PhAIL – NVIDIA Cosmos3 Nano

Model card

Made by: NVIDIA
Size: 16B parameters
Published: 31 May 2026

More about the model

Publication: arXiv 2606.02800
Code: github.com/NVIDIA/cosmos-framework
Weights licence: OpenMDW 1.1 source
Actions per chunk: 32 joint-position actions, at 15 Hz source
Smallest GPU: Two RTX Pro 6000, the setup NVIDIA serves it on source

Architecture: Mixture-of-Transformers: an autoregressive tower and a diffusion tower source
Training data: Cosmos3-Nano, post-trained on DROID: 76k trajectories, 350 hours source

Run with Positronic

Start the server source

docker run --gpus all -p 8000:8000 positro/cosmos3-nano

Drive a DROID robot from a positronic checkout guide

uv run --extra hardware positronic-inference real \
  --policy=.remote \
  --policy.address.host=localhost --policy.address.port=8000 \
  --next_task.instruction="Put the marker on the plate"

Progress through an episode

Each band shows how many episodes of Cosmos3 Nano were in that band at each second. On a task of one step, an episode is in the band of the furthest stage it reached. On a task of several steps, an episode is in the band its credit has reached, and each band starts at its stage's credit for one step. The dashed line shows the mean Reliability.

Episodes

Each episode of Cosmos3 Nano on DROID: Everyday tasks, the newest first.

