Pavel Bushuyeu*1, Yujin Chen*1, Anton Nikolaev*2, Brian Shu*1,3, Igor Molybog1
*The first four authors contributed equally; their order is alphabetical by surname. 1Hawaiʻi AI Initiative (HawAII), University of Hawaiʻi at Mānoa · 2Independent researcher · 3Purdue University
A light-bulb replacement benchmark built on NVIDIA Isaac Lab. In one long-horizon episode a Unitree G1 humanoid positions a step ladder under a fixture, climbs it, exchanges a spent bulb for a fresh one, and leaves the spent one in a disposal crate. Twelve subtask environments are scored on difficulty-weighted gates, with reference baselines spanning RSL-RL PPO, zero-shot GR00T N1.7 vision-language-action models, and whole-body controllers.
