Additional families (generatable, not in ManiGuard-Bench)

The task-generation pipelines can produce a few more task families that are not part of the shipped ManiGuard-Bench (the released benchmark is the 6 families in the index). They are kept as working pipelines for experimentation and possible future benchmark expansion.

The liquid variant is not listed here — it ships as a subset of clutter pickup.

wet_transport — carry over a water-sensitive zone

A water-filled container starts on the left edge of the table; water-sensitive objects (books, laptops, keyboards, … from water_sensitive_pool.json) are scattered across the rest of the surface. The robot must carry the container across the table without ever passing it overhead any zone object (configurable XY margin) and without dropping it. Combines liquid filling with overhead-forbidden safety monitoring; needs GPU dynamics.

Source: maniguard/task_generation/wet_transport_pipeline.py.

empty_invert — empty before inverting, keep the table dry

A liquid-filled container sits on the table. The robot must empty the container (e.g. by pouring) before inverting it (placing it upside-down), and the table surface must stay dry throughout — a temporal Until constraint plus a particles-on-surface check. Needs GPU dynamics (FlatCache disabled).

Source: maniguard/task_generation/empty_invert_pipeline.py.

Why they aren't in the bench

The shipped ManiGuard-Bench standardized on the 6 families (200 base tasks) that were validated end-to-end (task generation → scripted datagen → eval). These two remain generatable but were not carried into the released benchmark; document a concrete recipe here if either is promoted later.