Task How far it got 318 episodes

Task	Task difficulty	How far it got	% of task done	Time to success, s
Switch off the extension cord	Very hard	Contact	10	-
Turn on the extension cable	Medium	Success	100	131.5
Press on the lid	Easy	Success	100	96.6
Spread the cloth	Easy	Success	100	88.2
Scrunch up the towel on the table	Hard	Success	100	24.7
Use the wooden spoon to stir in the pan	Easy	Success	100	203.0
Use the spatula to stir in the bowl	Hard	Success	100	35.6
Use the wooden spoon to mix in the bowl	Medium	Success	100	56.4
Unstack the green blocks	Hard	Failed	0	-
Unstack the cups	Hard	At target	40	-
Use the towel to wipe the tray	Hard	Success	100	67.9
Use the sponge to wipe the surface	Medium	At target	40	-
Use the cloth to wipe the plate	Medium	Failed	0	-
Use the cloth to wipe the pan	Very hard	Safety stop	0	-
Use the towel to wipe the pan	Easy	At target	40	-
Fold the shirt	Very hard	Failed	0	-
Unfold the cloth	Hard	Contact	10	-
Unfold the towel	Very hard	Safety stop	0	-
Open the drawer, put the blue cup inside it, and then close it	Very hard	Control (1/3)	10	-
Close the book	Medium	Success	100	59.5
Open the book	Hard	At target	40	-
Close the bottom drawer	Hard	Success	100	47.8
Close the middle drawer	Very hard	Success	100	61.5
Close the top drawer	Hard	Success	100	39.1
Open the bottom drawer	Very hard	Floating	0	-
Open the middle drawer	Very hard	Floating	0	-
Open the top drawer	Very hard	Control	30	-
Open the drawer	Hard	Success	100	62.1
Move the cup to the right then place the marker in it	Very hard	Failed (1/2)	0	-
Move the pan to the left	Easy	Success	100	22.9
Move the book to the right	Hard	Failed	0	-
Move the bag to the right	Easy	Success	100	55.1
Move the can backwards	Medium	Control	30	-
Move the toy to the left	Hard	Failed	0	-
Move the plate to the right	Easy	Success	100	60.2
Move the fork to the left	Easy	Success	100	39.2
Move the toy to the right	Hard	Failed	0	-
Move the spoon to the left	Easy	Success	100	23.1
Move the glass to the right	Easy	Success	100	25.5
Move the plush to the right	Easy	Success	100	19.4
Move the bag to the left	Easy	Success	100	18.2
Move the pen to the left	Easy	Success	100	19.3
Move the plush to the left	Easy	Success	100	19.0
Move the towel forward	Hard	Safety stop	0	-
Move the bowl forward	Hard	Control	30	-
Move the basket to the right	Easy	Success	100	96.9
Move the basket to the left	Easy	Success	100	38.1
Move the box to the left	Very hard	Failed	0	-
Move the marker forward	Medium	Success	100	241.1
Move the yellow block forward	Medium	Success	100	44.9
Move the can to the left	Hard	Safety stop	0	-
Move the can to the right	Medium	Success	100	58.6
Move the cloth to the left	Easy	Success	100	101.8
Move the ball to the right	Hard	Failed	0	-
Move the bottle forward	Very hard	Success	100	161.1
Move the yellow block to the right	Hard	Success	100	38.5
Move the marker to the right	Easy	Success	100	113.9
Move the mug forward	Hard	Success	100	83.2
Move the bowl to the left	Easy	Success	100	31.1
Move the bottle to the left	Hard	Success	100	35.8
Move the blue cup forward	Medium	Success	100	41.3
Move the towel to the left	Hard	Success	100	133.0
Move the bottle to the right	Easy	Success	100	62.2
Move the mug to the right	Hard	Success	100	51.0
Put the bottle on the plate	Medium	Success	100	82.3
Place the cup on the notebook	Medium	Failed	0	-
Put the marker in the cloth and wrap it	Easy	Success	100	158.2
Pick up the cup and put in the drawer, then close the drawer	Hard	At target (1/2)	20	-
Put the marker inside the drawer	Medium	Failed	0	-
Put the spoon on the towel	Hard	Success	100	128.2
Remove the sponge from the drawer	Hard	Success	100	59.5
Take a cloth from the bag and put it on the table	Hard	Contact	10	-
Take the banana and put it on the table	Medium	Failed	0	-
Remove the fork from the box and put it on the table	Easy	Success	100	43.5
Use the spoon to mix in the mug and then put it on the table	Very hard	Failed (1/2)	0	-
Pick the stuffed toy on the table and put it in the bag	Easy	Success	100	23.6
Pick up the cloth and put it on the glass	Medium	Success	100	162.3
Pick up the keys and put them in the bowl	Easy	Success	100	66.1
Put the wooden spoon on the pan	Easy	Success	100	47.5
Place the green block onto the tray	Easy	Success	100	60.0
Put the plush in the drawer	Medium	Failed	0	-
Put the marker on the box	Hard	Success	100	18.7
Put the marker in the cup on the box	Very hard	Failed	0	-
Pick the box and put it in the basket	Very hard	Failed	0	-
Remove the cube from the basket	Hard	Success	100	198.1
Put the green block in the pan	Easy	Success	100	25.8
Take the bottle on the box and put it on the table	Easy	Success	100	67.3
Put the knife in the cup	Very hard	Failed	0	-
Remove the toy from the bowl and put it on the table	Easy	Success	100	44.5
Put the scissors in the storage box	Hard	Success	100	36.1
Remove the bottle from the bin	Medium	Success	100	93.8
Remove the shirts from the bin and put them on the table	Medium	Success	100	143.9
Put the blue cup on the tray	Easy	Success	100	21.5
Pick a block from the box and place it on the table	Easy	Success	100	32.2
Move the plushie on the plate to the table	Easy	Success	100	18.5
Pick the bottle and put it in the drawer	Easy	Failed	0	-
Put the banana in the basket	Easy	Success	100	19.1
Move the cup from the plate to the table	Easy	Success	100	15.5
Put the bottle on top of the book	Hard	Success	100	32.6
Take the Rubik's cube out of the bowl and put it on the table	Easy	Success	100	16.9
Put the pen on the tray	Easy	Success	100	18.5
Pick up the keys and put them on the tray	Medium	Success	100	18.2
Pick up the toy and put it on the plate	Very hard	Success	100	41.8
Put the shirt inside the basket	Medium	Success	100	18.6
Take the pen from the table and put it in the tote bag	Medium	Success	100	16.4
Put the spoon in the cup, then put the spoon on the table	Very hard	Failed (1/2)	0	-
Remove the marker from the tray and put it on the table	Easy	Success	100	18.4
Put the cloth in the basket	Medium	Success	100	31.8
