Cook Bacon¶
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)
Take the tray with six slices of bacon out of the refrigerator in the kitchen, cook all six slices in the frying pan on the stove until they're cooked, and make sure the refrigerator is closed when you're done.
Measured on the stack we run — BEHAVIOR-1K v3.9.2 / OmniGibson 3.9.2 / Isaac Sim 5.1
| Goal predicates | cooked open |
| Quantifiers | forall |
| Goal clauses | 2 |
| Objects named in the goal | bacon.n.01 electric_refrigerator.n.01 |
| Objects in the problem | 12 in 7 categories |
| Rooms loaded | corridor_0 dining_room_0 entryway_0 garden_0 kitchen_0 living_room_0 living_room_1 |
| Demonstrations | 200 teleoperated episodes |
| Mean episode | 4m 16s (7,680 control steps at 30 Hz) |
| Base travel, mean | 20.92 m |
| Gripper travel, mean | left 8.2 m · right 11.26 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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