ACE-CaP-0 researchers achieved 221 successes across 240 physical trials, a 92.1% success rate, using eight task programs frozen before evaluation. No human or coding agent remained in the execution loop during the trials, although the programs continued to use perception and robot control systems. Tasks included charger insertion, uncapping a bottle and packing shoes, with mean physical execution times ranging from 0.97 to 2.27 minutes. Development allowed up to ten human-assisted scene resets per task, but the consistency of the development process and skill reuse under new conditions remain unestablished.
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