Robo Use

Wipe a line of dirt off the table with a sponge-like tool

robosuite-wipe-pandarobosuiteFranka PandaManipulationhard

Reference solution, 160 of 600 steps.

Instruction

A Franka Emika Panda (7-DoF) with its parallel-jaw gripper works at a table; its base is at the -x end, facing +x. The scene is robosuite's Wipe environment (MuJoCo).

Goal: Wipe all the dirt (100 small markers along a line on the table) off the table with the wiping tool mounted on the arm. A marker counts as wiped when the tool's bottom face passes over it while pressed flat on the table. robosuite's Wipe check: every marker is wiped. The episode ends by itself when the last marker goes.

The episode ends as solved the moment the check first passes (you do not need to call robo done then).

This robot

  • The action has 6 numbers: robo act DX DY DZ DROLL DPITCH DYAW, each in [-1, 1]: robosuite's OSC_POSE end-effector command, 20 steps per second, in the world frame. DX/DY/DZ = 1.0 asks for a 5 cm move (held at 1.0 the hand travels about 1.1 cm per step); DROLL/DPITCH/DYAW rotate the hand about the world x/y/z axes (1.0 asks for 0.5 rad).
  • robo move-to X Y Z is available (it keeps the tool's orientation); robo grip is not.
  • World frame, metres: +x points away from the robot's base, +y to the robot's left, +z up.
  • robo observe fields: hand_pos (the tool's reference point, a few millimetres above the middle of its face, metres), hand_quat (x, y, z, w); markers_left, dirt_markers_xy (x, y of every marker still on the table), proportion_wiped, wipe_centroid and wipe_radius (centre and spread of the remaining dirt), hand_force_N (force on the tool, newtons; it rises when the tool presses on the table); table_height.
  • robo observe --image saves the agentview camera; add --camera robot0_eye_in_hand for the wrist camera. Images are 320x320.
  • The step budget is 600 steps.
  • The action has 6 numbers (there is no gripper). Keep the tool flat (pointing straight down) and pressed lightly onto the table while sweeping; wiping does not count while any other part of the arm touches the table or a joint is at its limit. move_to is available; grip is not.
How the robot is controlled and scored

You are controlling a simulated robot. Read the task below, then solve it by running the robo command in your shell (start with robo info and robo observe). Keep going until the task is done, then call robo done once. Do not stop to ask questions; there is no human to answer.

How to control the robot

You are the robot's policy. You act only through the robo command in your shell. There is no other way to move the robot, and you cannot read or change the simulator, the scoring, or other files to succeed; the episode server judges the final physical state itself.

robo info                         # action space, available skills, step budget
robo observe                      # robot and object state as numbers
robo observe --image              # also saves a camera image and prints its path (open it to look)
robo act DX DY DZ GRIP [--repeat N]   # low-level action, applied N times (N <= 50)
robo move-to X Y Z [--grip G]     # skill: move the gripper toward a point (if enabled for this task)
robo grip G [--steps N]           # skill: hold position and set the gripper (+1 close, -1 open)
robo done "short summary"         # end the episode and ask for scoring
robo give-up "reason"             # end the episode without claiming success
  • Positions are in metres in the world frame (x, y on the table plane, z up).
  • The episode has a fixed step budget (see robo info); every simulated step counts, including skills.
  • Unless the task says otherwise, success is judged about 10 steps after you call robo done, with the robot holding still, so the goal must still be true when the robot stops.
  • Work in small steps and re-observe after each motion. Call robo done exactly once when finished.

Run this task

ROBOUSE_ORACLE_TOKEN=$(openssl rand -hex 16) \
  bench eval run \
    -d arise-initiative/robosuite@0.2 \
    --registry https://robouse.ai/hub/registry.json \
    --agent oracle \
    --include robosuite-wipe-panda

Pinned to robohub commit e472b1a1e041. The verifier and the reference solution are not published.

Trial
GPT-6 Astra · CodexSolved140 / 60078 sTrial Compare
Kimi K3 · Claude CodeSolved242 / 6009 minTrial Compare
Kimi K3 · mini-swe-agentSolved319 / 60016 minTrial Compare
GLM-5.3 · Claude CodeSolved261 / 6009 minTrial Compare
GLM-5.3 · mini-swe-agentNot solved600 / 60021 minTrial Compare
GLM-5.3 · CodexInfra failure54 / 60051 sTrial Compare

These trials ran on version 0.1, now deprecated (superseded by 0.2).