_3d_01/ 2 yes
phase2/roboarc/buzz_wire_3d_02/ 2 yes
phase2/roboarc/buzz_wire_3d_04/ 2 yes
phase2/roboarc/buzz_wire_3d_06/ 2 yes
phase2/roboarc/buzz_wire_3d_07/ 2 yes
phase2/roboarc/buzz_wire_3d_09/ 2 yes
phase2/roboarc/buzz_wire_3d_10/ 2 yes
phase2/roboarc/cast_coil_04/ 2 yes
phase2/roboarc/cast_coil_06/ 2 yes
phase2/roboarc/cast_coil_07/ 2 no
phase2/roboarc/cast_coil_08/ 2 yes
phase2/roboarc/cast_keyhole_03/ 2 yes
phase2/roboarc/cast_keyhole_04/ 2 yes
phase2/roboarc/cast_keyhole_05/ 2 yes
phase2/roboarc/fiber_bundling_04/ 2 yes
phase2/roboarc/fiber_bundling_06/ 2 yes
phase2/roboarc/fiber_bundling_07/ 2 yes
phase2/roboarc/fiber_bundling_09/ 2 yes
phase2/roboarc/fiber_bundling_10/ 2 yes
phase2/roboarc/hedgehog_in_cage_05/ 2 yes
phase2/roboarc/hedgehog_in_cage_06/ 2 yes
phase2/roboarc/hedgehog_in_cage_07/ 2 yes
phase2/roboarc/horseshoe_ring_02/ 2 yes
phase2/roboarc/horseshoe_ring_03/ 2 yes
phase2/roboarc/ikea_eket/ 2 no
phase2/roboarc/ikea_gladom/ 2 no
phase2/roboarc/ikea_ikea365/ 2 no
phase2/roboarc/ikea_lack/ 2 no
phase2/roboarc/ikea_stegesund/ 2 no
phase2/roboarc/ikea_svallet/ 2 no
phase2/roboarc/ikea_variera/ 2 no
phase2/roboarc/ikea_vesken/ 2 no
phase2/roboarc/interlocked_claws_05/ 2 yes
phase2/roboarc/interlocked_claws_09/ 2 yes
phase2/roboarc/interlocked_claws_11/ 2 yes
phase2/roboarc/interlocked_claws_12/ 2 yes
phase2/roboarc/knot_untying_06/ 2 yes
phase2/roboarc/knot_untying_09/ 2 yes
phase2/roboarc/lock_picking_04/ 2 yes
phase2/roboarc/lock_picking_05/ 2 yes
phase2/roboarc/rope_threading_03/ 2 yes
phase2/roboarc/rope_threading_04/ 2 yes
phase2/roboarc/rope_threading_05/ 2 yes
phase2/roboarc/rope_threading_06/ 2 yes
phase2/roboarc/rope_threading_07/ 2 yes
phase2/roboarc/rope_threading_08/ 2 yes
phase2/roboarc/slotted_post_ring_03/ 2 no
phase2/roboarc/slotted_post_ring_04/ 2 yes
phase2/roboarc/slotted_post_ring_05/ 2 yes
phase2/robocasa-gr1/potato_to_microwave_close/ 15 no
phase2/robocasa/coffee_setup_mug/ 15 no
phase2/robocasa/turn_off_sink_faucet/ 16 yes
phase2/robocasa365/assemble_cooking_array/ 15 yes
phase2/robocasa365/cereal_and_bowl/ 15 yes
phase2/robocasa365/display_meat_variety/ 15 no
phase2/robocasa365/microwave_defrost_meat/ 15 yes
phase2/robocasa365/searing_meat/ 14 yes
phase2/robodojo/fill_egg_holder/ 14 yes
phase2/robodojo/hang_mugs/ 14 yes
phase2/robodojo/hang_mugs_random/ 12 no
phase2/robodojo/insert_key/ 13 yes
phase2/robodojo/make_kong/ 7 yes
phase2/robodojo/make_toast/ 13 yes
phase2/robodojo/pack_objects_into_box/ 14 yes
phase2/robodojo/store_laptop_and_headphones/ 12 yes
phase2/robodojo/store_laptop_and_headphones_random/ 13 yes
phase2/robodojo/store_tools_in_toolbox/ 12 yes
phase2/robodojo/swap_blocks/ 7 yes
phase2/robodojo/sweep_blocks_random/ 15 yes
phase2/robolab/bbq_sauce_in_bin/ 12 yes
phase2/robolab/food_packing3_cans/ 11 yes
phase2/robolab/put_two_mugs_on_shelf/ 11 yes
phase2/robolab/red_dishes_in_bin/ 10 no
phase2/robolab/utensils_in_mug/ 13 yes
phase2/robolab/white_mug_in_center_of_table/ 15 yes
phase2/robopaint/acrylic_applesoranges/ 2 yes
phase2/robopaint/acrylic_bedroom/ 2 yes
phase2/robopaint/acrylic_bluehorses/ 2 yes
phase2/robopaint/acrylic_greatwave/ 2 yes
phase2/robopaint/acrylic_kajikazawa/ 2 no
phase2/robopaint/acrylic_plumpark/ 2 yes
phase2/robopaint/acrylic_redfuji/ 2 yes
phase2/robopaint/acrylic_suddenshower/ 2 yes
phase2/robopaint/acrylic_sunflowers/ 2 yes
phase2/robopaint/acrylic_vision/ 2 yes
phase2/robopaint/caoshu_beiquelindanshui/ 2 yes
phase2/robopaint/caoshu_siwushaonian/ 2 yes
phase2/robopaint/caoshu_zhen/ 2 yes
phase2/robopaint/kaishu_linfengguilong/ 2 no
phase2/robopaint/oil_monalisa_i01/ 2 yes
phase2/robopaint/oil_starrynight_i01/ 2 yes
phase2/robopaint/xingshu_feng/ 2 yes
phase2/robopaint/xingshu_he/ 2 yes
phase2/robopaint/xingshu_huifenghechang/ 2 yes
phase2/robopaint/xingshu_maolinxiuzhu/ 2 yes
phase2/robopaint/xingshu_xian/ 2 yes
phase2/robopaint/xingshu_yong/ 2 yes
phase2/robotwin-2/hanging_mug/ 15 yes
phase2/robotwin-2/place_bread_skillet/ 16 yes
phase2/robotwin-2/put_bottles_dustbin/ 15 no
phase2/robowits/ball_into_bottle/ 13 no
phase2/robowits/cover_with_lid/ 14 yes
phase2/robowits/retrieve_cube/ 14 no
phase2/robowits/stack_bowls/ 14 yes
phase2/robowits/stand_bulb/ 15 yes
phase2/robowits/stand_pages/ 13 yes
phase2/vlabench/heat_food/ 13 no
phase2/vlabench/texas_holdem/ 13 yes
phase2/yamlab/hang_mug_on_tree_i15/ 13 no
phase2/yamlab/put_pot_on_cooktop/ 12 yes
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