DishwasherBench – 前沿模型能否堆疊洗碗機？

DishwasherBench is a dishwasher-loading game on a physical simulation of one real machine, built to benchmark language models and playable by people in a browser. The game inside is called Spotless, and the packages are named @spotless/*.

A player loads a 3D model of a Bosch SMV4HAX40G with rigid-body physics. A wash on its Eco 50 programme is then simulated (jets, droplets, run-off, soil and detergent chemistry), and the player gets points for every item that comes out clean. On every level after the first, not everything fits, so the player has to choose what to load and how.

This is an early release, version 0.1.0. The simulation is calibrated on one test wash of the real machine. A score shows whether a player packed well and put cups, glasses and pots in mouth down. It does not yet show whether plates and cutlery were stacked so that they wash clean. The section What a score can be trusted for says so in full.

What is solid today: loading is deterministic rigid-body physics, every episode is a record that anyone can verify by replaying it and by washing its load again, and the same game is played by people in a browser and by models through MCP. What is rough is how the wash scores plates and cutlery.

Built and maintained by Composo. Many documents under docs/ are working records, kept as they were written; docs/README.md explains how to read them.

Loading the first level in the browser. A dinner plate is in hand over the lower basket, and "Suggest spots" has numbered the free seats, best first. The panel on the right holds the exact pose a program would send.

Contents

• What works today
• What a score can be trusted for
• Requirements
• Quick start
• Play in the browser
• Run a scripted player
• Run a model
• Results so far
• How it works
• Limitations and roadmap
• Where things are
• Contributing
• Licence, notices and disclaimer
• How to cite

What works today

• The machine. One Bosch SMV4HAX40G as data and geometry, from its owner's photographs and tape readings (packages/machine): both baskets with their tine rows, shelves and rests, the spray arms and the Eco 50 programme.
• Loading. A catalogue of items and soils, deterministic rigid-body loading (Jolt), and a session layer with the actions and queries of the game (place, remove, set_rack, list_slots, check_load and the rest).
• The wash. A simulation at two tiers. The official tier gives the scored result; the fast tier is a coarser preview. A cold official wash of the largest level takes 4.9 minutes on the reference machine, a MacBook Pro (Apple M3 Pro, 18 GB), best of three, and 5 to 8.5 minutes with another job running beside it, against a budget of 30.
• A course of seven levels, numbered in order of difficulty (docs/benchmark/levels.md), each with saved reference loads of three scripted players (careful, careless, random). Six pass the benchmark's gates on the reference loads; the tutorial does not (its careless load loses too little).
• Three ways to play. The page (apps/web), an MCP server for agents (packages/mcp), and a harness that runs scripted players and models and writes verified episode records (packages/bench).
• Checks. 48 loading phenomena from the literature as executable pairs of washes (docs/research/standards.md section 9), and a calibration tool that scores the simulation against a record of a real wash, fits parameters and ranks candidate test washes (the stored ranking is of an earlier parameter set and has not been run again).

Two models have played, through an OpenAI-compatible endpoint: six episodes on three levels at the official tier (Results so far). No person has played for a baseline, and the path for Anthropic's API has not been run against the live API.

What a score can be trusted for

The full account, with every number and where it comes from, is docs/validation/README.md. In short, the simulation has been checked against four things:

• One test wash on the real machine. Four egg-yolk plates on Eco 50. A prediction written before the result got the order of the plates and the form of the residue right, and was ten to thirty times too optimistic on the amount left on the two oven-dried plates. The calibration that followed moved one number: the share of the long soak during which the pump runs, from 0.5 to 0.8 (anywhere from 0.59 to 1). The record that the prediction came first is in the private development history, which is not published, so that order cannot be checked from this repository.
• Published class means of a sister machine (Bosch SMV6ECX51E, eco programme, reference detergent): cutlery within 0.1 of a score point, crockery 0.2 low, glass 0.1 to 0.5 low. This is a fit, not a prediction: the soil and chemistry defaults were set so that these numbers come out.
• 48 loading phenomena with evidence in the literature: 17 pass, 21 fail in size or sign, 1 is a faulty scenario and 9 need mechanisms that are not built.
• Its own book-keeping. Water is conserved exactly, and the same input gives the same result on one machine. The fast tier agrees with the official tier on 89 % of the verdicts of a standard 13-place load and on 97 % on the levels.

A score today shows whether a player packed well and put cups, glasses and pots in mouth down. It does not yet show whether plates and cutlery were stacked so that they wash clean.

About three quarters of the gap between a careful and a careless reference load is hollow pieces put in the wrong way up. The soils in those pieces (smoothie, tomato soup, ketchup, guacamole) rest on values from the literature that no test wash has checked.

