Tasks
Nine real-robot removal tasks in three families. Each has a preparation recipe you can repeat, held-out test conditions, and a success criterion you can measure. Each card opens a successful rollout next to a baseline failure mode.
Protocol
Rollouts end at success or at 120 s. Six core tasks carry the full input ablation; A5, B2 and C2 are extension scenarios.
| ID | Task | Preparation | Held-out | Success |
|---|---|---|---|---|
| A1 | Barnacle model on a turtle shell | 0.35 g hot-melt adhesive, wait 60 s | Unseen barnacle sizes, pose, colour; unseen shell | Detached and lifted ≥ 10 mm for 1 s, no damage |
| A2 | 3D-printed part on a build plate | 15 × 15 mm nano-adhesive pad, press 10 s | Triangular and quad prisms; ± 30° yaw | Detached with clearance held, no violent ejection |
| A3 | Blu-Tack on an acrylic plate | ≈ 20 g patch, press 5 N for 5 s | Blue colour; ring and strip shapes; ± 50 mm placement | Residue ≤ 5% by area |
| A4 | Wood-ear model on a birch log | Hot-melt at the root, wait 60 s | Log rotated ± 45°; specimen ± 30 mm | Detached and lifted ≥ 10 mm for 1 s, no damage |
| A5 | Blu-Tack residue on the fingertip | Attach residue, randomise shape and pose | Clay; thin-sheet and thick-blob shapes | Fully removed by visual inspection |
| B1 | Marker stain on a ceramic plate | Draw stain in a 120 × 120 mm region; sponge wetted with 2 ml water | Unseen location, shape, colour | ≥ 90% of the region cleaned |
| B2 | Ink mark on silicone skin | Draw mark, wait 30 s; cotton tip | Unseen location, shape, colour | ≥ 90% of the region cleaned |
| C1 | Fossil model buried in sand | Bury at 15 mm, flatten the surface | Unseen fossils; depths 10 and 20 mm; sand camouflage | ≥ 80% exposed, trench ≤ 20 mm deep |
| C2 | Clump embedded in cat litter | Embed and level the litter | Colour-matched clump; ± 60 mm pose | ≥ 80% of the clump surface exposed |
Cleaned and exposed areas are measured by before/after pixel differencing in HSV space with a fixed threshold. "No damage" means no visible gouge or tear larger than 2 mm.
Where to find the details. The task suite is how the hand and the force representation were evaluated. Objects, preparation steps, held-out conditions and all results are described in the paper. The open-source release covers the hand, the fingertip force sensor, the simulation models and the software.