Compatibility Matrix
The matrix below shows which robot category each task supports. A ✓ marks a supported combination; a blank cell means it is not available. Tasks prefixed with _ (e.g. _manipulation) are reusable base templates rather than directly runnable scenarios.
Scope. This matrix is about robot categories only. A ✓ says a task accepts robots of that category; it does not say that the task is solved, that any learner has been validated on it, or that it has been run on physical hardware. Learner and hardware readiness are tracked separately — see the note below the table.
| Task | Manipulator | Mobile Manipulator | Mobile Robot |
|---|---|---|---|
lunalab | ✓ | ||
zerog_lab | ✓ | ||
_manipulation | ✓ | ||
debris_capture | ✓ | ||
excavation | |||
excavation_demo | |||
modular_assembly | ✓ | ||
multi_peg_in_hole | ✓ | ||
multi_sample_collection | ✓ | ||
peg_in_hole | ✓ | ||
sample_collection | ✓ | ||
screwdriving | ✓ | ||
solar_panel_assembly | ✓ | ||
_aerial | ✓ | ||
_ground | ✓ | ||
_orbital | ✓ | ||
aerial_navigation | ✓ | ||
beam_transport | ✓ | ||
flight | ✓ | ||
formation_following | ✓ | ||
formation_following_decentralized | ✓ | ||
formation_following_orbital | ✓ | ||
landing | ✓ | ||
locomotion_velocity_tracking | ✓ | ||
locomotion_waypoint_navigation | ✓ | ||
moonfall | ✓ | ||
orbital_evasion | ✓ | ||
orbital_waypoint_navigation | ✓ | ||
rendezvous | ✓ | ||
terrain_landscaping | |||
terrain_landscaping_crater | |||
terrain_landscaping_mound | |||
traversal | ✓ | ||
velocity_tracking | ✓ | ||
waypoint_navigation | ✓ | ||
_aerial_manipulation | ✓ | ||
_ground_manipulation | ✓ | ||
_orbital_manipulation | ✓ | ||
mobile_debris_capture | ✓ | ||
spacewalk | ✓ | ||
spacewalk_eva | ✓ | ||
spacewalk_iva | ✓ |
What this table does not say
A row in this matrix is not a support claim for any learner or for physical hardware.
For the terrain landscaping tasks specifically, the measured state is:
terrain_landscaping_crater | terrain_landscaping | |
|---|---|---|
| Dreamer integration runs one environment end to end | yes, with a reliability caveat | not measured |
| Dreamer learnability demonstrated | no — the gate could not be measured | no |
| TD-MPC2 supported | no — disabled, fails closed | no — disabled, fails closed |
Batched training (env.num_envs > 1) | no — refused fail-closed | no |
| Environment reachability by a scripted reference | no | no |
| Real-hardware validation | none exists | none exists |
Both landscaping rows above are blank in the matrix itself. That is the honest reading: neither task is offered as a solved, learner-validated, or deployable scenario. See Terrain Landscaping Training Readiness for the gate-by-gate detail and docs/superpowers/evidence/terrain_landscaping/readiness.json for the machine-readable report.