Not modelled at all: drying, spots and film on glass, items moved by the jets, and soil settling on clean pieces. Only Eco 50 is calibrated and scored.

Requirements

DishwasherBench has been run on one machine: a MacBook Pro (Apple M3 Pro, 18 GB) under macOS 27. Every figure in this repository was measured on that machine. Linux and Windows are untested. Nothing is known to rule them out, and a report of what happens there is welcome (docs/ROADMAP.md).

• Node 20.19 or newer in the 20 line (.nvmrc pins 20.19.0). An older Node is refused at install. Node 22 has not been tried.
• pnpm 9 (package.json names 9.4.0; corepack enable picks it up).
• A GPU that Dawn can open. The wash traces water on the GPU through WebGPU from Node (the webgpu package, version 0.6.2, which carries prebuilt Dawn binaries). On the reference machine that is Metal. This version did not load on macOS 14.7 on the same hardware.
• Google Chrome or Chromium, for the pictures an agent is sent and for the scripts that drive the page. The harness looks for it in the usual install locations; set SPOTLESS_CHROME to the path of the program to choose another. Playing by hand needs only a desktop browser, and scripted players need none (--no-render).
• About 680 MB for the clone (a download of about 290 MB; the files themselves are about 385 MB, mostly photographs, screenshots and episode records) and about 420 MB for node_modules.
• 1 to 2 GB of memory for an official wash of a level (2.4 GB was seen on the standard 13-place load), and free ports 8787 (game server) and 8788 (MCP server).

Results are repeatable bit for bit on one machine. Across machines, operating-system builds and versions of the webgpu package they may differ in the last bits, which is why every result names the stack it was computed on (docs/research/spike-gpu-compute-macos27-recheck.md).

Quick start

git clone https://github.com/composo-ai/DishwasherBench.git
cd DishwasherBench
corepack enable                       # once: makes pnpm 9.4.0 available
pnpm install --frozen-lockfile        # about 15 seconds the first time

There is no build step for the packages: they are consumed as TypeScript source and run with tsx. Only the page is built, by the play command below.

The shortest thing that shows a result is to wash a saved load from the command line:

pnpm --filter @spotless/wash-runner wash-load tutorial-careful --tier fast       # under a minute
pnpm --filter @spotless/wash-runner wash-load tutorial-careful --tier official   # about 5 minutes the first time

It prints the points and, for each item, the verdict, the score and what is left on it. The saved loads are in packages/loader/loads/ (<level>-<player>.json). The first wash of a load works out where the water goes and keeps that in .spotless/exposure-cache, so a second wash of the same load takes seconds (pass --no-cache to switch this off).

To check that everything runs on your machine:

pnpm typecheck      # the root and every package; a few seconds
pnpm test           # every package; 8 to 17 minutes on the reference machine

How long pnpm test takes depends on what else the machine is doing. One test is skipped by design. The tests run real washes on the GPU.

A wash refuses to run when the parameter set is stale. The set the game washes with (anchored-v7.owner-capsule, in packages/calibration/anchors/) records the state of the simulation source and of the machine data it was made for. After a change to either, the wash stops and lists what differs. CONTRIBUTING.md explains the rule and how to make the set current again.

Play in the browser

pnpm --filter @spotless/web play

This builds the page and starts the game server. Open http://127.0.0.1:8787 (add --port <n> for another port). The page plays music: mute the tab, or use the Sound button, if you do not want it.

If the port is taken the server stops with serve: port 8787 is in use; give --port <n>. The server answers only the page it serves itself: a request that carries the Origin of another site gets 403 unless the server was started with --allow-origin <scheme://host[:port]> (may be repeated), and a request whose Host header names another host than the addresses the server listens on (127.0.0.1, localhost and [::1] by default) gets 403 as well (--allow-host <name> adds a name). Requests without an Origin header (the harness, the MCP server, curl) are not affected, and the client under the Vite development server needs no flag.

When you start the wash you are offered two kinds:

• Quick preview: the fast tier. About a minute; coarser, and a few verdicts may differ from the full wash. It is not the scored result.
• Full wash: the official tier. Several minutes; this is the scored result. After a preview, the report offers the full wash on the same load.

The game is scored on Eco 50 with one capsule of detergent (Finish Powerball Ultimate, 12.9 g). The levels are listed 1 to 7 with a difficulty figure, which is worked out from what is on the counter and is not a measured score.

