HiveBoard

HiveBoard is an open, modular, fully 3D-printable benchmark for manipulation of functional mechanisms. Its interchangeable attachments cover rotational, threaded, insertion, linear, and multi-stage tasks. The same board and protocol can be used with robot grippers, dexterous hands, teleoperated systems, and worn prosthetic hands.

For the paper, demonstration videos, and reported results, see the HiveBoard project website.

Documentation

Running an evaluation? Start with How to perform each task for initial states, actions, success criteria, timeouts, and resets. For example, see the shock absorber instructions.

• Benchmark overview
• Getting started
• 3D printing
• Assembly and mounting
• Attachment reference
• Evaluation Runner
• Evaluation protocol
• Data collection with DataHive
• Simulation assets

The printable parts, CAD models, articulated assets, protocol, and trial templates are maintained in the HiveBoard repository. The Isaac Lab environments are maintained in a separate repository.

Open calls for contributions

We invite laboratories and individual researchers to contribute datasets for learning-based manipulation, including robot states, actions, camera observations, timestamps, calibration, and task outcomes. There is no fixed episode count; larger collections of demonstrations and rollouts are encouraged.

Use DataHive to collect, annotate, validate, and upload episodes. We encourage labs running a benchmark evaluation to record learning data during the same trials when their system supports it.

We welcome functional attachments for activities of daily living and bimanual manipulation. Contact the authors before starting a design to check its suitability and avoid duplicating work.

Contributors who deliver at least one accepted, functional attachment with the complete files and validation evidence may be eligible for authorship on future papers that use the contribution. Smaller contributions may be acknowledged. See the requirements and credit policy.

Citation

If you use HiveBoard in your research, please cite the project paper:

@article{hiveboard2026,
  title   = {HiveBoard: An Open, Modular, 3D-Printed Benchmark of Industrial
             Mechanisms for Robotic and Prosthetic Manipulation},
  author  = {Godoy, Ricardo V. and de Souza, Enzo F. and Angarola, Matheus P. and
             de Lange, Rudy De-Xin and Negri, Juliano and Marsicano, Joao A. and others},
  journal = {Under review},
  year    = {2026},
  url     = {https://github.com/EESC-LabRoM/HiveBoard}
}

The citation metadata may change while the paper is under review. See the citation page before preparing a publication.