Tasks and Demonstrations#
We provide a large corpus of demonstrations for policy training and fine-grained manipulation evaluation. While our platform supports efficient demo generation, that is not our primary focus—our strength lies in flexible skills that can be arbitrarily combined to form the demo tasks you need. By composing primitives from the Skill Library, you can rapidly define and collect demos for new manipulation scenarios without re-engineering from scratch.
Task and Demo Overview#
| Task | # Demos |
|---|---|
| Grasp the handle of the mug | 1,000 |
| Grasp the cap of the bottle | 1,000 |
| Grasp the handle of the cabinet | 1,000 |
| Grasp the lid of the box | 1,000 |
| Grasp the handle of the box | 1,000 |
| Slide along (5 objects) | 5,000 |
| Peg in Hole | 1,000 |
| Plug in Charger | 1,000 |
| Flip (3 objects) | 3,000 |
| Toggle Switch (6 types) | 6,000 |
| Press Switch (5 types) | 5,000 |
| Press stapler with the head (3 types) | 3,000 |
| Press Stapler Top (3 types) | 3,000 |
| Open the box with the lid | 1,000 |
| Rotate Button Clockwise (5 types) | 5,000 |
| Grasp the part and move to direction | 12 |
| Stack pyramid | 13,000 |
Tasks can be flexibly composed from skills in the Skill Library to form new demo scenarios as needed.