This table contains metadata for tasks in /home/xuningy/projects/robolab/robolab/tasks.
Filtered by subfolders: benchmark
Total Tasks: 120
| task_name | scene | instruction | episode_s | attributes | num_subtasks | difficulty_label |
|---|---|---|---|---|---|---|
| AnimalsInBinTask (benchmark/animals_in_bin.py) |  toys_cleanup.usda |
default: Put the lizards in the bin vague: Put away the animals specific: Pick up the two identical green lizard figurines and place them into the bin |
90 | semantics | 2 | simple |
| AppleAndYogurtInBowlTask (benchmark/apple_and_yogurt_in_bowl_task.py) |  workdesk_snacks.usda |
default: Put the apple and yogurt in the bowl vague: Put the food items in the bowl specific: Pick up the red apple and the small yogurt container and place both inside the bowl |
120 | affordance | 2 | moderate |
| BagelsOnPlateTask (benchmark/bagel_on_plate_task.py) |  bagel_plate_banana_bowl.usda |
default: Put the bagels on the plate vague: Plate some bagels specific: Pick up the two bagels from the table and place them onto the plate |
60 | semantics | 2 | simple |
| BananaInBowlTask (benchmark/banana_in_bowl_task.py) |  banana_bowl.usda |
default: Pick up the banana and place it in the bowl vague: Put the fruit in the bowl specific: Grasp the yellow banana and place it inside the red bowl on the table |
50 | semantics | 1 | simple |
| BananaOnPlateTask (benchmark/banana_on_plate_task.py) | bagel_plate_banana_bowl.usda |
default: Pick up the banana and put it on the plate vague: Put fruit on the dish specific: Pick up the yellow banana and place it flat on the white ceramic plate |
40 | 1 | simple | |
| BananasInBinOneMoreTask (benchmark/bananas_in_bin_one_more.py) |  bananas_5_grey_bin.usda |
default: Put one (1) more bananas in the grey bin. vague: Add a banana to the bin specific: Pick up one additional banana and place it in the grey bin alongside the ones already there |
60 | semantics, counting | 1 | moderate |
| BananasInBinThreeTotalTask (benchmark/bananas_in_bin_three.py) | bananas_5_grey_bin.usda |
default: Make sure there are 3 (three) bananas in the grey bin. vague: 3 bananas in the bin specific: In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside |
60 | semantics, counting | 1 | moderate |
| BananasInCrateTask (benchmark/bananas_in_crate.py) |  bananas_5_in_crate.usda |
default: Put 2 bananas in the crate vague: Put 2 bananas in the container specific: Put 2 bananas in the purple crate. Make sure there are exactly 2 (two) bananas in the crate. |
60 | counting | 1 | moderate |
| BananasOutOfBinTask (benchmark/bananas_out_of_bin.py) | bananas_5_grey_bin.usda |
specific: Take all the bananas out of the grey bin and put it on the table. default: Take the bananas out vague: Empty the grey bin |
90 | semantics, spatial | 2 | moderate |
| BananaThenRubiksCubeTask (benchmark/banana_then_rubiks_cube.py) |  rubiks_cube_banana_bowl.usda |
default: put the banana then the cube in the bowl vague: put banana then cube away specific: First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after |
60 | conjunction | 2 | simple |
| BBQSauceInBinTask (benchmark/bbq_sauce_in_bin_task.py) |  bin_condiments.usda |
default: Put the red BBQ sauce bottles in the grey bin vague: Put the bbq sauce bottles away specific: Pick up the two red BBQ sauce bottles from the table and place them into the grey bin |
90 | color, semantics | 2 | simple |
| BigPumpkinInBinTask (benchmark/clutter_big_pumpkin_task.py) |  clutter_fruit_bottle_bluebin.usda |
default: Put the bigger pumpkin in the bin vague: Put the big pumpkin away specific: Identify the larger pumpkin of the two pumpkins on the table and place it in the bin |
60 | size | 1 | simple |
| BlackItemsInBinTask (benchmark/black_items_in_bin.py) |  workdesk_bin.usda |
default: Put the black items in the grey bin vague: Clean up the dark items specific: Identify all black-colored objects on the table and place them into the grey bin |
120 | color, sorting | 5 | complex |
| BlocksInBinTask (benchmark/blocks_in_bin.py) | toys_cleanup.usda |
default: Sort all colored blocks into the bin vague: Put away the colored blocks specific: Put away the solidly-colored wooden blocks from the table and place them all into the bin |
150 | sorting | 4 | complex |
| BlockStackingOrderAgnosticTask (benchmark/block_stacking_order_agnostic_task.py) |  colored_blocks.usda |
default: Stack the blocks into a tower vague: Build a tower specific: Pick up the colored blocks and stack them vertically on top of each other, forming one tower |
90 | stacking | 3 | complex |
