Clean Up Your Desk¶
Agent runs
Each mode of this task runs once per run. Est. cost is tokens at list price (data/prices.yml), never a bill; see the BEHAVIOR-1K runs for every task of a run.
Codex + GPT-6 Luna, reasoning xhigh (ChatGPT login)default run
Not in this run: not among the 30 chosen for the first round (2026-09-26): mostly particles, cutting and liquids, or long tidy-ups like chosen ones
Task instruction (upstream)
In the child's room, clean up the desk: put both folders and both paperback books into the bookcase; put the pencil and both pens into the pencil case and leave the case on the desk; take the stapler out of the bookcase and place it on the desk; move the laptop from the bed onto the desk and close it.
Measured on the stack we run — BEHAVIOR-1K v3.9.2 / OmniGibson 3.9.2 / Isaac Sim 5.1
| Goal predicates | inside ontop open |
| Quantifiers | forall |
| Goal clauses | 8 |
| Objects named in the goal | bookcase.n.01 desk.n.01 folder.n.02 laptop.n.01 paperback_book.n.01 pen.n.01 pencil.n.01 pencil_box.n.01 stapler.n.01 |
| Objects in the problem | 16 in 13 categories |
| Rooms loaded | childs_room_0 childs_room_1 childs_room_2 corridor_0 dining_room_0 entryway_0 garden_0 |
| Demonstrations | 200 teleoperated episodes |
| Mean episode | 11m 54s (21,418 control steps at 30 Hz) |
| Base travel, mean | 60.51 m |
| Gripper travel, mean | left 38.18 m · right 35.57 m |
| Evaluation instances | 20 public test instances (ids 301–320) |
Read from BDDL activity definitions + 2026-challenge-task-instances (licensed download), 2026-09-21.
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