Put the marker in the shirt, fold the shirt then put it in the box	Very hard	At target (3/3)	80	-
Pick up the towel and put it in the carrier bag	Very hard	Failed	0	-
Put the fork in the bowl	Medium	Success	100	30.4
Put the knife on the table	Medium	Contact	10	-
Put the pen in the bag	Hard	Failed	0	-
Put the plush on the plate	Easy	Success	100	39.8
Take the bag out of the box	Easy	Success	100	36.6
Remove the cup from the top drawer	Hard	Success	100	18.3
Pick up the marker and put it on the right side of the table	Easy	Success	100	17.5
Put the plush in the box	Easy	Success	100	12.8
Put the marker on the tray	Easy	Success	100	42.2
Put the spatula on the table	Hard	Success	100	40.6
Pick the red cup and put it in the box	Easy	Success	100	15.7
Put the pen in the glass	Easy	Success	100	79.3
Remove the bottle from the bag	Easy	Contact	10	-
Put the Lego in the open drawer and then close the drawer	Very hard	Failed (1/2)	0	-
Put the marker on the book	Medium	Success	100	18.0
Remove the lemon from the bowl and put it on the table	Easy	Success	100	30.1
Put the toy in the drawer	Hard	Control	30	-
Put the can in the bin	Hard	Contact	10	-
Remove the pen from the cup and put the pen on the book	Very hard	Control	30	-
Put the pen in the bowl then take it out	Very hard	Failed (1/2)	0	-
Put the Rubik's cube on the yellow block	Medium	Success	100	48.6
Take the pen out of the glass and put it on the table	Easy	Success	100	25.4
Pick up the book from the box and put it on the table	Hard	Success	100	51.9
Pick a Rubik's cube from the storage box and put it on the table	Easy	Success	100	15.6
Put the bottle in the bin	Easy	Success	100	21.6
Pick up the screwdriver from the table and put it in the box	Hard	Failed	0	-
Remove the cup from the bowl and put it on the table	Easy	Success	100	21.8
Put the plush in the bowl	Medium	Success	100	12.7
Put the mug on the plate	Easy	Success	100	21.0
Remove the lid from the pan	Easy	Success	100	16.5
Remove the yellow block from the bowl	Easy	Success	100	15.1
Put the book in the box	Medium	Success	100	62.0
Pick up the screwdriver from the cup and put it on the table	Medium	Failed	0	-
Remove the marker from the cup and put it on the book	Hard	Failed	0	-
Put the cloth in the bag	Medium	At target	40	-
Pick up the spoon and put it on the plate	Easy	Success	100	42.9
Put the knife in the drawer	Very hard	Failed	0	-
Put the towel in the basket	Medium	Success	100	21.1
Put the plush on the table	Easy	Success	100	16.0
Put the bottle on the box	Easy	Success	100	15.0
Pick up the pen from the cup and put it on the table, then move the cup	Medium	Contact (2/2)	55	-
Remove the marker from the glass and put it on the table	Easy	Success	100	19.1
Put the marker in the glass	Hard	Success	100	144.6
Put the marker beside the mug	Easy	Success	100	21.3
Put the wrench in the bowl	Hard	Success	100	86.0
Put the screwdriver on the tray	Very hard	Failed	0	-
Put the lid on the pan	Easy	Success	100	29.3
Pick up the toy and put it in the bowl	Medium	Success	100	17.2
Put the marker on the cloth, then fold the cloth and put it in the box	Very hard	Failed (2/3)	0	-
Pick up the bottle and put it on the right side of the table	Hard	Success	100	30.5
Put the bottle in the bag	Very hard	Failed	0	-
Remove the bottle from the tray and put it on the table	Very hard	Failed	0	-
Put the marker inside the container	Hard	Success	100	28.3
Remove the bottle from the bowl and put it on the table	Easy	Success	100	19.0
Put the bottle on the tray	Hard	Failed	0	-
Pick up the cup and put it on the left side of the table	Easy	Success	100	15.0
Remove the lid from the bottle and put it on the table	Very hard	Failed	0	-
Put the blocks in the cup	Very hard	Success	100	34.5
Pick up the bottle from the box and put it on the table	Hard	Success	100	23.8
Put the bottle in the bowl	Medium	Success	100	15.4
Put the lid on the bottle	Very hard	Failed	0	-
Put the bottle on the table	Easy	Success	100	22.7
Put the orange cup in the yellow cup then put the yellow cup in the blue cup	Very hard	Failed (1/2)	0	-
Pick up the spoon and put it in the cup	Hard	Failed	0	-
Put the blue cup on the table	Easy	Success	100	14.3
Put the yellow block on the table	Hard	Failed	0	-
Put the blocks in the bowl	Very hard	Success	100	73.0
Pick up the bottle and put it in the box	Hard	Failed	0	-
Put the pen in the mug	Hard	Success	100	22.1
Put the pen in the bowl	Easy	Success	100	49.3
Put the green block in the bowl	Easy	Success	100	15.7
Pick the marker from the bowl and put it on the table	Easy	Success	100	16.2
Take the marker out of the mug and put it on the table	Easy	Success	100	119.6
Close the box	Very hard	Failed	0	-
Put the marker on the table	Medium	Failed	0	-
Put the yellow block in the cup	Easy	Success	100	16.2
Put the cup in the bowl	Easy	Success	100	15.9
Put the spoon in the bowl	Very hard	At target	40	-
Put the marker in the bowl	Easy	Contact	10	-
Put the marker in the cup	Hard	Success	100	26.2
Move the wooden block to the left	Hard	Contact	10	-
Flip over the plate	Medium	Contact	10	-
Put the sponge in the bowl	Easy	Success	100	14.9
Put the marker in the mug	Hard	Failed	0	-
Put the banana on the plate on the left	Easy	Success	100	47.0
Put the orange block on top of the green block	Hard	Success	100	43.9
Put the yellow block in the blue cup	Medium	Success	100	14.6
Put the fork on the plate	Medium	Success	100	19.0
Put the cube in the bowl	Easy	Success	100	28.3
Put the spoon in the mug	Medium	Success	100	26.7
Put the pen in the cup	Very hard	Success	100	62.6
Use the towel to wipe the table	Medium	Success	100	26.4
Fold the towel	Hard	Control	30	-
Move the cup to the right	Easy	Success	100	25.6
Move the cup to the left	Easy	Success	100	23.5
Close the box	Very hard	Floating	0	-
Put the marker on the table	Medium	Success	100	43.6
Put the yellow block in the cup	Easy	Success	100	22.0
Put the cup in the bowl	Easy	Success	100	20.8
Put the spoon in the bowl	Very hard	Failed	0	-
Put the marker in the bowl	Easy	Failed	0	-
Put the marker in the cup	Hard	Failed	0	-
