27.4 sSimulation time
5Model calls
0.14 mmMaximum seated hole-centre error
8.65 NPeak board–fixture contact
The policy receives an explicit commissioned setup with nominal coordinates and grasp settings. It writes bounded robot programs and inspects camera checkpoints. Physics pauses while it thinks. This is a guided nominal-layout evaluation, not a vision-only pose-estimation benchmark.
The main view renders recorded physical poses in Blender; all three camera panels replay the same frozen simulator states. Motion is neither generated video nor hand animation. The original run is preserved; measured results and commands are available below.
Measure the task, including its failures.
We declared the acceptance limits before the native evaluations. Independent command replay matched every recorded state exactly, then checked contacts at 500 Hz. Earlier failures remain visible.
| Evaluation | Verdict | Valid released seating | Peak board–fixture | Peak robot–scene | Output centre error |
|---|
| Attempt 1Scene 311ea8e6 | Rejected | 0.00 s | 39.13 N | 38.67 N | 301.48 mm |
| Attempt 2Scene 311ea8e6 | Rejected | 0.00 s | 32.15 N | 8.37 N | 1.02 mm |
| Attempt 3Scene 311ea8e6 | Passed | 5.56 s | 8.49 N | 0.00 N | 0.80 mm |
| Attempt 4Scene 31879de4 | Passed | 5.56 s | 8.49 N | 0.00 N | 0.80 mm |
| Attempt 5Scene 5377e138 | Rejected | 0.00 s | 22.03 N | 0.00 N | 0.93 mm |
| Attempt 6Scene a75c3615 | Passed | 5.56 s | 8.65 N | 0.00 N | 0.65 mm |
549States matched exactly
5.56 sValid released fixture dwell
0.00 NRobot contact with static geometry
0.65 mmFinal output placement error
The first evaluation stopped after a failed retrieval. The second completed the motions, but the audit rejected a tilted seat and excess force. A corrected procedure passed. Later scene revisions restored display details and replaced approximate component envelopes with CAD bounds, exposing a turning failure. The final passing setup uses an aligned input nest. These are development iterations across changing scenes and instructions, not a measured success rate.
Acceptance: both locating pins contained within the holes, height ±0.20 mm, tilt ≤0.5°, released dwell ≥1 s, board–fixture contact ≤15 N, robot–scene contact <1 N, and output centre error ≤1 mm. Force values are evaluator-only simulated contact-normal sums, not physical sensor readings or certified safety limits.