| BlockStackingSpecifiedOrderTask (benchmark/block_stacking_specified_order_task.py) | colored_blocks.usda |
default: Stack the blocks in the order from bottom to top: red, blue, green, yellow vague: Stack in the order of red, blue, green, yellow specific: Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower |
90 | stacking, color | 3 | complex |
| BowlInBinTask (benchmark/bowl_in_bin_task.py) |  bin_mug_mustard_marker_bowl.usda |
default: put the bowl in the grey bin vague: put away bowl specific: Pick up the bowl from the table and place it inside the grey bin |
60 | 1 | simple | |
| BowlStackingLeftOnRightTask (benchmark/bowl_stacking_left_on_right.py) |  bowls_2_table.usda |
default: Stack the left bowl on the right bowl vague: Stack the left bowl on the right specific: Pick up the bowl to the left of the robot and place it on top of the bowl to the right of the robot |
20 | spatial | 1 | simple |
| BowlStackingRightOnLeftTask (benchmark/bowl_stacking_right_on_left.py) | bowls_2_table.usda |
default: Stack the right bowl on the left bowl vague: Stack the right bowl on the left specific: Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot |
20 | spatial | 1 | simple |
| ButterAboveRaisinTask (benchmark/butter_above_raisin_task.py) |  butter_raisin_box.usda |
specific: Place the butter on top of the raisin box. The butter should end up on the raisin box. vague: Put butter on raisin box default: Pick up the butter box and place it on top of the raisin box |
40 | spatial | 1 | simple |
| CannedFoodInBinTask (benchmark/canned_food_in_bin_task.py) | bin_condiments.usda |
default: Put the canned food in the grey bin vague: Put away cans specific: Put the small canned tuna in the grey bin |
60 | semantics | 1 | simple |
| ClampInRightBinTask (benchmark/clamp_in_right_bin.py) |  tools_container.usda |
default: Put the spring clamp in the right bin vague: Put the clamp in the right bin specific: Pick up the spring clamp from the table and place it in the bin on the right side |
60 | semantics, spatial | 1 | simple |
| CleanUpToysTask (benchmark/clean_up_toys.py) | toys_cleanup.usda |
default: Clean up all the smaller toys and leave the birdhouse on the table vague: Clean up everything except the birdhouse specific: Pick up every toy object (rubiks cube, lizard figurines, colored blocks) from the table and place them all into the bin. Please ignore the birdhouse and don't touch it. |
300 | sorting, semantics | 9 | complex |
| ClearOrganicObjectsTask (benchmark/clutter_organic_objects_task.py) | clutter_fruit_bottle_bluebin.usda |
default: Clear away the organic objects vague: Put away all the food items specific: Identify every organic fruits and vegetables (lemon, lime, orange, pomegranate, pumpkin, red onion, avocado) on the table and place each into the bin |
240 | semantics | 11 | complex |
| ClutterPlasticTask (benchmark/clutter_plastic_task.py) | clutter_fruit_bottle_bluebin.usda |
default: Put all plastic bottles away in the bin vague: Clean up all the bottles specific: Pick up all three plastic bottles (milk jug, utility jug, and plastic bottle) from the table and place them into the bin |
180 | semantics | 3 | moderate |
| ClutterPumpkinTask (benchmark/clutter_pumpkin_task.py) | clutter_fruit_bottle_bluebin.usda |
default: Put all the pumpkins away in the bin vague: Clean up pumpkins specific: Pick up the big and small pumpkins from the table and place them all into the bin |
90 | semantics | 2 | simple |
| CoffeePotInBinTask (benchmark/coffee_pot_in_bin.py) | bin_condiments.usda |
default: Put the coffee pot in the grey bin vague: Put away the coffee pot specific: Pick up the black speckled coffee pot and place it inside the grey bin |
60 | semantics | 1 | simple |
| CondimentsInBinTask (benchmark/condiments_in_bin_task.py) | bin_condiments.usda |
default: Sort the sauce condiments into the grey bin vague: Put the sauces away specific: Pick up each sauce condiment bottle from the table and place it into the grey bin |
180 | semantics, sorting | 4 | complex |
| CookingClearPlateTask (benchmark/cooking_clear_plate_specific.py) |  cooking_table.usda |
default: Put the two measuring cups outside of the plate vague: Clear the plate specific: Pick up the orange measuring cup and the blue measuring cup from the plate and place each on the table surface |
180 | color, sorting | 2 | moderate |
| CookingPickPastaToolTask (benchmark/cooking_pick_pasta_tool.py) | cooking_table.usda |
default: Move the pink tool from this utensil container to the other utensil holder vague: Move the pink tool over to the other container specific: Remove the pink pasta tool from its current utensil container and place it in the other utensil holder |