Move the wooden block to the left	Hard	Contact	10	-
Flip over the plate	Medium	Contact	10	-
Put the sponge in the bowl	Easy	Success	100	19.0
Put the marker in the mug	Hard	Success	100	42.9
Put the banana on the plate on the left	Easy	Success	100	37.2
Turn the box right side up	Very hard	Safety stop	0	-
Turn the spoon	Hard	Control	30	-
Turn the lid upside down	Very hard	Contact	10	-
Rotate the mug	Easy	Success	100	24.0
Turn the marker to the right	Medium	Success	100	22.1
Unstack the boxes on the table	Medium	Success	100	136.6
Stack the cups inside the bowl	Very hard	At target (1/3)	13	-
Stack the wooden blocks on the table	Very hard	Failed (1/3)	0	-
Use the towel to wipe the plate	Medium	Floating	0	-
Wipe the table with the cloth	Medium	Success	100	26.9
Move the banana to the left	Easy	Success	100	24.1
Move the plate to the left	Medium	Success	100	99.5
Move the fork to the right	Easy	Success	100	54.6
Move the rubik's cube to the left	Easy	Success	100	18.3
Move the spoon to the right	Easy	Success	100	30.0
Move the pen to the right	Hard	Success	100	52.5
Move the box to the right	Very hard	Failed	0	-
Move the cloth to the right	Medium	Success	100	133.6
Move the marker to the left	Easy	Failed	0	-
Move the towel to the right	Hard	Success	100	16.1
Put the green block in the box	Easy	Success	100	19.0
Put the pen in the storage box	Hard	Success	100	89.5
Put the Rubik's cube in the storage box	Easy	Success	100	18.8
Put the pen in the drawer	Easy	Success	100	34.2
Put the screwdriver in the bowl	Very hard	Failed	0	-
Put the cube in the drawer and close the drawer	Very hard	Control (1/2)	15	-
Put the spoon in the box	Medium	Success	100	20.9
Put the wooden spoon in the drawer	Medium	Success	100	58.0
Put the sponge in the open drawer	Hard	Failed	0	-
Put the cup in the drawer	Medium	Success	100	18.4
Put the cube in the cup	Hard	Success	100	18.8
Put the marker on the towel	Medium	Success	100	28.8
Put the yellow block on the plate	Easy	Success	100	15.6
Put the screwdriver on the table	Medium	Success	100	40.2
Put the shirt on the table	Very hard	Success	100	26.6
Put the marker on the plate	Easy	Success	100	38.0
Place the cube on the table	Easy	Success	100	15.9
Place the bowl on the plate	Easy	Success	100	22.6
Place the mug at the center of the table	Hard	Success	100	35.3
Put the towel inside the box	Easy	Success	100	18.3
Put the fork inside the open drawer	Medium	Success	100	24.8
Put the blue block inside the open drawer then close the drawer	Very hard	Failed (1/2)	0	-
Take the cloth and put it on the bowl	Easy	Success	100	38.0
Remove the towel from the middle drawer	Hard	Success	100	16.0
Remove the banana from the bowl	Easy	Success	100	34.0
Remove the red cup from the box	Easy	Success	100	16.4
Remove the fork from the bowl	Easy	Success	100	42.5
Take the mug off the plate and put it on the table	Easy	At target	40	-
Pick up the spoon from the bowl and put it in the box	Hard	Success	100	26.2
Pick up the spoon from the bowl and put it in the cup	Hard	Success	100	40.5
Pick up the cup and put it on the plate	Easy	Success	100	37.8
Pick the fork and put it on the table	Easy	Success	100	16.8
Pick up the towel and place it on the table	Hard	Success	100	20.4
Pick up the spoon and put it on the table	Easy	Success	100	43.0
Pick up the pen and put it on the table	Hard	Success	100	23.8
Pick up the cloth and put it on the drawer	Medium	Control	30	-
Pick up the blue cup and put it in the orange cup	Easy	Success	100	27.2
Pick up the cloth from the table and put it in the box	Medium	At target	40	-
Pick up the cloth and put it on the table	Hard	Success	100	53.0
Remove the marker from the cup and put it on the box	Medium	Control	30	-
Remove the lid from the storage box and put it on the table	Medium	Success	100	207.5
Take the spoon from the plate and put it on the table	Easy	Success	100	16.2
Remove the blocks from the bowl and put them on the table	Easy	Success	100	64.3
Remove the mug from the box and put it on the table	Easy	Success	100	17.7
Take the screwdriver from the box and put it on the table	Medium	Success	100	20.9
Remove the marker from the box and place it on the table	Easy	Success	100	17.6
Remove the spoon from the bowl and put it on the table	Medium	Success	100	40.8
Remove the spoon from the cup and put it on the table	Medium	Success	100	18.8
Take the pen out of the bowl and put it on the table	Easy	Success	100	18.3
Take the pen out of the mug and put it on the table	Medium	Success	100	72.0
Put the marker on the towel, fold the towel, and then put the folded towel in the box	Very hard	Failed (1/3)	0	-
Put the screwdriver in the drawer and close it	Very hard	Failed (1/2)	0	-
Unfold the shirt	Hard	Control	30	-
Fold the cloth	Hard	Control	30	-
Flip the cup over	Medium	Success	100	179.4
Close the drawer	Medium	Success	100	7.7
Move the bowl to the right	Easy	Success	100	15.7
Move the mug to the left	Easy	Success	100	12.9
Stack the cups	Very hard	Failed (2/3)	0	-
Put the orange block on top of the green block	Hard	Success	100	222.5
Put the yellow block in the blue cup	Medium	Control	30	-
Put the fork on the plate	Medium	Success	100	20.2
Put the cube in the bowl	Easy	Success	100	36.6
Put the spoon in the mug	Medium	Success	100	34.3
Put the pen in the cup	Very hard	Failed	0	-
Use the towel to wipe the table	Medium	Success	100	239.5
Fold the towel	Hard	Control	30	-
Move the cup to the right	Easy	Success	100	16.1
Move the cup to the left	Easy	Success	100	16.4
Close the box	Very hard	Failed	0	-
Put the marker on the table	Medium	Contact	10	-
Put the yellow block in the cup	Easy	Success	100	22.4
Put the cup in the bowl	Easy	Success	100	13.3
Put the spoon in the bowl	Very hard	Failed	0	-
Put the marker in the bowl	Easy	Success	100	63.4
Put the marker in the cup	Hard	Failed	0	-
Move the wooden block to the left	Hard	Contact	10	-
Flip over the plate	Medium	Control	30	-
Put the sponge in the bowl	Easy	Success	100	16.4
Put the marker in the mug	Hard	Success	100	20.4
Put the banana on the plate on the left	Easy	Success	100	45.1

