Real-World Evaluation on Five Custom Tasks for Kaedim

Move latte cup · max score 10

move the steel latte art cup onto the cutting board

Outcome	Score
Latte cup on cutting board, upright	10
Latte cup on cutting board, not upright	8
Latte cup gripped / moved	5
Anything else	0

Step limit 3,600 for the VLA policies (120 s at 30 Hz); 900 steps and 40 LLM calls for GPT-6-Astra (90 s at 10 Hz).

Clear table · max score 70

put all items on the table inside the blue bin

Item	Moved	Lifted	In box
Rubik's cube	5	10	15
Baseball	5	10	15
Purple plate	10	17	20
Red mug	5	8	10
Grapes	5	8	10

Sum over items. Zero for any item moved out of the box before the run ends.

Step limit 12,800 for the VLA policies (426 s at 30 Hz); 3,200 steps and 140 LLM calls for GPT-6-Astra (320 s at 10 Hz).

Bottles in bins · max score 20

put 2 glass bottles in the blue bin

Outcome	Score
Bottle in bin, upright	10
Bottle in bin, not upright	8
Bottle picked up	5
Bottle never picked up	0

Per bottle, best two bottles counted.

Step limit 6,400 for the VLA policies (213 s at 30 Hz); 1,600 steps and 70 LLM calls for GPT-6-Astra (160 s at 10 Hz).

Stack bowls · max score 50

stack the bowls on the sides on top of the center bowl

Outcome	Score
A bowl lifted (once, per bowl)	5
2 bowls overlapping	20
2 bowls stacked	30
3rd bowl overlapping stack of 2	40
3 bowls stacked, upright	50

Score is how far the robot got by the end of the run.

Step limit 3,600 for the VLA policies (120 s at 30 Hz); 900 steps and 40 LLM calls for GPT-6-Astra (90 s at 10 Hz).

Stack blocks · max score 30

stack the red block on the blue block

Outcome	Score
Arm moves toward red block, attempts pick	5
Red block gripped and lifted	10
Red block positioned over blue block	20
Red block resting on blue block at end	30
Blue block resting on red block at end	15
None of the above	0

Score is how far the robot got by the end of the run.

Step limit 3,600 for the VLA policies (120 s at 30 Hz); 900 steps and 40 LLM calls for GPT-6-Astra (90 s at 10 Hz).