60 | spatial, vague, color | 1 | simple |
| CubesAndBlocksInBinTask (benchmark/cubes_and_blocks_in_bin.py) | toys_cleanup.usda |
default: Put all the cubes and blocks in the bin vague: Put blocks away specific: Pick up every solid-colored cube and rubiks cubes from the table and place them all into the bin |
240 | sorting, conjunction | 7 | complex |
| DishesInBinTask (benchmark/dishes_in_bin.py) |  mugs2_bananas2_ketchup_rubiks3_bin.usda |
default: Put the dishware in the grey bin vague: Put away dishes specific: Pick up the two mugs and a bowl from the table and place them into the grey bin |
180 | vague, semantics | 3 | moderate |
| ElectronicsInBinTask (benchmark/electronics_in_bin_task.py) | workdesk_bin.usda |
default: Put the electronic devices in the grey bin vague: Put the gadgets away specific: Identify every electronic device on the table and place each one into the grey bin |
180 | semantics, sorting | 4 | complex |
| FoodPacking1BoxesTask (benchmark/foodpacking_1bin_1box.py) |  foodpacking_1bin_1box_1can.usda |
default: Pack boxed foods into the bin vague: Pack boxes specific: Pick up the boxed food item and place it inside the bin |
60 | semantics | 1 | simple |
| FoodPacking1CansTask (benchmark/foodpacking_1bin_1can.py) | foodpacking_1bin_1box_1can.usda |
default: Pack canned foods into the bin vague: Pack cans specific: Pick up the canned food item and place it inside the bin |
60 | semantics | 1 | simple |
| FoodPacking2BoxesTask (benchmark/foodpacking_1bin_2box.py) |  foodpacking_1bin_2box_2can.usda |
default: Pack boxed foods into the bin vague: Pack boxes specific: Pick up each boxed food item and place them all inside the bin |
180 | semantics | 2 | simple |
| FoodPacking2CansTask (benchmark/foodpacking_1bin_2can.py) | foodpacking_1bin_2box_2can.usda |
default: Pack canned foods into the bin vague: Pack cans specific: Pick up each canned food item and place them all inside the bin |
180 | semantics | 2 | simple |
| FoodPacking3BoxesTask (benchmark/foodpacking_1bin_3box.py) |  foodpacking_1bin_3box_3can.usda |
default: Pack boxed foods into the bin vague: Pack boxes specific: Pick up all three boxed food items and place each one inside the bin |
240 | semantics | 3 | moderate |
| FoodPacking3CansTask (benchmark/foodpacking_1bin_3can.py) | foodpacking_1bin_3box_3can.usda |
default: Pack canned foods into the bin vague: Pack cans specific: Pick up all three canned food items and place each one inside the bin |
240 | semantics | 3 | moderate |
| FoodPackingByColorTask (benchmark/food_packing_by_color_task.py) |  food_packing.usda |
default: Pack yellow objects in right container and blue object in the left container vague: Sort things by color specific: Pick up the yellow can and place it in the right container, then pick up the blue object and place it in the left container |
120 | spatial, sorting, color | 2 | moderate |
| FruitsGreenLimesOnPlateTask (benchmark/fruits_green_limes_on_plate.py) |  fruits_out_of_basket.usda |
default: Put all the green fruit on the plate vague: Plate green fruits specific: Put all green limes on the table and place them on the flat, beige colored plate |
90 | color | 2 | simple |
| FruitsMovingOrangeOrLimeTask (benchmark/fruits_move_orange_or_lime.py) |  fruits_in_basket.usda |
default: Move an orange or a lime to the wood bowl vague: Put an orange or lime fruit in the wooden bowl specific: Select either an orange or a green lime and place it inside the wooden bowl |
60 | conjunction | 1 | simple |
| FruitsMovingTask (benchmark/fruits_move_orange.py) | fruits_in_basket.usda |
default: Move an orange to the white bowl vague: Move orange to white bowl specific: Pick up one orange citrus fruit and place it inside the white bowl |
60 | color | 1 | simple |
| FruitsOnionTask (benchmark/fruits_onion_to_bowl.py) | fruits_in_basket.usda |
default: Put the onion in the wood bowl vague: Put the vegetable in the wood bowl specific: Pick up the round onion and place it inside the wooden bowl |
60 | semantics | 1 | simple |
| FruitsOnionToPlateTask (benchmark/fruits_onion_to_plate.py) | fruits_in_basket.usda |
default: Put the onion on the plate vague: Plate the onion specific: Pick up the round onion and place it on the flat plate |
60 | semantics, vague | 1 | simple |
| FruitsOnPlate3Task (benchmark/fruits_to_plate_3.py) | fruits_out_of_basket.usda |
