Build · SimArena

SimArena

Describe a scene, drop a robot, and benchmark a policy across thousands of domain-randomized worlds — running live on the network. No GPU, no install.

run/warehouse-pick-v7idle

SIM // domain-rand:ON · 1024 worlds · Quadruped

POLICY π0-ft · STEP 8,412 · REWARD +0.947
SIM2REAL Δ 0.063 → target ≤0.05

1,024

Rollouts

8.4k

Steps

0.063

Sim2real Δ

$2.51

Run cost

Scene · describe → drop a robot

Parallel worlds · 1024

Running a policy spends GPU-seconds — connect a wallet to launch on the network.

VLA Decision Streamtail -f

8590ACTrotate wrist 75° · joint within limits

8580OBSscene change detected · re-segment

8577ERRpolicy NaN guard tripped · rollback step

8568OBSscene change detected · re-segment

8563ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8554OBSvision: 4 graspable objects · occlusion 0.12

8546ACTplace(crate → shelf_left) align Δ 0.035

8540ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8538WARNfriction est drift +0.01 → re-randomize

8535OBSscene change detected · re-segment

8532OBSproprioception: 7 joints nominal

8523WARNfriction est drift +0.01 → re-randomize

8517ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8507ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8502ACTplace(crate → shelf_left) align Δ 0.036

8494RWDreward -0.0771 · cum 769.9

8485OBSscene change detected · re-segment

8480OBSscene change detected · re-segment

8472LANG"stack the trays, tallest first"

8469OBSdepth map updated · 1285 valid points

8460RWDreward +0.6814 · cum 904.5

8457LANG"route the cable along the wall channel"

8451ACTlift torque 3.0Nm · slip 0.03

8447OBScontact sensor: force 6.6N on pad 2

8438ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8432OBSscene change detected · re-segment

8422ACTrotate wrist 50° · joint within limits

8415ACTgrasp(end_effector → bin_03) confidence 0.98

8409OBSscene change detected · re-segment

8400ACTrotate wrist 54° · joint within limits

8394ACTretract arm → home pose · settle 82ms

8384ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8374ACTretract arm → home pose · settle 82ms

8371OBSdepth map updated · 6361 valid points

8368OBSvision: 5 graspable objects · occlusion 0.24

8362ACTgrasp(end_effector → bin_03) confidence 0.80

8354OBSscene change detected · re-segment

8348LANG"sort fruit by ripeness into the bins"

8338ACTretract arm → home pose · settle 113ms

8333ACTgrasp(end_effector → bin_03) confidence 0.86

8329RWDreward +0.4105 · cum 28.2

8322WARNlatency spike 71ms on actuator bus

8319ACTlift torque 2.8Nm · slip 0.03

8313ACTlift torque 3.9Nm · slip 0.04

8310ACTlift torque 1.3Nm · slip 0.01

8304ACTlift torque 3.8Nm · slip 0.03

8302ACTrotate wrist 37° · joint within limits

8297ACTretract arm → home pose · settle 96ms

8295ACTretract arm → home pose · settle 182ms

8287ACTrotate wrist 28° · joint within limits

8279LANG"route the cable along the wall channel"

8275ACTlift torque 5.0Nm · slip 0.04

8266OBScontact sensor: force 9.2N on pad 2

8264ACTplace(crate → shelf_left) align Δ 0.028

8257OBSvision: 4 graspable objects · occlusion 0.15

8254ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8247ERRpolicy NaN guard tripped · rollback step

8245OBSdepth map updated · 9101 valid points

8242ERRcollision predicted → abort trajectory

8236LANG"stack the trays, tallest first"

8231ERRpolicy NaN guard tripped · rollback step

8221ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8216ACTgrasp(end_effector → bin_03) confidence 0.96

8211RWDreward -0.7282 · cum 364.4

8207ACTretract arm → home pose · settle 135ms

8201ACTgrasp(end_effector → bin_03) confidence 0.95

8192ACTrotate wrist 16° · joint within limits

8183ACTgrasp(end_effector → bin_03) confidence 0.92

8174ACTretract arm → home pose · settle 69ms

8171RWDreward +0.6493 · cum 236.4

8169OBSproprioception: 7 joints nominal

8162ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8156ACTretract arm → home pose · settle 76ms

8147LANG"place the blue crate on the left shelf"

8142ACTretract arm → home pose · settle 55ms

8140OBSvision: 6 graspable objects · occlusion 0.04

8136OBSscene change detected · re-segment

8131ACTgrasp(end_effector → bin_03) confidence 0.90

8124ACTrotate wrist 66° · joint within limits

8117ACTretract arm → home pose · settle 185ms

8113OBSproprioception: 7 joints nominal

8105ACTlift torque 3.3Nm · slip 0.01

8095ACTgrasp(end_effector → bin_03) confidence 0.70

8085ACTgrasp(end_effector → bin_03) confidence 0.95

8083ACTretract arm → home pose · settle 132ms

8080LANG"route the cable along the wall channel"

8076WARNfriction est drift +0.01 → re-randomize

8074ACTrotate wrist 12° · joint within limits

8066ACTplace(crate → shelf_left) align Δ 0.049

8062ACTrotate wrist 84° · joint within limits

8058LANG"open the cabinet and retrieve the kit"

8048ACTgrasp(end_effector → bin_03) confidence 0.92

8042LANG"open the cabinet and retrieve the kit"

8036ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8032OBSvision: 3 graspable objects · occlusion 0.20

8024OBSvision: 2 graspable objects · occlusion 0.19

8022LANG"place the blue crate on the left shelf"

8016WARNlatency spike 53ms on actuator bus

8013RWDreward +0.8345 · cum 767.3

8006OBSvision: 5 graspable objects · occlusion 0.10

7998OBSvision: 3 graspable objects · occlusion 0.29

7989WARNlatency spike 28ms on actuator bus

7987LANG"sort fruit by ripeness into the bins"

7980OBSvision: 2 graspable objects · occlusion 0.27

7977WARNgripper slip 0.05 > threshold

7972LANG"sort fruit by ripeness into the bins"

7969ACTrotate wrist 14° · joint within limits

7966ACTplace(crate → shelf_left) align Δ 0.035

7959RWDreward +0.4649 · cum 231.4

7957ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

7954LANG"stack the trays, tallest first"

7947ACTrotate wrist 67° · joint within limits

7940ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

7938OBScontact sensor: force 8.4N on pad 2

7933OBSdepth map updated · 6229 valid points

7925ACTlift torque 3.0Nm · slip 0.04

7919RWDreward +0.7074 · cum 529.7

7914ACTplace(crate → shelf_left) align Δ 0.008

7906ERRpolicy NaN guard tripped · rollback step

7899WARNlatency spike 43ms on actuator bus

7893OBSproprioception: 7 joints nominal

7884ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

7874OBSdepth map updated · 6118 valid points

7871OBSdepth map updated · 3224 valid points

7864ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

7859ACTrotate wrist 84° · joint within limits

7853ACTplace(crate → shelf_left) align Δ 0.045

7846OBSvision: 1 graspable objects · occlusion 0.28

7838ACTrotate wrist 21° · joint within limits

7833LANG"route the cable along the wall channel"

7823OBSproprioception: 7 joints nominal

7815ERRcollision predicted → abort trajectory

7805OBSscene change detected · re-segment

7803ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

7795RWDreward +0.1014 · cum 153.5

7787WARNfriction est drift +0.01 → re-randomize

7785OBSproprioception: 7 joints nominal

7777OBSdepth map updated · 2867 valid points

7773OBSdepth map updated · 3012 valid points

7770OBSvision: 3 graspable objects · occlusion 0.03