[Submitted on 27 Sep 2026]
Title:Fiatlux: A Long-Horizon Benchmark for Humanoid Ladder Climbing and Light-Bulb Replacement
View a PDF of the paper titled Fiatlux: A Long-Horizon Benchmark for Humanoid Ladder Climbing and Light-Bulb Replacement, by Pavel Bushuyeu and 4 other authors
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Abstract:Existing benchmarks evaluate tabletop manipulation, flat-floor household activity, or humanoid locomotion and manipulation as separate task groups; none scores vertical mobility and dexterous work on a fragile payload in one long-horizon episode. We present Fiatlux, a light-bulb replacement benchmark built on NVIDIA Isaac Lab. In one episode, a Unitree G1 humanoid positions a step ladder under a ceiling or wall fixture, climbs it, exchanges a spent bulb in a socket for a fresh one, and leaves the spent one in a disposal crate. We decompose the episode into twelve subtask environments scored on difficulty-weighted gates. The goal is a successful replacement, with the fresh bulb seated, the spent one disposed of, neither dropped, and a fragility bound not crossed. Runs that fall short can earn partial credit. Observations are split into a standard mode (signals a physical robot could sense or estimate) and a privileged mode (exact simulator state). We specify the evaluation protocol and provide reference baseline implementations spanning RSL-RL PPO, zero-shot NVIDIA GR00T N1.7 Vision-Language-Action (VLA) models, and whole-body controllers. Additionally, we provide the teleoperated recordings used to specify and check the success gates. The benchmark code and the teleoperated recordings are available at this http URL.
Comments: 10 pages, 4 tables, 2 figures. Project page: this https URL
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.38216 [cs.RO]
(or arXiv:2609.38216v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.38216
arXiv-issued DOI via DataCite
Submission history
From: Pavel Bushuyeu [view email] [v1] Sun, 27 Sep 2026 03:54:35 UTC (480 KB)
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