default: Put three (3) fruits on the plate vague: Put three fruit on the plate specific: Select exactly three fruits (lemon, lime, orange, pomegranate) from the table and place all of them on the plate |
200 | semantics, vague, counting | 3 | complex |
| FruitsOnPlateTask (benchmark/fruits_to_plate.py) | fruits_out_of_basket.usda |
default: Put all the fruits on the plate vague: Put fruits on the plate specific: Pick up all fruits that are on the table and place them all onto the large round plate |
300 | semantics, vague | 7 | complex |
| FruitsOrangesOnPlateTask (benchmark/fruits_oranges_on_plate.py) | fruits_out_of_basket.usda |
default: Put all the oranges on the plate vague: Plate the oranges specific: Pick up all of the orange citrus fruit from the table and place them all on the plate, there should be two oranges on the plate |
90 | counting, vague, semantics | 2 | moderate |
| GrabABagelTask (benchmark/grab_a_bagel.py) |  breakfast_table.usda |
default: Grab a bagel vague: Grab some bread specific: Reach for one of the bagels on the table and pick it up |
30 | semantics | 1 | simple |
| GrabAFruitTask (benchmark/grab_a_fruit.py) | breakfast_table.usda |
default: Pick up a fruit vague: Grab a fruit specific: Reach for and grasp any one of the fruits on the table and lift it off the surface |
30 | semantics | 1 | simple |
| GreenSpoonsInPotTask (benchmark/green_spoons_in_pot.py) |  ladle_pot.usda |
default: Put the green spoons in the pot vague: Put the green utensils in the pot specific: Pick up all green-colored spoons and place them inside the cooking pot |
180 | reorientation, color | 3 | complex |
| HammersInLeftBinTask (benchmark/tool_organization_left_task.py) | tools_container.usda |
default: Put the red hammer and black hammer in the left bin vague: Put hammers in the left bin specific: Pick up the red-handled hammer and the black-handled hammer and place both in the left bin |
180 | semantics, spatial, color | 2 | moderate |
| JugsOnShelfTask (benchmark/jugs_on_shelf_task.py) |  shelf_with_cleaning_products.usda |
default: Put all the jugs on the shelf vague: Put the jugs on the shelf specific: Pick up both jugs from the table and place them on the shelf |
120 | semantics | 2 | simple |
| KeyboardOutOfBinTask (benchmark/keyboard_out_of_bin_task.py) | workdesk_bin.usda |
default: Take the keyboard out of the bin and put it on the table vague: Take the keyboard out specific: Reach into the bin, grasp the keyboard, lift it out, and place it on the table surface |
60 | spatial | 1 | simple |
| LargerObjectRaisinBoxInBinTask (benchmark/bigger_object.py) |  butter_raisin_box_grey_bin.usda |
default: Place the larger object in the grey bin. vague: Put the larger object away specific: Compare the objects and put the larger raisin box in the grey bin |
30 | size | 1 | simple |
| MarkerInMugTask (benchmark/marker_in_mug_task.py) |  workdesk.usda |
default: Put the whiteboard marker in the mug vague: Put the marker in the mug specific: Pick up the marker and drop it vertically into the mug, make sure the marker stands upright |
40 | affordance | 1 | moderate |
| MouseOnKeyboardTask (benchmark/mouse_on_keyboard.py) | workdesk.usda |
default: Put the computer mouse on the keyboard vague: Put the mouse on the keyboard specific: Pick up the computer mouse and place it on top of the keyboard |
60 | semantics | 1 | simple |
| MoveBananaToBagelPlateTask (benchmark/move_banana_to_bagel_plate.py) | breakfast_table.usda |
default: Move the bananas to the bagel plate vague: Put the bananas with the bagels specific: Pick up the yellow bananas and transfer them onto the plate containing the bagels |
90 | semantics | 2 | simple |
| MustardAboveRaisinTask (benchmark/mustard_above_raisin_task.py) |  mustard_raisin_box.usda |
default: Place the mustard on the raisin box. vague: Put bottle on box specific: Pick up the mustard bottle and put it on top of the raisin box. The mustard should end up directly above the raisin box. |
40 | spatial | 1 | simple |
| MustardInLeftBinTask (benchmark/mustard_in_left_bin.py) |  two_bin.usda |
default: Put the mustard in the left bin vague: Use the left bin for mustard specific: Pick up the mustard bottle and place it in the bin on the left side |
30 | spatial | 1 | simple |
| MustardInRightBinTask (benchmark/mustard_in_right_bin.py) | two_bin.usda |
default: Put the mustard in the right bin vague: Use the right bin for mustard specific: Pick up the mustard bottle and place it in the bin on the right side |
30 | spatial | 1 | simple |
| NonHammerToolsInRightBinTask (benchmark/non_hammer_tools_in_right_bin.py) | tools_container.usda |
