Cleaning Up Plates and Food¶
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)
From the breakfast table in the kitchen, move both pizzas - keeping each on its plate - into the same refrigerator, put both bowls into one sink, and make sure the refrigerator is closed.
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 | exists forall forpairs |
| Goal clauses | 4 |
| Objects named in the goal | bowl.n.01 electric_refrigerator.n.01 pizza.n.01 plate.n.04 sink.n.01 |
| Objects in the problem | 13 in 8 categories |
| Rooms loaded | corridor_0 garden_0 kitchen_0 living_room_0 |
| Demonstrations | 200 teleoperated episodes |
| Mean episode | 7m 37s (13,696 control steps at 30 Hz) |
| Base travel, mean | 35.97 m |
| Gripper travel, mean | left 14.59 m · right 19.94 m |
| Evaluation instances | 20 public test instances (ids 301–320) |
Read from BDDL activity definitions + 2026-challenge-task-instances (licensed download), 2026-09-21.
Tags¶
Task DomainMobile / Whole-body Manipulation
Why this task is interesting¶
Not yet written.
Capability notes¶
Not yet written.
Oracle demo review¶
Not yet reviewed.