BusyBox is a physical 3D-printable device for benchmarking affordance generalization in robot foundation models.

It features

• Modular design with 6 interchangeable modules (buttons, switches, sliders, wires, knob, and display)
• Open-source CAD files and bill of materials for easy reproduction
• Optional electronics and Raspberry Pi instrumentation for automated state logging
• Reconfigurable setups enabling systematic evaluation of generalization
• A language-annotated dataset of 1000+ demonstration trajectories oof BusyBox affordances

Please check out our website for more details.

For fully building a instrumented BusyBox capable of state logging, see the BOM.

First print the BusyBox following Printing Instructions with details on files to print and any details on print settings.

TODO: add instructions on how to assemble electronics with pictures

Instructions for flashing the Arduino Nano's firmware: Flashing Firmware

See Data Collection for a look into how we collected our data.