Progress through an episode

Each band shows how many episodes of Cosmos3 Nano had succeeded, partly succeeded (some subtask score) or had no success at each second of simulated time. An episode that has ended stays in its band. The dashed line shows the mean Reliability, the mean subtask score.

Episodes

Each episode of Cosmos3 Nano on RoboLab-120, the newest first.

Task Result 360 episodes

Task	Task difficulty	Result	Subtask score, %	Time to success, s
Put 2 bananas in the crate	Easy	Success	100	13.5
Put 2 bananas in the crate	Easy	Success	100	14.0
Put 2 bananas in the crate	Easy	Success	100	13.3
Make sure there are 3 (three) bananas in the grey bin.	Easy	Success	100	27.4
Make sure there are 3 (three) bananas in the grey bin.	Easy	Success	100	24.5
Make sure there are 3 (three) bananas in the grey bin.	Easy	Success	100	22.9
Place the smaller object in the grey bin.	Medium	Fail	0	-
Place the smaller object in the grey bin.	Medium	Fail	0	-
Place the smaller object in the grey bin.	Medium	Success	100	20.9
Put the mustard in the left bin	Medium	Fail	0	-
Put the mustard in the left bin	Medium	Success	100	13.5
Put the mustard in the left bin	Medium	Fail	0	-
Put the rubiks cube to the right of the bowl	Easy	Fail	67	-
Put the rubiks cube to the right of the bowl	Easy	Success	100	15.9
Put the rubiks cube to the right of the bowl	Easy	Fail	67	-
Place the larger object in the grey bin.	Very hard	Fail	0	-
Place the larger object in the grey bin.	Very hard	Fail	0	-
Place the larger object in the grey bin.	Very hard	Fail	0	-
Pick up a fruit	Easy	Fail	100	-
Pick up a fruit	Easy	Fail	100	-
Pick up a fruit	Easy	Fail	100	-
Put all the small plastic bottles in the square pail	Easy	Fail	33	-
Put all the small plastic bottles in the square pail	Easy	Success	100	138.3
Put all the small plastic bottles in the square pail	Easy	Success	100	130.3
Move an orange or a lime to the wood bowl	Medium	Fail	0	-
Move an orange or a lime to the wood bowl	Medium	Fail	0	-
Move an orange or a lime to the wood bowl	Medium	Fail	0	-
Take the bananas out	Easy	Success	100	73.5
Take the bananas out	Easy	Success	100	42.5
Take the bananas out	Easy	Fail	100	-
Put one (1) more bananas in the grey bin.	Easy	Success	100	16.9
Put one (1) more bananas in the grey bin.	Easy	Success	100	14.2
Put one (1) more bananas in the grey bin.	Easy	Success	100	19.8
Place the mustard on the raisin box.	Very hard	Success	0	34.5
Place the mustard on the raisin box.	Very hard	Fail	0	-
Place the mustard on the raisin box.	Very hard	Success	0	29.1
Pick up the banana and put it on the plate	Easy	Success	100	17.6
Pick up the banana and put it on the plate	Easy	Success	100	17.5
Pick up the banana and put it on the plate	Easy	Success	100	16.3
Put the whiteboard marker in the mug	Very hard	Fail	0	-
Put the whiteboard marker in the mug	Very hard	Fail	0	-
Put the whiteboard marker in the mug	Very hard	Success	100	28.5
Pick up the butter box and place it on top of the raisin box	Very hard	Success	0	21.1
Pick up the butter box and place it on top of the raisin box	Very hard	Success	0	23.9
Pick up the butter box and place it on top of the raisin box	Very hard	Success	0	23.8
Put the cube in the bowl	Easy	Success	100	20.9
Put the cube in the bowl	Easy	Success	100	17.5
Put the cube in the bowl	Easy	Success	100	20.9
Pick up the banana and place it in the bowl	Easy	Success	100	17.7
Pick up the banana and place it in the bowl	Easy	Success	100	19.6
Pick up the banana and place it in the bowl	Easy	Success	100	35.7
Put the red bbq sauce bottle in the crate	Easy	Success	100	17.6
Put the red bbq sauce bottle in the crate	Easy	Success	100	19.7
Put the red bbq sauce bottle in the crate	Easy	Success	100	19.7
Pick up the orange measuring cup	Medium	Fail	50	-
Pick up the orange measuring cup	Medium	Fail	50	-
Pick up the orange measuring cup	Medium	Success	100	50.2
put the bowl in the grey bin	Easy	Success	100	20.5
put the bowl in the grey bin	Easy	Success	100	22.3
put the bowl in the grey bin	Easy	Success	100	17.3
Put the rubiks cube in front of the bowl	Medium	Fail	67	-
Put the rubiks cube in front of the bowl	Medium	Fail	100	-
Put the rubiks cube in front of the bowl	Medium	Success	100	26.5
Put the cube or the banana in the bowl	Easy	Success	100	13.4
Put the cube or the banana in the bowl	Easy	Success	100	20.5
Put the cube or the banana in the bowl	Easy	Success	100	21.3
Stack the left bowl on the right bowl	Hard	Fail	0	-
Stack the left bowl on the right bowl	Hard	Fail	0	-
Stack the left bowl on the right bowl	Hard	Fail	0	-
Pick up the green vegetable block	Hard	Fail	50	-
Pick up the green vegetable block	Hard	Fail	50	-
Pick up the green vegetable block	Hard	Fail	50	-
Put the rubiks cube to the left of the bowl	Easy	Success	100	17.5
Put the rubiks cube to the left of the bowl	Easy	Success	100	29.3
Put the rubiks cube to the left of the bowl	Easy	Fail	67	-
Put the mustard in the right bin	Easy	Success	100	16.9
Put the mustard in the right bin	Easy	Fail	0	-
Put the mustard in the right bin	Easy	Fail	0	-
Put any white plastic bottle in the square pail	Easy	Success	100	43.3
Put any white plastic bottle in the square pail	Easy	Success	100	24.5
Put any white plastic bottle in the square pail	Easy	Success	100	20.0
Put the onion in the wood bowl	Easy	Success	100	28.1
Put the onion in the wood bowl	Easy	Success	100	23.2
Put the onion in the wood bowl	Easy	Success	100	19.9
