VL01
MuJoCo pick & place
Learning- Simulation engine
- MuJoCo
- Robot
- Teaching XYZ Cartesian gripper; no complete robot arm, IK or ROS2 integration
- Environment
- Existing teaching scene: a tabletop, cube and target box with a Cartesian gripper; not a full robot arm or ROS2 integration.
- Main project
- hohoo-embodied-agent →
- Linked milestones
- M4 · ROS2 → virtual robotM5 · Virtual pick & place
Question to validate
Can the arm move the red cube into the blue box while recording control steps and failure causes?
Experiment steps (planned)
- Find cube
- Move end effector
- Grasp
- Move
- Place
Technology & skills
Result
E14 connects completion contracts to recovery: eight rollouts separate historical placement, current validity and execution qualification. Full VL01 and M4/M5 remain open.
Nine recorded episodes →18-rollout gate comparison →27-rollout monitoring evidence →E4 / 45 recorded rollouts →E6 / 30 rollouts and regression evidence →E7 / 21 rollouts and independent audit →E8–E10 / Evidence from32 rollouts →E11 / Seven rollouts and recorded replay →E12 / 12 rollouts and three-view replay →E13 / 18 rollouts and synchronized replay →E14 / 8 rollouts and three-scenario replay →
Related resources
First pickup and target-bias comparison →Follow-up: skip transfer after a failed grasp →Practice III: does a confirmed grasp need monitoring? →Practice IV: messages arrive, observations expire →Practice V: revalidate before resuming →Practice VI: gate/path ablation →Practice VII: grasp contracts during lowering →Embodied AI VIII: what should the gripper do after a drop alarm? →Embodied AI X: why can a recovery budget stop a recoverable task? →Embodied AI IX: a release command is not verified placement →Embodied AI practice (11): placement completed, but is it still valid? →Embodied AI practice (12): what should the gripper do after recovery is exhausted? →Embodied AI practice (13): where should recovery resume after interrupted lowering? →Embodied AI practice (14): does landing in the bin mean the task is complete? →Watch the recorded simulation and failure →E4 / Observation freshness code →Pinned scene and code →Grasp confirmation and stop code →Continuous contact monitor code →E6 / Recovery ablation code →E7 / Stage monitoring code →E8–E10 / Pinned code →E11 / Completion lifecycle code →E12 / Post-abort exit code →E13 / Phase recovery code →E14 / Qualified completion code →