T-Rex

T-Rex Tasks 12 Tactile-Reactive
Dexterous Manipulation Tasks

A real-world suite of 12 contact-rich dexterous manipulation tasks, spanning behaviors that require precise regulation of contact forces, behaviors that depend on sensing physical deformation invisible to vision alone, and behaviors that combine the two in longer bimanual sequences. Each task is evaluated with one of two rubrics: an additive rubric awarding partial credit for each completed sub-step, or a progress-based rubric scoring how far the robot advanced along a predefined success hierarchy.

I

Flip Page

“Turn a page of the book from right to left using your right index finger.”

Grading Rubric (Additive)

  • +0.3(a)Successfully touched the book page with a single finger.
  • +0.3(b)Using the index finger turn the page up.
  • +0.4(c)Successfully flips exactly one page from right to left and smooths it flat.
II

Transfer Egg

“Using the right thumb and index finger, pick up the egg from the green egg tray and place it into the yellow egg tray.”

Grading Rubric (Additive)

  • +0.2(a)Approaches the egg and makes contact without knocking it off the table.
  • +0.3(b)Lifts the egg off the table without cracking it.
  • +0.2(c)Transports the egg above the yellow container.
  • +0.3(d)Releases the egg inside the container intact.
III

Wipe Plate

“There is a white plate and a white cloth on the table; the white plate has colored stains on it. Use your right hand to pick up the cloth, hold the plate steady with your left hand, and then use the cloth to wipe away the stains.”

Grading Rubric (Additive)

  • +0.2(a)Right hand grasps the rag.
  • +0.1(b)Left hand presses down on the plate to hold it steady.
  • +0.2(c)Brings the rag into contact with the plate surface.
  • +0.4(d)Wipes the plate until the design is fully removed (no visible ink remaining).
  • +0.1(e)Places the rag back on the table and releases the plate.
IV

Apply Toothpaste

“On the left side of the countertop sits a cup holding a toothbrush, while an open tube of toothpaste rests on the right. Pick up the toothbrush with your left hand and the toothpaste with your right, squeeze some toothpaste onto the brush, and then set the tube back down.”

Grading Rubric (Additive)

  • +0.2(a)Grasps the toothbrush.
  • +0.1(b)Grasps the toothpaste tube.
  • +0.4(c)Dispenses a bead of toothpaste onto the bristles.
  • +0.2(d)Returns the toothbrush upright into its holder.
  • +0.1(e)Places the toothpaste tube back on the table.
V

Split Cup

“A stack of red plastic cups sits on the desktop; use the right hand to slide out the topmost one, exerting effort to separate it from the rest of the stack.”

Grading Rubric (Additive)

  • +0.2(a)Left hand grasps and stabilizes the cup stack.
  • +0.3(b)Right hand grasps the topmost cup of the stack.
  • +0.3(c)Right hand twists and separates exactly one cup from the stack.
  • +0.2(d)Right hand holds the single separated cup intact.
VI

Sort Mahjong

“Three boxes are placed on the table, representing the Mahjong tiles ‘Red Zhong’, ‘Green Fa’, and ‘White Blank’, respectively. In the center of the table lies a single Mahjong tile, placed face-down. Now, using your right hand, grasp the tile and discern its pattern; then, use your left hand to open the box corresponding to that pattern and place the tile inside.”

Grading Rubric (Additive)

  • +0.1(a)Right hand picks up the face-down mahjong tile.
  • +0.5(b)Left hand slides open the lid of the correct compartment.
  • +0.2(c)Right hand places the tile into the correct compartment.
  • +0.2(d)Right thumb closes the compartment lid.
VII

Open Lock

“On the left side of the desk lies a red book, atop which rests a gray key; on the right side is a lock. Using your left thumb and index finger, slide the key free; then, pick up the lock with your right hand and use the key to unlock it.”

Grading Rubric (Additive)

  • +0.2(a)Grasps the key.
  • +0.1(b)Grasps the padlock.
  • +0.4(c)Aligns and inserts the key into the keyhole.
  • +0.3(d)Rotates the key and successfully opens the lock.
VIII

Refill Tablet

“Use your left hand to open one of the compartments in the small box, use your right hand to grasp the small ball on the table, place the ball into the box, and then close the box.”

Grading Rubric (Additive)

  • +0.2(a)Left index finger presses the compartment button to unlock the lid.
  • +0.2(b)Left thumb flips the lid open.
  • +0.2(c)Right hand picks up the ball.
  • +0.2(d)Right hand places the ball into the open compartment.
  • +0.2(e)Right thumb presses the lid closed.
IX

Acid-Base Neutralization

“On the right side of the desktop stands an Erlenmeyer flask containing 200 mL of citric acid solution; on the left is a beaker holding 20 mL of NaOH solution, which includes bromothymol blue indicator — appearing blue due to its alkaline nature. Using your right hand, pick up the dropper and draw up approximately 5 mL of the acid solution; then, using your left hand to hold the beaker, perform an acid-base titration until the liquid in the beaker turns green or yellow.”

Grading Rubric (Additive)

  • +0.1(a)Right hand grasps the dropper from the conical flask.
  • +0.15(b)Right hand aspirates liquid from the conical flask.
  • +0.1(c)Left hand picks up the beaker.
  • +0.15(d)Right hand dispenses liquid from the dropper into the beaker.
  • +0.15(e)Left hand swirls the beaker to mix the contents.
  • +0.15(f)The solution in the beaker fully transitions from blue to colorless.
  • +0.1(g)Right hand returns the dropper to the conical flask.
  • +0.1(h)Left hand places the beaker back on the table.
X

Extract Card

“Next to the cube on the table lies a card case containing two cards. Pick up the case with the left hand, then use the right thumb to slide the cards out through the central opening; subsequently, use the right thumb and index finger to slide out the first card, taking care not to pull out the second one.”

Grading Rubric (Additive)

  • +0.2(a)Left hand picks up and holds the card sleeve.
  • +0.3(b)Right thumb rubs the cards partially out of the sleeve.
  • +0.3(c)Right thumb and index finger push the bottom card in.
  • +0.2(d)Right hand extracts the single top card from the sleeve.
XI

Deal Poker

“Pick up a stack of playing cards with your right hand, then transfer it to your left; hold the stack aloft with your left hand, use your right thumb to slide out the top card, grasp it, and place it into the card holder.”

Grading Rubric (Additive)

  • +0.1(a)Right hand grasps the card stack from above.
  • +0.2(b)Right hand transfers the stack to the left hand (handover).
  • +0.3(c)Right thumb flicks and adjusts until exactly one card protrudes from the top.
  • +0.3(d)Right hand successfully grasps the single protruding card.
  • +0.1(e)Right hand inserts the card vertically into the card slot.
XII

Screw Lightbulb

“There is a lightbulb and a base on the desktop. Use your left hand to pick up the lightbulb and transfer it to your right hand; then, use your left hand to hold down the base while using your right hand to screw the lightbulb into the base until it lights up.”

Grading Rubric (Additive)

  • +0.1(a)Left hand picks up the lightbulb.
  • +0.2(b)Left hand transfers the bulb to the right hand (handover).
  • +0.1(c)Left hand stabilizes the lamp socket.
  • +0.4(d)Right hand aligns the bulb and rotates continuously to engage the threads.
  • +0.2(e)Bulb is fully seated and the lamp illuminates.