Placing by pointing works for plates in a free row, bowls and cutlery. Two things do not work by pointing yet: a plate pointed at the gap next to a plate already placed often perches on its neighbour, and cups and glasses cannot be leant on the side rests of the upper basket. For both, pick the piece up and press "Suggest spots" (it costs one query), then click a numbered mark.

After a quick preview of a careless load of the first level: a bowl left mouth up holds 432 ml of water and is not clean, and the report says that a fork held the lower spray arm still. The banner says what a preview is: not the scored result. All of this is the simulation's output for a deliberately bad load, not a test of the real machine or detergent.

Looking closely at one item after the wash: the residue is painted where it was left, with its area and the water the item held.

Run a scripted player

A scripted player needs no model and costs nothing. This plays the first level with the careful reference player at the official tier, then verifies the record by replaying its actions and by washing the load a second time (about five minutes each):

pnpm --filter @spotless/bench bench run --levels tutorial --policies careful \
  --no-render --out "$PWD/.spotless/bench/scripted"
pnpm --filter @spotless/bench bench verify \
  "$PWD"/.spotless/bench/scripted/tutorial__careful__*/record.json --rewash

• Give --out as an absolute path; a relative one resolves inside packages/bench.
• The scripted players are empty, random, careless and careful. Add --tier fast for a preview in about a minute; a fast wash is labelled as a preview in the record and in the results table, and is never a score.
• Each run writes under --out: record.json, a results table (results.md, results.json), the data of the game server it started (server-data/) and, without --no-render, the pictures the tools returned.

The scripted careful player's load of the largest level (62 pieces on the counter, 49 loaded), from above and from the front and side. Both models that have played beat it.

Run a model

Everything about the harness, what each kind of player sees and what is recorded is in docs/benchmark/README.md.

A model run costs money. Copy .env.example to .env (which git ignores) and fill in the address and the key of your endpoint. The command prints the names of the variables it set, never a value, and neither the key nor the address is written to a record.

A model behind an OpenAI-compatible endpoint (OpenAI, Azure, or any server with the Responses or chat completions API):

pnpm --filter @spotless/bench bench run --levels tutorial --policies openai:gpt-6.1-sol \
  --max-input-tokens 2000000 --out "$PWD/.spotless/bench/sol-tutorial"

• The policy names the model or, on Azure, the deployment: openai:<model or deployment>.
• With no address set, no request is made: the episode ends at once with no result, and its record says no address of the API (set SPOTLESS_OPENAI_BASE_URL, or give --base-url). The command then exits with status 1, and pnpm reports the failed script.
• --max-input-tokens ends an episode before its requests add up to more. As measured with two models: the first level takes 0.4 to 0.65 million input tokens, a level of 37 pieces 2.5 to 2.8 million, and the largest level (62 pieces) 3.0 to 3.2 million, with 95 % or more of it read from the provider's cache. Use limits of 2,000,000, 12,000,000 and 20,000,000.
• The harness records tokens. It records a cost only when prices are given in .env.
• Without --tier fast the wash is at the official tier, which is the score.
• Each run writes the record, the transcript, the pictures and a results table under --out, and verifies the episode by replaying its action log.

A model through Anthropic's API, with the key in ANTHROPIC_API_KEY (put the model's id in place of <model id>):

pnpm --filter @spotless/bench bench run --levels tutorial --policies anthropic:<model id> \
  --max-input-tokens 2000000 --out "$PWD/.spotless/bench/anthropic-tutorial"

This path has not been run against the live API. It has unit tests against a local stand-in and nothing else behind it. A report of a first run is welcome. With no key the episode fails at once (Could not resolve authentication method). The SDK also accepts a stored login profile if you have one, so the absence of a key in .env does not guarantee that nothing is spent.

Connect an MCP client

Any agent that speaks MCP can play. An MCP server is bound to one episode, so the game server must be running in benchmark mode and the episode must exist first.

# 1. The game server (the token: 8 characters or more, of your choosing)
pnpm --filter @spotless/server exec tsx src/cli.ts serve --admin-token <token> --wash-tier fast \
  --data "$PWD/.spotless"

# 2. An episode; prints an address for the page, and the episode's id
pnpm --filter @spotless/server exec tsx src/cli.ts link --admin-token <token> \
  --level tutorial --player my-agent --agent

# 3. For a client that speaks streamable HTTP: serves http://127.0.0.1:8788/mcp
pnpm --filter @spotless/mcp exec tsx src/cli.ts --server http://127.0.0.1:8787 \
  --session <episode id> --http --port 8788

--data keeps the server's files, the episode records among them (.spotless/episodes/), in the directory the page uses; without it serve writes to packages/server/.spotless. The address that link prints shows the episode in the page, and works only once the page has been built (pnpm --filter @spotless/web build, which play also does); the MCP calls work either way. If the game server is on another port (serve --port <n>), give link its address with --server http://127.0.0.1:<n>. For a desktop client that starts the MCP server itself over stdio, the configuration is in docs/benchmark/README.md section 3.

