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

8594ACTplace(crate → shelf_left) align Δ 0.034

8591LANG"stack the trays, tallest first"

8584ACTlift torque 1.6Nm · slip 0.02

8575ACTrotate wrist 58° · joint within limits

8568OBSproprioception: 7 joints nominal

8562OBSproprioception: 7 joints nominal

8559WARNgripper slip 0.08 > threshold

8550WARNgripper slip 0.00 > threshold

8548ACTretract arm → home pose · settle 119ms

8540ACTrotate wrist 62° · joint within limits

8534RWDreward +0.2354 · cum 673.4

8529OBSvision: 4 graspable objects · occlusion 0.21

8523OBSscene change detected · re-segment

8518LANG"stack the trays, tallest first"

8509ACTgrasp(end_effector → bin_03) confidence 0.79

8501ACTretract arm → home pose · settle 141ms

8493OBSproprioception: 7 joints nominal

8487OBSvision: 1 graspable objects · occlusion 0.23

8485ACTretract arm → home pose · settle 104ms

8477ACTrotate wrist 83° · joint within limits

8475ACTplace(crate → shelf_left) align Δ 0.003

8469OBSdepth map updated · 4374 valid points

8462ERRcollision predicted → abort trajectory

8452ACTlift torque 4.6Nm · slip 0.01

8444RWDreward +0.6163 · cum 514.3

8434ACTlift torque 2.4Nm · slip 0.01

8427RWDreward +0.6632 · cum 286.6

8422OBSdepth map updated · 5062 valid points

8413OBSvision: 3 graspable objects · occlusion 0.21

8408LANG"route the cable along the wall channel"

8399OBSproprioception: 7 joints nominal

8392OBSproprioception: 7 joints nominal

8390OBSvision: 1 graspable objects · occlusion 0.30

8385ACTretract arm → home pose · settle 49ms

8376ACTrotate wrist 60° · joint within limits

8369ACTgrasp(end_effector → bin_03) confidence 0.94

8363ACTlift torque 3.8Nm · slip 0.00

8356RWDreward +0.7649 · cum 251.7

8350ACTgrasp(end_effector → bin_03) confidence 0.74

8345OBSscene change detected · re-segment

8339OBSvision: 6 graspable objects · occlusion 0.12

8333LANG"place the blue crate on the left shelf"

8323ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8314ACTplace(crate → shelf_left) align Δ 0.044

8307RWDreward +0.5666 · cum 193.4

8304OBSproprioception: 7 joints nominal

8301ACTlift torque 3.1Nm · slip 0.01

8298ACTretract arm → home pose · settle 119ms

8296ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8290OBScontact sensor: force 4.4N on pad 2

8286OBSdepth map updated · 7824 valid points

8278OBScontact sensor: force 8.6N on pad 2

8270ACTplace(crate → shelf_left) align Δ 0.047

8267ACTgrasp(end_effector → bin_03) confidence 0.73

8261ACTretract arm → home pose · settle 64ms

8255ACTretract arm → home pose · settle 176ms

8253ERRcollision predicted → abort trajectory

8247OBSscene change detected · re-segment

8241OBScontact sensor: force 11.6N on pad 2

8239ACTretract arm → home pose · settle 123ms

8230WARNfriction est drift +0.06 → re-randomize

8221OBSscene change detected · re-segment

8212ERRpolicy NaN guard tripped · rollback step

8204ACTwaypoint nav (1.2, 0.0, 0.4) · clearance ok

8196LANG"place the blue crate on the left shelf"

8188ACTgrasp(end_effector → bin_03) confidence 0.77

8182ACTrotate wrist 12° · joint within limits

8174ACTplace(crate → shelf_left) align Δ 0.012

8164OBSvision: 2 graspable objects · occlusion 0.10

8157OBSdepth map updated · 3144 valid points

8149ACTrotate wrist 26° · joint within limits

8147OBSvision: 4 graspable objects · occlusion 0.16

8144OBSvision: 2 graspable objects · occlusion 0.26

8139ACTgrasp(end_effector → bin_03) confidence 0.88

8129ACTplace(crate → shelf_left) align Δ 0.038

8127ACTgrasp(end_effector → bin_03) confidence 0.88

8125LANG"sort fruit by ripeness into the bins"

8119RWDreward +0.3010 · cum 205.3

8114WARNgripper slip 0.01 > threshold

8106RWDreward +0.2657 · cum 511.5

8100ACTretract arm → home pose · settle 174ms

8096OBSdepth map updated · 7406 valid points

8089ACTrotate wrist 23° · joint within limits

8080WARNlatency spike 75ms on actuator bus

8075OBSproprioception: 7 joints nominal

8071ACTplace(crate → shelf_left) align Δ 0.013

8065ACTlift torque 2.3Nm · slip 0.03

8063OBSvision: 5 graspable objects · occlusion 0.27

8056WARNgripper slip 0.05 > threshold

8047ACTplace(crate → shelf_left) align Δ 0.007

8043ACTrotate wrist 21° · joint within limits

8036ACTplace(crate → shelf_left) align Δ 0.035

8031ACTgrasp(end_effector → bin_03) confidence 0.77

8024ACTplace(crate → shelf_left) align Δ 0.043

8021OBSvision: 2 graspable objects · occlusion 0.24

8012OBSvision: 6 graspable objects · occlusion 0.24

8010OBSproprioception: 7 joints nominal

8002RWDreward +0.9608 · cum 697.7

7998ACTrotate wrist 30° · joint within limits

7996WARNgripper slip 0.09 > threshold

7988ACTlift torque 2.3Nm · slip 0.01

7984OBSscene change detected · re-segment

7975LANG"open the cabinet and retrieve the kit"

7970OBSvision: 4 graspable objects · occlusion 0.12

7963ACTretract arm → home pose · settle 182ms

7961OBSdepth map updated · 7253 valid points

7954OBSvision: 3 graspable objects · occlusion 0.15

7946LANG"route the cable along the wall channel"

7939ACTretract arm → home pose · settle 177ms

7935WARNlatency spike 20ms on actuator bus

7928OBSscene change detected · re-segment

7918RWDreward -0.5741 · cum 517.8

7916ACTretract arm → home pose · settle 122ms

7910ACTlift torque 3.4Nm · slip 0.04

7901ACTlift torque 4.9Nm · slip 0.03

7894LANG"route the cable along the wall channel"

7888WARNgripper slip 0.10 > threshold

7885ACTplace(crate → shelf_left) align Δ 0.034

7879WARNgripper slip 0.05 > threshold

7870OBSscene change detected · re-segment

7868WARNlatency spike 77ms on actuator bus

7862OBScontact sensor: force 3.3N on pad 2

7856ACTlift torque 2.3Nm · slip 0.04

7850OBScontact sensor: force 5.0N on pad 2

7846LANG"sort fruit by ripeness into the bins"

7841OBSdepth map updated · 2472 valid points

7832ERRpolicy NaN guard tripped · rollback step

7827ACTretract arm → home pose · settle 128ms

7822ACTrotate wrist 41° · joint within limits

7812ACTrotate wrist 7° · joint within limits

7808WARNfriction est drift +0.00 → re-randomize

7800OBSscene change detected · re-segment

7793ACTrotate wrist 82° · joint within limits

7789OBScontact sensor: force 2.4N on pad 2

7786ACTrotate wrist 66° · joint within limits

7777ACTrotate wrist 50° · joint within limits

7770LANG"route the cable along the wall channel"

7767ACTlift torque 2.3Nm · slip 0.01

7758ACTlift torque 2.6Nm · slip 0.02

7751OBSdepth map updated · 5074 valid points