default: Put the non-hammer tools in the right bin vague: Sort non-hammer tools to the right specific: Pick up the cordless drill and the spring clamp and place both in the bin on the right side, leaving the hammers untouched |
180 | semantics, spatial, sorting | 2 | moderate |
| OneBottleInSquarePailTask (benchmark/one_bottle_in_square_pail.py) | shelf_with_cleaning_products.usda |
default: Put any white plastic bottle in the square pail vague: Put a bottle in the square pail specific: Pick up one of the three white plastic bottles and place it inside the square pail |
60 | semantics | 1 | simple |
| OneBottleOnShelfTask (benchmark/one_bottle_on_shelf_task.py) | shelf_with_cleaning_products.usda |
default: Put any white plastic bottle on the shelf vague: Put a bottle on the shelf specific: Pick up one of the three white plastic bottles and place it on the shelf |
60 | semantics | 1 | simple |
| PhoneOrRemoteInBinTask (benchmark/phone_or_remote_in_bin_task.py) | workdesk_bin.usda |
default: Put the phone or the remote in the grey bin vague: Put the phone or the remote away specific: Choose either the black phone or the remote control and it into the grey bin next to the keyboard |
60 | conjunction | 1 | simple |
| PickDrillTask (benchmark/pick_drill.py) |  mugs4_measuringcup_drill_bowl.usda |
default: Pick up the cordless drill. vague: Get the drill specific: Pick up the orange cordless electric drill and lift it off the table |
40 | semantics | 1 | simple |
| PickGlassesTask (benchmark/pick_glasses_task.py) | workdesk.usda |
default: Pick up the eye glasses vague: Grab the glasses specific: Pick up the pair of black eyeglasses that's sitting on the table |
30 | semantics | 2 | simple |
| PickOrangeObjectTask (benchmark/cooking_orange_object.py) | cooking_table.usda |
default: Pick up the orange measuring cup vague: Pick up orange-colored thing specific: Identify and pick up the orange-colored object from the cooking area |
60 | color | 2 | simple |
| PickUpBluePitcherTask (benchmark/pick_up_blue_pitcher.py) |  blue.usda |
default: Pick up the large blue pitcher vague: Pick up blue object specific: Pick up the large blue pitcher on the table by the side handle and lift it off the table |
30 | color, affordance | 2 | moderate |
| PickUpGreenObjectTask (benchmark/pick_up_green_object.py) |  green.usda |
default: Pick up the green vegetable block vague: Pick up the green object specific: Identify the green vegetable block on the table and lift it off the table |
30 | color | 2 | simple |
| PinkSpoonInPotTask (benchmark/pink_spoon_in_pot.py) | ladle_pot.usda |
default: Put the pink spaghetti spoon in the pot vague: Put the pink spoon in the pot specific: Pick up the pink spaghetti serving spoon that's on the left plate and place it inside the pot in the center of the table |
60 | color, affordance | 1 | moderate |
| PlasticBottlesInSquarePailTask (benchmark/bottles_on_shelf_task.py) | shelf_with_cleaning_products.usda |
default: Put all the small plastic bottles in the square pail vague: Clean up small bottles in the square pail specific: Pick up the three small plastic bottles and place them inside the square shaped pail |
180 | semantics, sorting, size | 3 | complex |
| PutBowlOnShelfTopTask (benchmark/put_bowl_on_shelf.py) |  shelf_mugs_jug_bowl.usda |
default: Put the serving bowl anywhere on the shelf in front of you vague: Put the bowl on shelf specific: Pick up the white serving bowl that's on the table to the right and place it on any open space on the shelf on the center of the table |
60 | spatial | 1 | simple |
| PutMugsOnShelfTask (benchmark/put_mugs_on_shelf.py) | shelf_mugs_jug_bowl.usda |
default: Put the two mugs on the shelf vague: Put the mugs on shelf specific: Pick up the two mugs from the table and place them on the shelf in front of you |
180 | affordance, spatial, counting | 2 | moderate |
| PutTwoMugsOnShelfTask (benchmark/put_two_mugs_on_shelf.py) |  wire_shelf_mugs_plate_spatula.usda |
default: Put two (2) mugs on the wire shelf vague: Put the mugs on shelf specific: Select two mugs from the right side of the table and place them on the wire shelf in front of you |
180 | affordance, spatial, counting | 2 | moderate |
| RecycleCartonsOnBoxTask (benchmark/recycle_cartons_on_box.py) |  cartons_on_box.usda |
default: Put the cartons that can be recycled on the box vague: Put the carton recyclables on the box specific: Identify the food cartons that can be recycled and put them on top of the brown square box. |
90 | semantics | 2 | simple |
| RecycleCartonsVerticalCrateTask (benchmark/recycle_cartons_vertical_crate.py) |  cartons_in_vertical_crate.usda |