Over HTTP the MCP server is for MCP clients on this machine: it answers 403 to any request that carries an Origin header and to a request whose Host header does not name an address it listens on (127.0.0.1, localhost or [::1] by default). For a client that reaches it under another name, for example from a container, start it with --allow-host <name>; the game server takes the same flag.

The agent gets thirteen tools (place, remove, reset, set_rack, start_cycle, get_level, get_item, get_state, render, preview, list_slots, check_load, get_report). To try one call by hand:

pnpm --filter @spotless/mcp exec tsx scripts/call.ts --url http://127.0.0.1:8788/mcp get_state '{}'

Both servers listen on 127.0.0.1 and are meant for use on your own machine (SECURITY.md).

Results so far

Two models have played three levels of the course at the official tier, through one OpenAI-compatible endpoint. One episode per cell is an anecdote, not a benchmark result, and nothing here ranks the two models.

Points, with the share of the level's points. The middle columns are the scripted reference players.

gpt-6.1-sol and gpt-6-astra are the names of the two deployments on the Azure endpoint used. The records hold that name and the reasoning effort the API reported (medium for both; the harness sent none); no model version or snapshot date was recorded.

The three scripted columns are the saved reference loads on the wash code as it is now (docs/benchmark/course-table.md). The reference records stored beside the model episodes were washed on the earlier code and read, for random and careless, 43 and 117 on the breakfast and, for random, 99 on the dinner party.

What six episodes are worth:

• The careful reference load is not a ceiling. Both models beat it on both full levels, by placing pans, a platter and boards that the scripted player never tries. Nothing here is normalised.
• Neither model made the mistake the levels are built around. No hollow piece was stood mouth up or laid on its side in six episodes, and what the models loaded came out 84 to 100 % clean. So the wash decided almost nothing between them: their scores differ by what they fitted in.
• Not shown: people, any Anthropic model, levels 2, 3, 5 and 6, money, or the spread of a model's own play (the one repeat reached 188 after 190 with a different load).

The records, transcripts and pictures of the six episodes, and a fuller account, are in docs/benchmark/first-runs/course/. Each of the six model episodes verifies by replay and by a second wash with the same verdicts and points. The wash code has changed once since they were played, so the second wash reports a different result hash and says why.

How it works

Loading. Every item and every part of the machine is a rigid compound of exact shapes generated from a parametric description; the picture, the collision shape and the surfaces the wash sees all come from that one description. Items are placed with rigid-body physics (Jolt) at a fixed step, with the player's inputs rounded to 1 mm and 1 degree, so that a person and a model act on the same grid and the same load always settles the same way. Every action is logged with a hash of the scene after it, and replaying the log must reproduce every hash. See docs/design/platform.md.

The wash. Jets are traced on the GPU from the nozzle positions measured on the machine and the turning of the arms, onto the exact shapes of the load. Splash and drips travel as droplets; water that lands runs down surfaces as a film, pools where a surface holds it and drains where it does not. A soil model per kind of soil then removes soil with time, temperature and the chemistry of the wash water (detergent, enzymes, bleach), over the whole programme. Where the water goes is cached apart from the soil and the chemistry, so a wash with other soil parameters replays in seconds to about a minute. The official tier works on blocks of 2 mm, the fast tier on 4 mm. See docs/design/scope.md for what is built and what is left out, and docs/design/sim-core.md for the physics as designed.

The scoring. After the wash an inspector looks at every item. An item is clean when it carries at most 4 specks and 4 mm² of visible soil, counting what dirty water left where it stood on the item. Each item is worth a number of points stated on the level card; a clean item earns them, an item that is not clean or was left on the counter earns nothing. An episode is one load and one wash. The report also gives a graded score from 0 to 5 for each item and what is left where, which do not change the points. See docs/benchmark/README.md and docs/benchmark/levels.md.

The calibration. Every physical constant of the wash is in a parameter registry with a default, a range and a source. A wash record describes a real test wash: the machine and the programme, each item with its soil and where it stood, and what was seen afterwards. The calibration tool runs the simulation on a record, scores it against what was seen, fits chosen parameters and says which parameters the data can and cannot identify. One such wash exists so far. See docs/calibration/wash-record.md, docs/calibration/fitting.md and, for the set the game washes with, docs/calibration/anchoring-v7.md.

