VL01 / Pickup target offsets

01 / QUESTION

What changes when pickup x targets shift by 25 / 50 mm with the controller fixed?

METHOD

MuJoCo 3.3.7; only pickup x offset changes: 0 / 25 / 50 mm, three 9.2-second episodes each, with frozen success criteria.

RESULT

All three 0 mm episodes met the protocol; the six 25 / 50 mm episodes did not lift the cube.

OBSERVATIONS

Under offset conditions, the empty gripper continued its transfer. Reaching a target is not a successful grasp.

LIMITATIONS

One executed round within VL01, whose broader learning plan remains in progress. No randomization, perception, training or hardware; not a generalization success rate.

REPRODUCE

Follow the linked tutorial for setup, execution and replay. Original CSV, states and videos are pinned to a code revision.

1. Tutorials

   Embodied AI Practice I: Pick up a cube in MuJoCo, then deliberately miss

   Run a contact-based pick-and-place task, compare0,25 and50mm target biases, and preserve videos, state trajectories and explicit success criteria.

   2026-09-2818 MINPublished
2. PROJECT / 003

   Hohoo Embodied Experiments

   Seven MuJoCo teaching experiments, from pickup bias to stage contracts, with raw trajectories, decisions and independent audits.

   2026-09-28Experiment