Available Tasks

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