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Bedroom Tidying

Bed Clutter Cleanup

Pick clutter from the bed, move it to the trash bin, open the lid, drop it in, and close the lid.

Available robots

Steps

  1. 01Pick up the item with the left hand.
    • Grasp
  2. 02Move the robot to the trash can.
    • Move
  3. Full step list available on request

Sample recordings

ExcellentNo blocking integrity failures
Checking for additional chart data…

Data integrity & timing

  • Completeness99.9% of expected messages — no dropped data
    99.9%pass
  • Timestamp Alignmentcameras & joints synced within ±5 ms
    4.77 mspass
  • Signal Validity0 out-of-limit joints, 0 invalid samples
    0% invalidpass
  • Longest stream stopno stream stop exceeded 3 s (longest 0.113 s)
    0.113 spass
  • Stalled channelsno channel stalled longer than 3 s
    0pass

Image quality

  • Image Qualityall sampled frames sharp, well-exposed
    100%pass
  • Frame decodingall camera frames decoded
    0pass
  • Image brightnessmean brightness 154.7 on a 0-255 scale
    154.73Measured
  • Image contrastRMS contrast 59.1
    59.06Measured
  • Backlit framesno backlit frames detected on the scene camera
    0%pass
  • Motion blurmotion blur affected 6.9 s of the 173 s episode
    6.9 sMeasured

Motion & control

  • Motion Smoothnesssmooth, human-grade trajectories
    -2.87 SPARCpass
  • Tracking Errorrobot followed intent within 0.038 rad (worst joint 0.182)
    0.038 radpass
  • Left-arm trackingRMSE 0.106 rad, p95 0.237 rad
    0.106 radMeasured
  • Right-arm trackingRMSE 0.112 rad, p95 0.25 rad
    0.112 radMeasured
  • Active motionarms in motion 97.5% of the episode
    97.5%Measured
  • Operator pausesno operator pauses ≥1 s
    0Measured

Gripper behavior

  • Gripper Chatterdecisive grasps, 99% idle hands
    1.74 transitions/minpass
  • Left gripperactuated — 3 open/close cycles
    yesMeasured
  • Right gripperactuated — 2 open/close cycles
    yesMeasured