Benchmark

Bouts

• Simulator check/Local run

  Four baseline fingers, one box

  90 x 40 x 120 mm box

  1. StraightHeld 2.0 s
  2. ConcaveHeld 2.0 s
  3. HookedHeld 2.0 s
  4. StockHeld 2.0 s

• Simulator check/Local run

  One good grasp and three planted failures

  90 x 40 x 120 mm box, 40 x 90 x 120 mm box

  1. Baseline graspHeld 2.0 s
  2. Closes too highMissed grasp
  3. Slippery boxSlipped during lift
  4. Box turned wideMissed grasp

• Training round/Local run

  Nemotron's first 4 proposals against the stock finger

  6 x 120 mm capsule

  1. Baseline: stock fingerMissed grasp
  2. Nemotron mutate 1Held 2.0 s
  3. Random fallback (mutate 2)Slipped during lift
  4. Nemotron crossoverMissed grasp
  5. Nemotron exploreHeld 2.0 s

• Training round/Local run

  Look check: three v2 jaws with the part 2 mm off centre

  Flanged bushing 36 x 36 x 35 mm, Block 30 x 40 x 60 mm

  1. Drafted wrapHeld 2.0 s
  2. Configurator imprintHeld off its seat
  3. Stock bladeSlipped during lift

• Training round/Local run

  L-bracket 3 mm off centre: the imprint stops short, a drafted V-funnel centres it

  L bracket 40 x 30 x 40 mm

  1. Stock bladeHeld off its seat
  2. Configurator imprintHeld off its seat
  3. Drafted V-funnel (calibration design sobol_00)Held 2.0 s

Finger designs

Every design on file, with its parameters, rationale and print files.

• 462150ca1475

  Straight

  Hand-designed baseline, 19.9 g printed

  Plain parallel-jaw finger with a flat pad; the reference baseline.

• 9a0624079454

  Concave

  Hand-designed baseline, 15.2 g printed

  A 4 mm recessed channel between two lips cradles cylinders and rods on two contact lines.

• 732d575caf85

  Hooked

  Hand-designed baseline, 20.6 g printed

  A 15 degree inward bend near the tip plus an 8 mm hook lip catches under objects during the lift.

• be6496fa15e2

  Stock

  Hand-designed baseline, 10.8 g printed

  The gripper's stock finger, box-approximated; a flat tapered pad with a rounded tip.

• 6cabaab30201

  Nemotron d09

  Proposed by nemotron, 17.8 g printed

  Switch to a v_groove to create two lips that better capture thin rods while keeping the same overall size.

• 345e1754c578

  Random d10

  Proposed by random, 8.1 g printed

  Random fallback: the model's proposal for this slot was rejected (invalid).

• 984dba39aaf8

  Nemotron d11

  Proposed by nemotron, 8.6 g printed

  Merge d02's successful concave arc with d04's wider flat tip and taper to increase contact patch while retaining rod/cylinder performance.

• 4c964e0339d5

  Nemotron d12

  Proposed by nemotron, 18.7 g printed

  Use a narrow v_groove (depth 2 mm) combined with a 6 mm hook tip to trap thin rods while the groove still offers lateral restraint for boxes.

• b2344fcc0186

  Random run 0 top-1

  Proposed by random, 14.6 g printed

  Frozen top-1 of random run 0 (seed 101): 94% training success at grasp height 0.3.