Robustness certificate
How much the stock finger tolerates before its grasp fails: the object placed up to 3 mm off target, a shake while it is held and a sideways push. Every episode is deterministic: seed jitter is off, so each condition is exactly as stated.
- PhysicsLocal run on a workstation, not a Nebius jobMuJoCo 3.15.0CPU executor12.3 s sim wall time
- Score
- 71%
- Checks held
- 134 of 162
- Objects
- 9
- Tolerance x
- not defined
- Tolerance y
- not defined
Score: the mean over objects of each object's placement, shake and push pass rates. Tolerance: the largest error that held on every object, in both directions; not defined here because at least one object is not held even at 0 mm.
Placement error
Share of the 9 objects still held when the object sits off target by the given distance. 104 of 117 placement episodes held.
- Along x, the finger width
- Along y, the closing axis
| Error (mm) | Along x | Along y |
|---|---|---|
| -3 | 8 of 9 | 8 of 9 |
| -2 | 8 of 9 | 8 of 9 |
| -1 | 8 of 9 | 8 of 9 |
| 0 | 8 of 9 | 8 of 9 |
| 1 | 8 of 9 | 8 of 9 |
| 2 | 8 of 9 | 8 of 9 |
| 3 | 8 of 9 | 8 of 9 |
Every placement episode, object by object
Setting k is the controller setting used for that object. Each object gets the setting whose undisturbed grasp worked best, and every check on that object then uses it. A different setting can tolerate less.
| Object | Axis | -3 | -2 | -1 | 0 | +1 | +2 | +3 |
|---|---|---|---|---|---|---|---|---|
| box 80x50x110setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held | |
| box 140x40x60setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held | |
| box 160x30x30setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held | |
| box 120x30x80setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held | |
| cylinder 25x110setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held | |
| cylinder 6x100setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held | |
| rod 3x120setting k=1 | x | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp |
| y | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | dropped: Missed grasp | |
| rod 7x140setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held | |
| rod 14x180setting k=0 | x | held | held | held | held | held | held | held |
| y | held | held | held | held | held | held | held |
Shake during the hold
23 of 27 held. Each: 10 mm at 5 Hz, 5 cycles, peak 9.9 m/s².
| Object | Axis | Outcome | Held for |
|---|---|---|---|
| box 80x50x110 | x | Held | 2.78 s |
| box 80x50x110 | y | Held | 2.78 s |
| box 80x50x110 | z | Held | 2.78 s |
| box 140x40x60 | x | Held | 2.77 s |
| box 140x40x60 | y | Held | 2.77 s |
| box 140x40x60 | z | Dropped during hold | 0.94 s |
| box 160x30x30 | x | Held | 2.78 s |
| box 160x30x30 | y | Held | 2.78 s |
| box 160x30x30 | z | Held | 2.78 s |
| box 120x30x80 | x | Held | 2.78 s |
| box 120x30x80 | y | Held | 2.78 s |
| box 120x30x80 | z | Held | 2.78 s |
| cylinder 25x110 | x | Held | 2.78 s |
| cylinder 25x110 | y | Held | 2.78 s |
| cylinder 25x110 | z | Held | 2.78 s |
| cylinder 6x100 | x | Held | 2.79 s |
| cylinder 6x100 | y | Held | 2.79 s |
| cylinder 6x100 | z | Held | 2.79 s |
| rod 3x120 | x | Missed grasp | 0.00 s |
| rod 3x120 | y | Missed grasp | 0.00 s |
| rod 3x120 | z | Missed grasp | 0.00 s |
| rod 7x140 | x | Held | 2.79 s |
| rod 7x140 | y | Held | 2.79 s |
| rod 7x140 | z | Held | 2.79 s |
| rod 14x180 | x | Held | 2.78 s |
| rod 14x180 | y | Held | 2.78 s |
| rod 14x180 | z | Held | 2.78 s |
Sideways push
7 of 18 held. Each: 0.50 N·s (25 N for 20 ms), at the object's top: 3 to 55 mm above its centre of mass, depending on the object.
| Object | Axis | Outcome | Held for |
|---|---|---|---|
| box 80x50x11055 mm above centre of mass | x | Dropped during hold | 0.78 s |
| box 80x50x11055 mm above centre of mass | y | Held | 2.01 s |
| box 140x40x6030 mm above centre of mass | x | Dropped during hold | 0.77 s |
| box 140x40x6030 mm above centre of mass | y | Held | 2.01 s |
| box 160x30x3015 mm above centre of mass | x | Dropped during hold | 0.78 s |
| box 160x30x3015 mm above centre of mass | y | Held | 2.01 s |
| box 120x30x8040 mm above centre of mass | x | Dropped during hold | 0.78 s |
| box 120x30x8040 mm above centre of mass | y | Held | 2.01 s |
| cylinder 25x11055 mm above centre of mass | x | Dropped during hold | 0.78 s |
| cylinder 25x11055 mm above centre of mass | y | Held | 2.01 s |
| cylinder 6x10050 mm above centre of mass | x | Dropped during hold | 0.79 s |
| cylinder 6x10050 mm above centre of mass | y | Held | 2.01 s |
| rod 3x1203 mm above centre of mass | x | Missed grasp | 0.00 s |
| rod 3x1203 mm above centre of mass | y | Missed grasp | 0.00 s |
| rod 7x1407 mm above centre of mass | x | Dropped during hold | 0.80 s |
| rod 7x1407 mm above centre of mass | y | Dropped during hold | 0.79 s |
| rod 14x18014 mm above centre of mass | x | Held | 2.01 s |
| rod 14x18014 mm above centre of mass | y | Dropped during hold | 0.79 s |
Provenance
- Design id
- be6496fa15e2
- Task
- task_v1 (digest 823e58a28a93)
- Issued
- 2026-10-15 16:55 UTC
- Seed jitter
- off
- Seed
- 0
- Hold after a disturbance
- 1 s
- Run note
- rtt certify --entrant stock, 9 training objects, 8 workers