Stack the right bowl on the left bowl	Hard	Fail	0	-
Stack the right bowl on the left bowl	Hard	Fail	0	-
Stack the right bowl on the left bowl	Hard	Fail	0	-
Take the white colored measuring spoon out of the red bowl and put it on the table.	Easy	Success	100	14.1
Take the white colored measuring spoon out of the red bowl and put it on the table.	Easy	Success	100	18.1
Take the white colored measuring spoon out of the red bowl and put it on the table.	Easy	Success	100	39.0
Put the cube and the banana in the bowl	Easy	Success	100	45.3
Put the cube and the banana in the bowl	Easy	Fail	50	-
Put the cube and the banana in the bowl	Easy	Success	100	37.6
Pick up the large blue pitcher	Medium	Fail	50	-
Pick up the large blue pitcher	Medium	Fail	50	-
Pick up the large blue pitcher	Medium	Success	100	17.7
Put the white mug in the center of the table.	Easy	Fail	67	-
Put the white mug in the center of the table.	Easy	Fail	100	-
Put the white mug in the center of the table.	Easy	Success	100	19.9
Put the rubiks cube behind the bowl	Easy	Fail	100	-
Put the rubiks cube behind the bowl	Easy	Fail	100	-
Put the rubiks cube behind the bowl	Easy	Fail	67	-
Put two (2) mugs on the wire shelf	Hard	Success	100	129.7
Put two (2) mugs on the wire shelf	Hard	Success	100	59.1
Put two (2) mugs on the wire shelf	Hard	Fail	100	-
Stand the jug upright	Very hard	Success	100	52.8
Stand the jug upright	Very hard	Success	100	36.6
Stand the jug upright	Very hard	Fail	0	-
Grab a bagel	Medium	Fail	100	-
Grab a bagel	Medium	Fail	100	-
Grab a bagel	Medium	Fail	100	-
Put the small red yogurt in the red bowl	Very hard	Fail	0	-
Put the small red yogurt in the red bowl	Very hard	Fail	0	-
Put the small red yogurt in the red bowl	Very hard	Fail	0	-
Make sure all the white mugs are upright so that the opening is facing upwards.	Hard	Fail	0	-
Make sure all the white mugs are upright so that the opening is facing upwards.	Hard	Fail	0	-
Make sure all the white mugs are upright so that the opening is facing upwards.	Hard	Fail	0	-
Put the wooden spatula in the bowl	Hard	Success	100	35.6
Put the wooden spatula in the bowl	Hard	Success	100	49.0
Put the wooden spatula in the bowl	Hard	Success	100	42.9
Pick up the eye glasses	Medium	Fail	50	-
Pick up the eye glasses	Medium	Fail	50	-
Pick up the eye glasses	Medium	Fail	50	-
Move the pink tool from this utensil container to the other utensil holder	Very hard	Fail	0	-
Move the pink tool from this utensil container to the other utensil holder	Very hard	Fail	0	-
Move the pink tool from this utensil container to the other utensil holder	Very hard	Fail	0	-
Pick up the cordless drill.	Easy	Fail	100	-
Pick up the cordless drill.	Easy	Fail	0	-
Pick up the cordless drill.	Easy	Fail	100	-
put the banana then the cube in the bowl	Medium	Success	100	51.7
put the banana then the cube in the bowl	Medium	Fail (1/2)	50	-
put the banana then the cube in the bowl	Medium	Success	100	57.0
Put the phone or the remote in the grey bin	Hard	Success	100	39.6
Put the phone or the remote in the grey bin	Hard	Fail	0	-
Put the phone or the remote in the grey bin	Hard	Fail	0	-
Stack the yellow block on the red block	Medium	Success	100	35.3
Stack the yellow block on the red block	Medium	Success	100	36.7
Stack the yellow block on the red block	Medium	Success	100	50.5
Pack boxed foods into the bin	Very hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Success	100	34.0
Put the red mug upright so that the opening is facing upwards.	Hard	Fail	0	-
Put the red mug upright so that the opening is facing upwards.	Hard	Success	100	56.9
Put the red mug upright so that the opening is facing upwards.	Hard	Fail	50	-
Put the cube then the banana in the bowl	Medium	Success	100	35.8
Put the cube then the banana in the bowl	Medium	Fail (2/2)	100	-
Put the cube then the banana in the bowl	Medium	Fail (1/2)	50	-
Put the bigger pumpkin in the bin	Hard	Fail	0	-
Put the bigger pumpkin in the bin	Hard	Fail	0	-
Put the bigger pumpkin in the bin	Hard	Fail	0	-
Stack the rubiks cubes in a tower	Hard	Fail (0/2)	0	-
Stack the rubiks cubes in a tower	Hard	Fail (1/2)	50	-
Stack the rubiks cubes in a tower	Hard	Fail (1/2)	50	-
Pack canned foods into the bin	Hard	Fail	0	-
Pack canned foods into the bin	Hard	Success	100	40.7
Pack canned foods into the bin	Hard	Fail	0	-
Put the red dishware in the grey bin	Easy	Fail	0	-
Put the red dishware in the grey bin	Easy	Fail	0	-
Put the red dishware in the grey bin	Easy	Fail	50	-
Put the onion on the plate	Medium	Fail	0	-
Put the onion on the plate	Medium	Fail	0	-
Put the onion on the plate	Medium	Fail	0	-
Put the bagels on the plate	Very hard	Fail	0	-
Put the bagels on the plate	Very hard	Fail	0	-
Put the bagels on the plate	Very hard	Fail	0	-
Put all the red things in the grey bin	Medium	Fail	50	-
Put all the red things in the grey bin	Medium	Fail	50	-
Put all the red things in the grey bin	Medium	Fail	0	-
Select the blue hammer and put it on the table	Hard	Fail	0	-
Select the blue hammer and put it on the table	Hard	Fail	100	-
Select the blue hammer and put it on the table	Hard	Fail	0	-
Put the computer mouse on the keyboard	Hard	Fail	0	-
Put the computer mouse on the keyboard	Hard	Fail	0	-
Put the computer mouse on the keyboard	Hard	Fail	0	-
Stack the white mugs on top of each other.	Hard	Fail	50	-
Stack the white mugs on top of each other.	Hard	Fail	50	-
Stack the white mugs on top of each other.	Hard	Success	100	21.8
Put the canned food in the grey bin	Hard	Fail	0	-
