Robo Use

Open the drawer and put the block inside

libero-open-drawer-put-block-insideLIBERO-styleFloating gripperManipulationhard

Reference solution, 417 of 900 steps.

Instruction

A two-finger parallel gripper hangs over a table (a floating gripper, no arm). The camera looks at the table from the front: x points to the right, y away from the camera (toward the back of the table), z up; the table top is at z = 0. The fingers close along the y axis.

Goal: Open the drawer of the cabinet and put the red block inside the drawer.

What robo observe shows

  • hand_pos: the gripper's tool point (between the fingertips), metres. gripper_open: 0 = closed, 1 = fully open (10 cm gap). holding: names of objects currently touching the fingers.
  • objects: every movable object by name, with kind, color, pos (centre, metres), size (full x/y/z extent in its own frame), yaw_deg, half_height (current half extent along z), tilt_deg (0 = upright).
  • fixtures: static things by name (pads, bowls, trays, plates, sockets, the drawer cabinet) with their positions and sizes. Pads are flat coloured squares on the table; bowls and trays have a floor_z and a rim_z.
  • The drawer: opening (metres pulled out, 0 = closed, max 0.12), handle_pos (a horizontal bar along x, about 4 cm in front of the drawer face; the fingers can close around it from above if the gripper is only partly open, e.g. grip 0.2), interior_center, interior_size, wall_top_z, and the cabinet top height.

Gripper

The grip value is a finger position target, not a hold command: +1 = fully closed, -1 = fully open (10 cm gap), and values in between give a partial opening (finger gap = 10 cm * (1 - G) / 2, so 0 = half open, a 5 cm gap). There is no separate "hold" value: to keep holding an object, keep sending +1 (the fingers then squeeze it). robo move-to X Y Z --grip G applies G on every step of the move, starting with the first, so --grip 1 closes the fingers at the start of the move (they take about 15 steps to close fully); without --grip, the last grip value is kept. robo grip G --steps N holds the hand still for N steps while applying G. The same values apply to the GRIP argument of robo act.

Objects must be released (not touching the fingers) when the episode is judged.

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 benchflow/robouse-core@0.3 \
    --registry https://robouse.ai/hub/registry.json \
    --agent oracle \
    --include libero-open-drawer-put-block-inside

Pinned to robohub commit 954472c78299. The verifier and the reference solution are not published.

Trial
GPT-6 Astra · CodexSolved356 / 90047 sTrial Compare
Kimi K3 · Claude CodeSolved303 / 90030 sTrial Compare
Kimi K3 · mini-swe-agentSolved389 / 90085 sTrial Compare
GLM-5.3 · mini-swe-agentSolved440 / 90072 sTrial Compare
GLM-5.3 · Claude CodeSolved448 / 90078 sTrial Compare
GLM-5.3 · CodexInfra failure61 / 90028 sTrial Compare

These trials ran on version 0.1, now deprecated (superseded by 0.3).