Terminology
Use the task names from Table 2 of the HiveBoard paper in instructions, figures, result tables, and interfaces. The table below maps those names to the identifiers used in trial records.
Task names and identifiers
| Task name | Trial identifier (attachment_id) | Category |
|---|---|---|
| Ball valve | valve_ball | Torque |
| Ball valve + ring | valve_ball_ring | Torque |
| Gate valve (small) | valve_gate_small | Torque |
| Gate valve (large) | valve_gate_large | Torque |
| Circuit breaker | circuit_breaker | Torque |
| Light bulb | light_bulb | Precision |
| Thread (M8) | thread_m8 | Precision |
| Thread (M30) | thread_m30 | Precision |
| Peg insertion | peg_insertion | Precision |
| Button | button | Composed assembly |
| Lock and key | lock | Composed assembly |
| Drawer | drawer | Composed assembly |
| Shock absorber | shock_absorber | Composed assembly |
HiveBoard has 12 attachment designs evaluated in 13 conditions. The ball valve is evaluated without and with a friction ring, giving two conditions for the same attachment design. Ball valve + ring is the condition with the ring fitted. Record five trials for each of the 13 conditions, including separate blocks for Ball valve and Ball valve + ring.
The category headings are Torque-based tasks, Precision-based tasks, and Composed assembly tasks. In tables, use Torque, Precision, and Composed assembly. The abbreviation “Assembly” in existing templates and the paper's Table 2 refers to Composed assembly.
Hardware, tasks, and evaluation
| Term | Meaning |
|---|---|
| Honeycomb base | The structure into which the attachments are mounted. |
| Attachment | A physical mechanism mounted on the base, such as the drawer or a gate valve. |
| Task | The operation performed on an attachment, with a specified starting state and success criterion. |
| Condition | A scored task configuration. The two ball-valve configurations are separate conditions. |
| Trial | One recorded execution of a task, ending at success, failure, timeout, or a safety stop. |
| Platform | The end-effector and the system that positions and commands it. |
| End-effector | The gripper, hand, or other terminal device that interacts with the attachment. |
| Control interface | The interface used to command the platform. Record the control mode or policy separately where relevant. |
| Asset | A digital file or model, such as CAD geometry, a mesh, URDF, or USD. Use “attachment” for the physical mechanism. |
| Attempt | A discrete approach to the task within a trial; count from 1. Abandoning an approach and starting another adds one attempt. |
| Regrasp | A release followed by grasping the part again; count from 0. An initial grasp is not a regrasp. |
| Last completed stage | The highest completed stage of a composed assembly task, recorded as stage_reached; 0 means no stage was completed. |
| Dominant failure cause | The single cause recorded in failure_cause for an unsuccessful trial. |
Existing names in files
Older labels and file paths may use the names below. They refer to the same attachments; descriptive details such as the button cover or the threaded peg remain part of the task instructions.
| Existing label or filename term | Task name |
|---|---|
| Ball valve with friction ring | Ball valve + ring |
| Small gate valve; Valve Gate (Small) | Gate valve (small) |
| Large gate valve; Valve Gate (Large) | Gate valve (large) |
Light bulb socket; light bulb and socket; Lamp/ | Light bulb |
| M8 threaded fastener; Thread M8 | Thread (M8) |
| M30 threaded fastener; Thread M30 | Thread (M30) |
| Threaded peg insertion; Peg Insertion Plate | Peg insertion |
| Covered button; Hidden Push Button | Button |
Key/ | Lock and key |
Sliding Drawer; box in image/video filenames | Drawer |
spring in image/video filenames | Shock absorber |
Keep existing identifiers, paths, and data fields unchanged. For example, lock remains the trial identifier for Lock and key, light_bulb remains the identifier for Light bulb, and control_method remains the runner's stored field for the control interface. The CSV outcome fail is displayed as “Failure” in the runner.
Thread (M14) is available in the 3D viewer but is not one of the 13 scored conditions.
See How to perform each task for operating instructions and Trial logging for counting conventions.