Put the canned food in the grey bin	Hard	Fail	0	-
Put the canned food in the grey bin	Hard	Fail	0	-
Put any white plastic bottle on the shelf	Very hard	Fail	0	-
Put any white plastic bottle on the shelf	Very hard	Fail	0	-
Put any white plastic bottle on the shelf	Very hard	Fail	0	-
Put the serving bowl anywhere on the shelf in front of you	Very hard	Fail	0	-
Put the serving bowl anywhere on the shelf in front of you	Very hard	Fail	0	-
Put the serving bowl anywhere on the shelf in front of you	Very hard	Fail	0	-
Put the coffee pot in the grey bin	Very hard	Fail	0	-
Put the coffee pot in the grey bin	Very hard	Fail	0	-
Put the coffee pot in the grey bin	Very hard	Fail	0	-
Put the spring clamp in the right bin	Hard	Fail	0	-
Put the spring clamp in the right bin	Hard	Fail	0	-
Put the spring clamp in the right bin	Hard	Fail	0	-
Put the lizard away in the bin	Very hard	Success	100	27.1
Put the lizard away in the bin	Very hard	Success	100	31.4
Put the lizard away in the bin	Very hard	Fail	0	-
Clean up the white mugs	Very hard	Fail	0	-
Clean up the white mugs	Very hard	Fail	0	-
Clean up the white mugs	Very hard	Fail	0	-
Put all white objects and yellow objects in the grey bin	Very hard	Fail	0	-
Put all white objects and yellow objects in the grey bin	Very hard	Fail	0	-
Put all white objects and yellow objects in the grey bin	Very hard	Fail	0	-
Sort all rubiks cubes into the bin	Easy	Fail	33	-
Sort all rubiks cubes into the bin	Easy	Fail	67	-
Sort all rubiks cubes into the bin	Easy	Fail	67	-
Put the smartphone in the grey bin	Very hard	Fail	0	-
Put the smartphone in the grey bin	Very hard	Fail	0	-
Put the smartphone in the grey bin	Very hard	Fail	0	-
Take the spatula off the shelf and put it on the table	Very hard	Fail	0	-
Take the spatula off the shelf and put it on the table	Very hard	Fail	0	-
Take the spatula off the shelf and put it on the table	Very hard	Fail	0	-
Put the red BBQ sauce bottles in the grey bin	Hard	Success	100	78.8
Put the red BBQ sauce bottles in the grey bin	Hard	Success	100	76.9
Put the red BBQ sauce bottles in the grey bin	Hard	Success	100	83.9
Put the pink spaghetti spoon in the pot	Hard	Fail	0	-
Put the pink spaghetti spoon in the pot	Hard	Fail	0	-
Put the pink spaghetti spoon in the pot	Hard	Fail	0	-
Take the keyboard out of the bin and put it on the table	Hard	Fail	0	-
Take the keyboard out of the bin and put it on the table	Hard	Success	100	24.6
Take the keyboard out of the bin and put it on the table	Hard	Fail	0	-
Select the cordless drill and put it on the table	Very hard	Fail	0	-
Select the cordless drill and put it on the table	Very hard	Fail	0	-
Select the cordless drill and put it on the table	Very hard	Fail	0	-
Stack the blocks into a tower	Medium	Fail (0/3)	0	-
Stack the blocks into a tower	Medium	Fail (0/3)	0	-
Stack the blocks into a tower	Medium	Fail (0/3)	0	-
Put three (3) fruits on the plate	Easy	Fail	67	-
Put three (3) fruits on the plate	Easy	Success	100	64.2
Put three (3) fruits on the plate	Easy	Success	100	124.8
Put the metal spoon that's in the wooden bowl in the mug	Medium	Success	100	36.2
Put the metal spoon that's in the wooden bowl in the mug	Medium	Success	100	53.3
Put the metal spoon that's in the wooden bowl in the mug	Medium	Success	100	35.5
Throw away the apple	Very hard	Fail	0	-
Throw away the apple	Very hard	Fail	0	-
Throw away the apple	Very hard	Fail	0	-
Put the lizards in the bin	Hard	Fail	50	-
Put the lizards in the bin	Hard	Fail	50	-
Put the lizards in the bin	Hard	Success	100	70.4
Stack the blocks in the order from bottom to top: red, blue, green, yellow	Very hard	Fail (0/3)	0	-
Stack the blocks in the order from bottom to top: red, blue, green, yellow	Very hard	Fail (0/3)	0	-
Stack the blocks in the order from bottom to top: red, blue, green, yellow	Very hard	Fail (0/3)	0	-
Put the small pumpkin in the bin	Very hard	Fail	0	-
Put the small pumpkin in the bin	Very hard	Fail	0	-
Put the small pumpkin in the bin	Very hard	Fail	0	-
Reorient all the mugs upright so that the opening is facing upwards.	Hard	Fail	33	-
Reorient all the mugs upright so that the opening is facing upwards.	Hard	Fail	67	-
Reorient all the mugs upright so that the opening is facing upwards.	Hard	Fail	33	-
Put the recyclable cartons in the grey bin	Very hard	Fail	0	-
Put the recyclable cartons in the grey bin	Very hard	Fail	0	-
Put the recyclable cartons in the grey bin	Very hard	Fail	0	-
Move an orange to the white bowl	Very hard	Fail	0	-
Move an orange to the white bowl	Very hard	Fail	0	-
Move an orange to the white bowl	Very hard	Fail	0	-
Put the cartons that can be recycled in the vertical crate	Very hard	Fail	0	-
Put the cartons that can be recycled in the vertical crate	Very hard	Fail	0	-
Put the cartons that can be recycled in the vertical crate	Very hard	Fail	0	-
Put the cartons that can be recycled on the box	Very hard	Fail	0	-
Put the cartons that can be recycled on the box	Very hard	Fail	0	-
Put the cartons that can be recycled on the box	Very hard	Fail	0	-
Unstack the rubiks cube tower	Easy	Fail	50	-
Unstack the rubiks cube tower	Easy	Fail	50	-
Unstack the rubiks cube tower	Easy	Fail	50	-
Put all the jugs on the shelf	Very hard	Fail	0	-
Put all the jugs on the shelf	Very hard	Fail	0	-
Put all the jugs on the shelf	Very hard	Fail	0	-
Put all the oranges on the plate	Easy	Fail	50	-
Put all the oranges on the plate	Easy	Fail	50	-
