Find the red ball hidden somewhere in a walled room using the robot's cameras, and stop next to it

pg-go1-find-ballgpu-playgroundUnitree Go1 with a learned gaitManipulationhard

Reference solution, 24 of 100 steps.

Instruction

You control a Unitree Go1 quadruped (about 0.6 m long; footprint radius 0.32 m) in an 8 x 8 m room (walls at x = +-4 and y = +-4) with four low interior walls. A red ball (30 cm across) lies somewhere in the room, hidden behind one of the interior walls. Find it and stop with the robot's base within 0.6 m of the ball's centre, without touching any wall and without falling.

robo observe gives only the robot's own state: no map and no ball position. Use the cameras: head looks forward from the robot, chase follows it from behind, overview looks down on the room at a steep angle (robo observe --image --camera overview).

The step budget is 100 steps: every robo act step and every robo skill call counts as one.

Scene and frames

World frame: x and y on the floor, z up, metres. The robot starts at the origin facing +x (yaw 0). yaw_deg is the heading measured counter-clockwise from +x.

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 high-level policy. The robot already knows how to walk: a learned locomotion policy (trained with reinforcement learning in MuJoCo Playground) turns your velocity command into leg motion 50 times a second. You act only through the robo command in your shell; you cannot read or change the simulator, the scoring, or other files to succeed.

robo info                              # command limits, skills, cameras, step budget
robo observe                           # base pose and velocity, fallen flag, contacts, and the task's map
robo observe --image [--camera C]      # also saves an image (cameras: chase, overview, head) and prints its path
robo act VX VY WZ                      # hold a body-frame velocity command for 0.5 s: VX forward m/s, VY left m/s, WZ turn rate rad/s (counter-clockwise)
robo act VX VY WZ --repeat N           # the same command for N x 0.5 s (N steps of the budget)
robo skill walk VX VY WZ SECONDS       # hold a command for up to 5 s; stops early if the robot touches something or falls (one step)
robo skill stand [SECONDS]             # stand still (zero command), default 1 s
robo done "short summary"              # end the episode and ask for scoring
robo give-up "reason"                  # end the episode without claiming success

The robot does not track commands perfectly: it accelerates over a few tenths of a second, drifts sideways, and turns a little while walking straight. Re-observe and correct.
Obstacles and walls are boxes given by their centre and half sizes in x and y. Collision is checked on the robot's footprint, a circle of robot_radius_m around its base: any overlap with an obstacle counts as a touch, and any touch fails the task (it is counted in obstacle_contacts; the episode goes on). If the robot falls (fallen: true) it cannot get up again.
Success is judged after you call robo done: the condition must hold at that moment. robo give-up, running out of steps or time, or stopping without robo done all score 0. Call robo done exactly once.

Run this task

robouse run \
  --task tasks/gpu-playground/pg-go1-find-ball \
  --harness oracle \
  --out runs/pg-go1-find-ball

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

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