default: Put the cartons that can be recycled in the vertical crate vague: Recycle the cartons in the crate specific: Pick up the food cartons that can be recycled and place them into the vertical crate in the center of the table |
90 | semantics, spatial | 2 | moderate |
| RecycleCartonTask (benchmark/recycle_cartons.py) |  cartons_in_crate.usda |
default: Put the recyclable cartons in the grey bin vague: Recycle the cartons specific: Pick up the food cartons that can be recycled and place them into the grey bin in the center of the table |
90 | semantics, vague | 2 | simple |
| RedDishesInBinTask (benchmark/red_dishes_in_bin.py) |  rubiks_cube_banana_bowl_mug_bin.usda |
default: Put the red dishware in the grey bin vague: Clean up red dishware specific: Pick up each red mug and bowl from the table and place them in the grey bin |
60 | color, semantics | 2 | simple |
| RedItemsInBinTask (benchmark/red_items_in_bin.py) | rubiks_cube_banana_bowl_mug_bin.usda |
default: Put all the red things in the grey bin vague: Sort items by color specific: Identify every red-colored object on the table and place each one into the grey bin |
60 | color, sorting | 2 | moderate |
| ReorientAllMugsTask (benchmark/reorient_all_mugs_task.py) | mugs4_measuringcup_drill_bowl.usda |
default: Reorient all the mugs upright so that the opening is facing upwards. vague: Make sure the mugs are upright specific: Check each mug on the table and if any are tipped over or inverted, rotate them so the opening faces upward. Leave it if it's already upright. |
90 | reorientation | 3 | complex |
| ReorientJugTask (benchmark/reorient_jug.py) | shelf_with_cleaning_products.usda |
default: Stand the jug upright vague: Fix the jug specific: Grasp the jug that is tipped on its side place it upright |
60 | semantics, reorientation, affordance | 1 | moderate |
| ReorientRedMugTask (benchmark/reorient_red_mugs_task.py) | mugs4_measuringcup_drill_bowl.usda |
default: Put the red mug upright so that the opening is facing upwards. vague: Fix the red cup specific: Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright. |
60 | reorientation, color | 1 | moderate |
| ReorientWhiteMugsTask (benchmark/reorient_white_mugs.py) |  mugs4_measuringcup_drill_bowl_v2.usda |
default: Make sure all the white mugs are upright so that the opening is facing upwards. vague: Fix the cups specific: For each white mug that is tipped over or upside down, rotate it so the opening faces straight up |
60 | reorientation, color | 1 | moderate |
| RubiksCubeAndBananaTask (benchmark/rubiks_cube_and_banana_task.py) | rubiks_cube_banana_bowl.usda |
default: Put the cube and the banana in the bowl vague: Put everything in the bowl specific: Pick up the rubiks cube and the yellow banana and place both inside the bowl |
60 | conjunction | 2 | simple |
| RubiksCubeBehindBowlTask (benchmark/rubiks_cube_behind_bowl.py) | rubiks_cube_banana_bowl.usda |
default: Put the rubiks cube behind the bowl vague: Put the cube behind the bowl specific: Pick up the rubiks cube and place it on the table directly behind the bowl, further from you |
30 | spatial | 3 | moderate |
| RubiksCubeInFrontOfBowlTask (benchmark/rubiks_cube_in_front_of_bowl.py) | rubiks_cube_banana_bowl.usda |
default: Put the rubiks cube in front of the bowl vague: Put the cube in front of the bowl specific: Pick up the rubiks cube and place it on the table directly in front of the bowl, closer to you |
30 | spatial | 3 | moderate |
| RubiksCubeLeftOfBowlTask (benchmark/rubiks_cube_left_of_bowl.py) | rubiks_cube_banana_bowl.usda |
default: Put the rubiks cube to the left of the bowl vague: Put the cube left of the bowl specific: Pick up the rubiks cube and place it on the table to the left side of the bowl |
30 | spatial | 3 | moderate |
| RubiksCubeOrBananaTask (benchmark/rubiks_cube_or_banana_task.py) | rubiks_cube_banana_bowl.usda |
default: Put the cube or the banana in the bowl vague: Choose an object and put it in the bowl specific: Choose either the rubiks cube or the yellow banana and place it inside the bowl |
30 | conjunction | 1 | simple |
| RubiksCubeRightOfBowlTask (benchmark/rubiks_cube_right_of_bowl.py) | rubiks_cube_banana_bowl_mug_bin.usda |
default: Put the rubiks cube to the right of the bowl vague: Put the cube right of the bowl specific: Pick up the rubiks cube and place it on the table to the right side of the bowl |
30 | spatial | 3 | moderate |
| RubiksCubesInBinTask (benchmark/rubiks_cubes_in_bin.py) | toys_cleanup.usda |