Put all the oranges on the plate	Easy	Success	100	78.8
Put all the green fruit on the plate	Easy	Success	100	70.9
Put all the green fruit on the plate	Easy	Fail	0	-
Put all the green fruit on the plate	Easy	Fail	50	-
Pack yellow objects in right container and blue object in the left container	Very hard	Fail (0/2)	0	-
Pack yellow objects in right container and blue object in the left container	Very hard	Fail (0/2)	0	-
Pack yellow objects in right container and blue object in the left container	Very hard	Fail (0/2)	0	-
Put the two mugs on the shelf	Hard	Fail	0	-
Put the two mugs on the shelf	Hard	Fail	50	-
Put the two mugs on the shelf	Hard	Success	100	153.7
Put the black items in the grey bin	Hard	Fail	40	-
Put the black items in the grey bin	Hard	Fail	40	-
Put the black items in the grey bin	Hard	Fail	20	-
Put the dishware in the grey bin	Medium	Success	100	113.1
Put the dishware in the grey bin	Medium	Fail	67	-
Put the dishware in the grey bin	Medium	Fail	33	-
Put all the pumpkins away in the bin	Very hard	Fail	0	-
Put all the pumpkins away in the bin	Very hard	Fail	0	-
Put all the pumpkins away in the bin	Very hard	Fail	0	-
Move the bananas to the bagel plate	Hard	Fail	0	-
Move the bananas to the bagel plate	Hard	Fail	0	-
Move the bananas to the bagel plate	Hard	Fail	0	-
Put the red hammer and black hammer in the left bin	Very hard	Success	100	138.4
Put the red hammer and black hammer in the left bin	Very hard	Fail	0	-
Put the red hammer and black hammer in the left bin	Very hard	Fail	0	-
Put the apple and yogurt in the bowl	Hard	Fail	0	-
Put the apple and yogurt in the bowl	Hard	Fail	0	-
Put the apple and yogurt in the bowl	Hard	Fail	0	-
Put away the snacks in the bin	Very hard	Fail	0	-
Put away the snacks in the bin	Very hard	Fail	0	-
Put away the snacks in the bin	Very hard	Fail	0	-
Put the fork and spoon in the ceramicmug	Very hard	Fail	50	-
Put the fork and spoon in the ceramicmug	Very hard	Fail	0	-
Put the fork and spoon in the ceramicmug	Very hard	Fail	0	-
Take the mugs off the shelf	Easy	Fail	50	-
Take the mugs off the shelf	Easy	Success	100	73.5
Take the mugs off the shelf	Easy	Fail	0	-
Put hammers in the right bin and do not touch anything else	Very hard	Fail	0	-
Put hammers in the right bin and do not touch anything else	Very hard	Fail	0	-
Put hammers in the right bin and do not touch anything else	Very hard	Fail	0	-
Pack canned foods into the bin	Hard	Fail	0	-
Pack canned foods into the bin	Hard	Fail	0	-
Pack canned foods into the bin	Hard	Fail	0	-
Put the non-hammer tools in the right bin	Very hard	Fail	0	-
Put the non-hammer tools in the right bin	Very hard	Fail	0	-
Put the non-hammer tools in the right bin	Very hard	Fail	0	-
Put the red hammer and black hammer in the left bin	Very hard	Fail	50	-
Put the red hammer and black hammer in the left bin	Very hard	Fail	50	-
Put the red hammer and black hammer in the left bin	Very hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Fail	0	-
Put all the cubes and blocks in the bin	Easy	Fail (1/2)	88	-
Put all the cubes and blocks in the bin	Easy	Fail (1/2)	75	-
Put all the cubes and blocks in the bin	Easy	Success	100	192.6
Sort all colored blocks into the bin	Medium	Fail	25	-
Sort all colored blocks into the bin	Medium	Fail	50	-
Sort all colored blocks into the bin	Medium	Fail	50	-
Put all of the serving spoons with no holes in the pot	Hard	Fail	67	-
Put all of the serving spoons with no holes in the pot	Hard	Fail	33	-
Put all of the serving spoons with no holes in the pot	Hard	Fail	33	-
Sort the sauce condiments into the grey bin	Hard	Fail	50	-
Sort the sauce condiments into the grey bin	Hard	Fail	75	-
Sort the sauce condiments into the grey bin	Hard	Fail	75	-
Put the green spoons in the pot	Hard	Fail	33	-
Put the green spoons in the pot	Hard	Fail	33	-
Put the green spoons in the pot	Hard	Fail	33	-
Put the electronic devices in the grey bin	Hard	Fail	50	-
Put the electronic devices in the grey bin	Hard	Fail	50	-
Put the electronic devices in the grey bin	Hard	Fail	50	-
Put the two measuring cups outside of the plate	Hard	Fail	0	-
Put the two measuring cups outside of the plate	Hard	Fail	0	-
Put the two measuring cups outside of the plate	Hard	Fail	0	-
Pack canned foods into the bin	Hard	Fail	0	-
Pack canned foods into the bin	Hard	Fail	33	-
Pack canned foods into the bin	Hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Fail	0	-
Pack boxed foods into the bin	Very hard	Fail	0	-
Put all plastic bottles away in the bin	Medium	Fail	33	-
Put all plastic bottles away in the bin	Medium	Fail	67	-
Put all plastic bottles away in the bin	Medium	Fail	33	-
Take out all the hammers and put them on the table	Very hard	Fail	0	-
Take out all the hammers and put them on the table	Very hard	Fail	0	-
Take out all the hammers and put them on the table	Very hard	Fail	0	-
Clean up all the smaller toys and leave the birdhouse on the table	Very hard	Fail	0	-
Clean up all the smaller toys and leave the birdhouse on the table	Very hard	Fail	0	-
Clean up all the smaller toys and leave the birdhouse on the table	Very hard	Fail	0	-
Clear away the organic objects	Very hard	Fail	0	-
Clear away the organic objects	Very hard	Fail	0	-
Clear away the organic objects	Very hard	Fail	0	-
Put all the fruits on the plate	Hard	Fail	71	-
Put all the fruits on the plate	Hard	Fail	29	-
Put all the fruits on the plate	Hard	Fail	29	-

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