Zip-Bag Packing
Open a resealable bag, insert small parts, and close the seal.
Robot in Simulation
Task Description
One arm picks up a resealable bag and opens its mouth, then holds it open. The other arm picks screws from a tray one at a time and drops each into the bag. The first arm then lays the filled bag flat, and the second arm presses along the zip strip to seal it. The bag is thin film that folds and sags, so the open mouth and the seal both depend on how the film is held.
Human Demonstration
Grounding Focus
Thin-film deformation, occluded contacts, and coordinated opening and closing make this a test of both world and behavior grounding.
Evaluation Focus
Opening and closure success, correct contents, bag damage, regrasp count, and completion time.
Evaluation protocols and results will be published as they become available.