DVIDIA RESEARCH · NATIVE CONTACT TASK

Grasp. Carry. Release. Measure.

Authored, privileged-state rigid-block task in native reference physics. No learned policy, shoe physics, human-video action recovery or physical robot qualification.

A free rigid block must be lifted, placed near a separate target, released and left settled with the tool retreated. The scorer uses native object state independently of the controller’s phase. The block is never welded to the gripper.

Full summary · Frozen protocol · Artifact hashes

Every planned attempt

18 attempts · confirmation cohort. Synthetic scenarios; counts do not establish physical reliability.

nominal · placement: 4/4 completed; 4 numerically valid.
nominal · replay_open_jaw: 0/4 completed; 4 numerically valid.
nominal · hold: 0/4 completed; 4 numerically valid.
low_friction · placement: 2/2 completed; 2 numerically valid.
low_friction · replay_open_jaw: 0/2 completed; 2 numerically valid.
low_friction · hold: 0/2 completed; 2 numerically valid.

Scene	Controller	Outcome	Reason	Final error · mm	First dwell · s	Wall · s	Evidence
nominal-00	placement	Completed	success	0.49	11.23	5.35	Attempt JSON
nominal-00	replay_open_jaw	Failed	timeout	188.34	—	2.37	Attempt JSON
nominal-00	hold	Failed	timeout	188.34	—	3.36	Attempt JSON
nominal-01	placement	Completed	success	0.50	11.31	2.97	Attempt JSON
nominal-01	replay_open_jaw	Failed	timeout	199.09	—	3.70	Attempt JSON
nominal-01	hold	Failed	timeout	199.09	—	2.83	Attempt JSON
nominal-02	placement	Completed	success	0.51	11.35	3.11	Attempt JSON
nominal-02	replay_open_jaw	Failed	timeout	202.74	—	8.38	Attempt JSON
nominal-02	hold	Failed	timeout	202.74	—	15.84	Attempt JSON
nominal-03	placement	Completed	success	0.51	11.43	29.51	Attempt JSON
nominal-03	replay_open_jaw	Failed	timeout	206.72	—	27.04	Attempt JSON
nominal-03	hold	Failed	timeout	206.72	—	5.64	Attempt JSON
low_friction-00	placement	Completed	success	0.53	11.37	6.61	Attempt JSON
low_friction-00	replay_open_jaw	Failed	timeout	204.72	—	3.72	Attempt JSON
low_friction-00	hold	Failed	timeout	204.72	—	4.27	Attempt JSON
low_friction-01	placement	Completed	success	0.55	11.61	4.66	Attempt JSON
low_friction-01	replay_open_jaw	Failed	timeout	221.60	—	6.83	Attempt JSON
low_friction-01	hold	Failed	timeout	221.60	—	4.95	Attempt JSON

What this advances

This environment provides a task and negative controls for a future small DVIDIA action policy. Footage review, robot actions, learned control and physical qualification remain separate stages. Rigid-block contact does not validate a soft shoe, laces or a real gripper.

Runtime and timing scope

Attempt wall time includes asset checks, compilation, reset, planning, stepping and trace capture; separate inner timings identify narrower boundaries. No rendering, sensing, training, disk serialization, transport or physical actuation.

{"platform": "macOS-26.5.2-arm64-arm-64bit", "machine": "arm64", "python": "3.12.9", "mujoco": "3.15.0", "gpu_used": false, "logical_cpu_count": 10, "process_lifetime_peak_rss_bytes": 531054592, "memory_scope": "Process lifetime high-water resident memory including imports, native models and traces, before final bundle inspection or replay export; not per-episode memory or minimum RAM. Null means unavailable."}

Each attempt retains its timing distribution, complete states, requested commands and outcome measurements. Warm model inference and camera-to-actuator latency are not measured by this authored-controller benchmark.