Overview

This site is a collection of images, benchmark results, and manipulation videos of robot manipulation puzzles that have been generated with a puzzle generation framework written in Python utilizing procedural content generation (PCG).

The puzzle generator source code can be found here.
The puzzles as URDF files can be found here.

The benchmarking source code can be found here.
Complete benchmark results including database files can be found here.

The puzzle manipulation source code can be found here.
A playlist with all manipulation videos can be found here.

Puzzles

Simple Sliders

Version 1: number_of_sliders = 2

Images

Benchmarks

Video

Version 2: number_of_sliders = 3

Images

Benchmarks

Video

Version 3: number_of_sliders = 4

Images

Benchmarks

Video

Version 4: number_of_sliders = 5

Images

Benchmarks

Video

Move N Times

Version 1: number_of_moves = seed = 1

Images

Benchmarks

Video

Version 2: number_of_moves = seed = 2

Images

Benchmarks

Video

Version 3: number_of_moves = seed = 3

Images

Benchmarks

Video

Version 4: number_of_moves = seed = 4

Images

Benchmarks

Video

Grid World

Version 1: seed = 0

Images

Benchmarks

Video

Version 2: seed = 1

Images

Benchmarks

Video

Version 3: seed = 2

Images

Benchmarks

Video

Version 4: seed = 3

Images

Benchmarks

Video

Continuous Space

Version 1: seed = 0

Images

Benchmarks

Video

Version 2: seed = 1

Images

Benchmarks

Video

Version 3: seed = 2

Images

Benchmarks

Video

Version 4: seed = 3

Images

Benchmarks

Video

Lockbox Random

Version 1: seed = 0

Images

Benchmarks

Video

Version 2: seed = 1

Images

Benchmarks

Video

Version 3: seed = 2

Images

Benchmarks

Video

Version 4: seed = 3

Images

Benchmarks

Video

Rooms

Version 1: seed = 0

Images

Benchmarks

Video

Version 2: seed = 1

Images

Benchmarks

Video

Version 3: seed = 2

Images

Benchmarks

Video

Version 4: seed = 3

Images

Benchmarks

Video