外观
论文arXiv 2609.382161 个月前
Fiatlux：面向人形机器人爬梯与更换灯泡的长时程基准
针对垂直移动与易碎载荷灵巧操作缺少统一评测，Fiatlux在Isaac Lab构建Unitree G1换灯泡基准并提供基线。
宇树 G1原文链接：Fiatlux: A Long-Horizon Benchmark for Humanoid Ladder Climbing and Light-Bulb Replacement（arXiv 2609.38216 · 发布日期：2026-09-27）
Fiatlux: A Long-Horizon Benchmark for Humanoid Ladder Climbing and Light-Bulb Replacement
针对垂直移动与易碎载荷灵巧操作缺少统一评测，Fiatlux在Isaac Lab构建Unitree G1换灯泡基准并提供基线。
核心要点
- 现有基准多分开评测桌面操作、平地家务或人形运动与操作，缺少长时程联合评分。
- 基准将换灯泡过程分解为十二个子任务环境，采用难度加权门控并允许部分得分。
- 观测分为标准模式与特权模式，并给出评测协议及PPO、VLA模型和全身控制器基线。
- 作者提供用于设定和检查成功门控的遥操作记录，代码与记录已在项目网站开放。
验证范围与局限：验证范围限于NVIDIA Isaac Lab中的Unitree G1人形机器人长时程换灯泡任务。
英文摘要 (Abstract)
Existing benchmarks evaluate tabletop manipulation, flat-floor household activity, or humanoid locomotion and manipulation as separate task groups; none scores vertical mobility and dexterous work on a fragile payload in one long-horizon episode. We present Fiatlux, a light-bulb replacement benchmark built on NVIDIA Isaac Lab. In one episode, a Unitree G1 humanoid positions a step ladder under a ceiling or wall fixture, climbs it, exchanges a spent bulb in a socket for a fresh one, and leaves the spent one in a disposal crate. We decompose the episode into twelve subtask environments scored on difficulty-weighted gates. The goal is a successful replacement, with the fresh bulb seated, the spent one disposed of, neither dropped, and a fragility bound not crossed. Runs that fall short can earn partial credit. Observations are split into a standard mode (signals a physical robot could sense or estimate) and a privileged mode (exact simulator state). We specify the evaluation protocol and provide reference baseline implementations spanning RSL-RL PPO, zero-shot NVIDIA GR00T N1.7 Vision-Language-Action (VLA) models, and whole-body controllers. Additionally, we provide the teleoperated recordings used to specify and check the success gates. The benchmark code and the teleoperated recordings are available at fiatlux-bench.github.io.
作者：Pavel Bushuyeu, Yujin Chen, Anton Nikolaev, Brian Shu, Igor Molybog
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