default: Sort all rubiks cubes into the bin vague: Put away rubiks cubes specific: Pick up only the three rubiks cube from the table and place them all into the grey bin |
120 | sorting | 3 | complex |
| RubiksCubeTask (benchmark/rubiks_cube_task.py) |  rubiks_cube_bowl.usda |
default: Put the cube in the bowl vague: Put it in the bowl specific: Pick up the rubiks cube that's on the table and place it inside the bowl |
40 | 1 | simple | |
| RubiksCubeThenBananaTask (benchmark/rubiks_cube_then_banana.py) | rubiks_cube_banana_bowl.usda |
default: Put the cube then the banana in the bowl vague: Put the cube then banana in the bowl specific: First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl |
60 | conjunction | 2 | simple |
| SauceBottlesCrateTask (benchmark/sauce_bottles_crate_task.py) |  bottles_crate.usda |
default: Put the red bbq sauce bottle in the crate vague: Put the red bottle away specific: Pick up the red BBQ sauce bottle and place it inside the wooden crate |
40 | color, semantics | 1 | simple |
| SmallerObjectButterInBinTask (benchmark/smaller_object.py) | butter_raisin_box_grey_bin.usda |
default: Place the smaller object in the grey bin. vague: Put one in the bin specific: Compare the objects on the table, identify the smaller one, and place it in the grey bin |
30 | size | 1 | simple |
| SmallPumpkinInBinTask (benchmark/clutter_small_pumpkin_task.py) | clutter_fruit_bottle_bluebin.usda |
default: Put the small pumpkin in the bin vague: Put away the small pumpkin specific: Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin |
60 | size | 1 | simple |
| SmartphoneInBinTask (benchmark/smartphone_in_bin_task.py) | workdesk_bin.usda |
default: Put the smartphone in the grey bin vague: Put the phone in the bin specific: Pick up the smartphone in front of you and place it inside the grey bin alongside the keyboard |
60 | semantics | 1 | simple |
| SpoonInMugTask (benchmark/spoon_in_mug_task.py) | workdesk_bin.usda |
default: Put the metal spoon that's in the wooden bowl in the mug vague: Put the spoon in the mug specific: Take the metal spoon in the wooden bowl and place it inside the ceramic mug with the handle sticking out |
60 | affordance, spatial | 1 | moderate |
| SpoonsInPotTask (benchmark/spoons_in_pot.py) | ladle_pot.usda |
default: Put all of the serving spoons with no holes in the pot vague: Put the spoons with no holes in the pot specific: Pick up all of the serving spoons (two green, one red) with no holes from the table and place them inside the cooking pot |
180 | reorientation, semantics, affordance | 3 | complex |
| Stack3RubiksCubeTask (benchmark/rubiks_cube_stacking_task.py) |  rubiks_cube_3.usda |
default: Stack the rubiks cubes in a tower vague: Stack everything in a tower specific: Pick up the rubiks cubes and stack them vertically on top of each other on the table |
60 | stacking | 2 | moderate |
| StackWhiteMugsTask (benchmark/stack_white_mugs_task.py) | mugs4_measuringcup_drill_bowl.usda |
default: Stack the white mugs on top of each other. vague: Stack the white mugs specific: Take a white mug and place it on top of the other white mug |
60 | stacking, color | 2 | moderate |
| StackYellowOnRedTask (benchmark/stack_yellow_on_red.py) | toys_cleanup.usda |
default: Stack the yellow block on the red block vague: Stack blocks: yellow on red specific: Pick up the yellow block on the left and place it precisely on top of the red block in front of the birdhouse |
60 | stacking | 2 | moderate |
| TakeMeasuringSpoonOutTask (benchmark/take_measuring_spoon_out.py) | mugs4_measuringcup_drill_bowl_v2.usda |
default: Take the white colored measuring spoon out of the red bowl and put it on the table. vague: Take the measuring spoon out of the bowl specific: Reach into the bowl, grasp the measuring spoon, lift it out, and place it on the table surface |
40 | semantics | 1 | simple |
| TakeMugsOffOfShelfTask (benchmark/take_mugs_off_of_shelf.py) |  mugs_on_shelf.usda |
default: Take the mugs off the shelf vague: Clear the shelf specific: Remove each mug from the second level of the shelf and place them on the table below |
180 | semantics, affordance | 2 | moderate |
| TakeSpatulaOffShelfTask (benchmark/take_spatula_off_shelf.py) | wire_shelf_mugs_plate_spatula.usda |
default: Take the spatula off the shelf and put it on the table vague: Take the spatula off the shelf specific: Reach up and remove the spatula from the shelf, then place it flat on the table surface |
60 | affordance, spatial | 1 | moderate |
| ThrowAwayAppleTask (benchmark/throw_away_apple_task.py) | workdesk_snacks.usda |
