G2A Jenga Challenge
Forecast. Plan. Act.
A simulation challenge for long-horizon bimanual Jenga manipulation.
About the Challenge
The G2A Jenga Challenge evaluates whether robot policies can reason about fragile structure, predict action consequences, and complete long-horizon manipulation without destabilizing the tower.
The challenge is built on TOWER, a simulation benchmark for bimanual tower manipulation. Participants develop policies using released simulated demonstrations and simulation assets, and are evaluated on standardized manipulation tasks.
Can a robot use visual and physical context to choose actions that make progress while preserving tower stability?
Benchmark Tasks
The public simulation release contains three task families, each with 2-layer and 3-layer variants.
Tower Transfer
Transfer blocks between source and target tower configurations while maintaining stable structure.
2 layers · 3 layersCross Tower Transfer
Perform sequential cross-tower transfers while preserving the target arrangement throughout execution.
2 layers · 3 layersVertical Stacking
Build stable vertical block structures through precise sequential manipulation.
2 layers · 3 layersPublic Data & Assets
The current public release provides simulated demonstrations and benchmark assets for model development.
TOWER-SimData
331 simulated demonstration episodes with bimanual robot states and commands, end-effector poses, four camera streams, and simulation task states.
331 episodes · 983,758 frames · HDF5TOWER-Assets
Simulation assets for the station, Jenga blocks, textures, and task descriptors used by the TOWER benchmark.
USD / USDA · Versioned releasesSimData and SimAssets are publicly available. Benchmark source code, held-out evaluation configurations, and the official evaluator are not part of the current public release.
Evaluation & Participation
Policies are evaluated on standardized simulation tasks, with task success as the primary measure of performance.
| Metric | What it measures | Direction |
|---|---|---|
| Success Rate | Complete-task success across evaluation episodes. | ↑ |
| Level Progress Rate | Required task progress completed before termination. | ↑ |
| Collapse Rate | Episodes in which the tower collapses during execution. | ↓ |
| Completion Time | Time required to complete the task. | ↓ |
How to Participate
Download SimData
Use the released demonstrations to study observations, actions, and task structure.
Build Your Policy
Train or adapt a policy for the three TOWER manipulation task families using the public data and assets.
Official Challenge Repository
Join the challenge and follow the official repository for submission and evaluation updates.
Important Dates
| Milestone | Date |
|---|---|
| Simulation Data & Assets Release | September 15, 2026 |
| Evaluation Milestone | October 31, 2026 |
| G2A Workshop at CoRL 2026 | November 12, 2026 |
Top-performing teams will be recognized at the G2A Workshop. Prize details will be announced separately.
Challenge Organizers
The G2A Jenga Challenge is organized by researchers working across generative modeling, robot learning, simulation, and embodied intelligence.
