Jev robot control
Recorded xArm7 MuJoCo pick-and-place trial comparing Jev with two language-model controllers under the same Cartesian action interface.
Added to Jevfast
How it uses Jev
Each robot-control cycle asks Jev to choose a pick-and-place intent from measured geometry and contacts, then asks a second Jev request for X/Y/Z movement signs and the gripper command. A deterministic executor applies one bounded motion increment.
What Jev decides
Intent selectionExample answers · not a recorded Jev response · Source ↗
Question 1 · intent
YOUR APP
INSTRUCTION
Choose the next immediate pick-and-place intent from actual geometry and contact feedback.
STATE
Structured MuJoCo geometry, signed target-minus-tool errors, alignment and bilateral contact checks, and current action context; not camera pixels.
JEV · CHOICE
- approach
- grasp
- lift
- carry
- lower
- release
- withdraw
- finish
Motor incrementExample answers · not a recorded Jev response · Source ↗
Question 1 · x
YOUR APP
INSTRUCTION
Choose X-axis motion for the selected intent.
STATE
The same measured state plus selected_intent, per-axis current position and target errors.
JEV · CHOICE
- negative
- hold
- positive
Question 2 · y
YOUR APP
INSTRUCTION
Choose Y-axis motion for the selected intent.
STATE
The same measured state plus selected_intent, per-axis current position and target errors.
JEV · CHOICE
- negative
- hold
- positive
Question 3 · z
YOUR APP
INSTRUCTION
Choose Z-axis motion for the selected intent.
STATE
The same measured state plus selected_intent, per-axis current position and target errors.
JEV · CHOICE
- negative
- hold
- positive
Question 4 · gripper
YOUR APP
INSTRUCTION
Choose the gripper command for the selected intent.
STATE
The same measured state plus selected_intent, per-axis current position and target errors.
JEV · CHOICE
- open
- hold
- close
App workflow
- Observe the scene
Read structured simulator geometry and contact feedback for the current robot state.
- Choose intent and motor channels
Ask Jev for one intent Choice and then a second request for axis and gripper Choices.
- Execute and verify
Apply one bounded Cartesian increment, observe the next state, and record responses and trajectories for replay.
Why it is interesting
The same two-stage Cartesian interface was recorded for Jev and comparison language models; the repository provides replayable answers and physical trajectories instead of only a promotional speed claim.