Check the simulation yourself

The phenomena suite (48 phenomena, 82 washes; about 15 minutes at the fast tier when nothing is cached, two and a half when everything is). Run these from the root of the repository, in a POSIX shell:

INIT_CWD=. pnpm exec tsx packages/sim-verify/src/phenomena/cli.ts --list
INIT_CWD=. pnpm exec tsx packages/sim-verify/src/phenomena/cli.ts P01 P36 --tier fast \
  --out .spotless/phenomena
INIT_CWD=. pnpm exec tsx packages/sim-verify/src/phenomena/cli.ts P36 --tier fast \
  --params packages/calibration/anchors/anchored-v7.owner-capsule.json --dose-g 12.9 \
  --out .spotless/phenomena

With no ids it runs all 48. Without --params it washes with the registry defaults and the reference detergent; the third form washes as the game does, with the calibrated set and the capsule. By default the reports go to packages/sim-verify/phenomena/reports/, which holds the stored reports of the project; the commands above send them to the git-ignored .spotless/phenomena so that a trial does not overwrite a stored report.

The calibration tool, on the one test wash:

pnpm --filter @spotless/calibration spotless-fit validate \
  packages/calibration/records/owner/owner-wash-01-egg-yolk-eco50.measured.json
pnpm --filter @spotless/calibration spotless-fit predict \
  packages/calibration/records/owner/owner-wash-01-egg-yolk-eco50.measured.json \
  --params packages/calibration/anchors/anchored-v7.owner-capsule.json

validate checks a wash record; predict says what the simulation gives for every observation in it (five to seven minutes the first time, less once the water of the load is cached). Give --params: without it predict uses the registry defaults and says so; they are not the game's set and read all four plates as dirty. With the set, predict warns that there is no calibration.json beside it; that is expected.

The saved loads against the loading physics as it is now:

pnpm --filter @spotless/loader check-loads tutorial-careful
pnpm --filter @spotless/loader check-loads --jobs 3      # all 25 of them: about 50 minutes

Limitations and roadmap

The open problems, each written as something a contributor could pick up, are tracked as issues; docs/ROADMAP.md is the map of them. The largest:

• Stacking makes no difference for plates and cutlery. Plates fallen over, crowded cutlery and a stalled arm cost little or nothing.
• Faces lying within a millimetre or two of another body come out too clean. A mechanism for such gaps was built and is not in this repository, because it broke the cutlery control and its deciding parameter has no measurement behind it.
• Fat comes clean with no detergent, and starch always comes clean.
• One machine, one programme, one test wash. The soils the levels rest on have never been tested in a real wash.
• No human baseline, no repeated episodes, and no run through Anthropic's API.
• One platform. Linux and Windows are untested.

Where things are

Contributing

Bug reports, results that look physically wrong, test washes of a real machine, new levels, model results with their episode records and reports from other platforms are all welcome. CONTRIBUTING.md says how to set up, which checks to run before a pull request, and the one rule that surprises people: the simulation's source is fingerprinted, and a change to it has consequences. Please read the code of conduct.

Questions go to the question form among the issue forms. Anything private goes to support@composo.ai; to report a security problem, or something in a photograph or a record that should not be public, see SECURITY.md. The project is maintained at a small scale and there is no support commitment. What each version contains is in CHANGELOG.md.

Licence, notices and disclaimer

DishwasherBench is released under the MIT licence, copyright Composo Limited. Material from others, and the main software the project depends on, is listed in THIRD_PARTY_NOTICES.md: the music in the game is in the public domain (CC0), and the short passages that the research notes quote remain their authors'. The photographs of the machine are published with its owner's permission under the same MIT licence, and were prepared for publication as docs/reference/REDACTIONS.md describes.

DishwasherBench is an independent project of Composo Limited and is not affiliated with, sponsored by or endorsed by BSH Hausgeräte GmbH or Robert Bosch GmbH (Bosch), Reckitt (Finish) or any other manufacturer named in it. All product names and trademarks belong to their respective owners and are used only to identify what was measured. The simulation is a simplified model of one privately owned machine, built from its owner's photographs, measurements and test wash together with public documents, and many of its parameters are estimates. Nothing in the game, the benchmark results or the documents is a statement about the performance, quality or safety of any real product, and the loading advice shown in the game is the project's own summary of the manufacturer's manual, not the manufacturer's instructions.

How to cite

CITATION.cff has the details in a form GitHub and reference managers read. In BibTeX:

@software{dishwasherbench,
  author = {{Composo}},
  title  = {DishwasherBench},
  version = {0.1.0},
  year   = {2026},
  url    = {https://github.com/composo-ai/DishwasherBench}
}