default: Throw away the apple vague: Toss the apple specific: Pick up the red apple from the table and drop it into the grey bin to discard it |
60 | semantics | 1 | simple |
| ThrowAwaySnacksTask (benchmark/throw_away_snacks_task.py) | workdesk_snacks.usda |
default: Put away the snacks in the bin vague: Throw away the snacks specific: Pick up each snack item from the table and drop it into the bin to discard |
120 | semantics | 2 | simple |
| ToolOrganizationBothTask (benchmark/tool_organization_both_task.py) | tools_container.usda |
default: Put hammers in the right bin and do not touch anything else vague: Put hammers in the right bin specific: Pick up the red hammer and the black hammer and place them in the bin on the right side, leaving all other tools untouched |
180 | semantics, spatial | 2 | moderate |
| ToolOrganizationTask (benchmark/tool_organization_task.py) | tools_container.usda |
default: Put the red hammer and black hammer in the left bin vague: Put hammers in the left bin specific: Pick up the red-handled hammer and the black-handled hammer and place both in the left bin |
180 | semantics, spatial, color | 2 | moderate |
| ToolsPickingAllHammersTask (benchmark/tools_picking_all_hammers.py) |  tools_picking.usda |
default: Take out all the hammers and put them on the table vague: Empty the hammers bin specific: Remove every hammer from the left bin and place each one on the table in front of you |
240 | semantics, spatial | 4 | complex |
| ToolsPickingDrillTask (benchmark/tools_picking_drill.py) | tools_picking.usda |
default: Select the cordless drill and put it on the table vague: Get the drill specific: Pick up the cordless electric drill and place it on the table surface |
60 | spatial, semantics | 1 | simple |
| ToolsPickingHammerTask (benchmark/tools_picking_hammer.py) | tools_picking.usda |
default: Select the blue hammer and put it on the table vague: Get the blue hammer specific: Reach into the tool area, grasp the blue-handled hammer, and place it flat on the table surface |
60 | semantics, spatial, color | 1 | simple |
| ToyInBinTask (benchmark/lizard_in_bin_task.py) | workdesk_bin.usda |
specific: Put the green lizard figurine away in the grey bin default: Put the lizard away in the bin vague: Put the toy away |
60 | semantics | 1 | simple |
| UnstackRubiksCubeTask (benchmark/unstack_rubiks_cube.py) |  mug_banana_ketchup_bowl_rubiks3_bin.usda |
default: Unstack the rubiks cube tower vague: Unstack the tower specific: Remove each rubiks cube from the stacked tower one at a time and place them separately on the table |
90 | stacking | 2 | moderate |
| UtensilsInMugTask (benchmark/utensils_in_mug.py) | breakfast_table.usda |
default: Put the fork and spoon in the ceramicmug vague: Put the utensils in the mug specific: Take the fork on the bagel plate and put it in the ceramic mug, and take the spoon from the red bowl and put it in the mug |
90 | semantics, affordance | 2 | moderate |
| WhiteMugInCenterOfTableTask (benchmark/white_mug_in_center_of_table.py) |  objects_around_table.usda |
default: Put the white mug in the center of the table. vague: Move the mug to the center specific: Pick up the white ceramic mug and place it in the center of the table surface away from the other objects |
30 | color, spatial | 3 | moderate |
| WhiteMugsInBinTask (benchmark/white_mugs_in_bin.py) | mugs2_bananas2_ketchup_rubiks3_bin.usda |
specific: Put the two white mugs in the grey bin default: Clean up the white mugs vague: Put away all mugs |
60 | color | 2 | simple |
| WoodSpatulaToBowlTask (benchmark/wood_spatula_to_bowl.py) | fruits_in_basket.usda |
default: Put the wooden spatula in the bowl vague: Put the wood utensil in the bowl specific: Pick up the wooden spatula from the utensils box on the table and place it inside the wooden bowl in the center of the table |
60 | semantics | 1 | simple |
| YellowAndWhiteObjectsInBinTask (benchmark/yellow_and_white_objects_in_bin.py) | mug_banana_ketchup_bowl_rubiks3_bin.usda |
default: Put all white objects and yellow objects in the grey bin vague: Clean up white and yellow objects specific: Identify the white-colored and yellow-colored object on the table and place each one into the grey bin |
60 | color, conjunction | 2 | simple |
| YogurtInBowlTask (benchmark/yogurt_in_bowl.py) | breakfast_table.usda |
default: Put the small red yogurt in the red bowl vague: Put the yogurt in the bowl specific: Pick up the small red yogurt container and place it inside the red bowl |
40 | color, size | 1 | simple |
This table was generated automatically from CSV data. Last updated: 2026-05-07 13:52:20