Freeze Pies¶
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 kitchen, take the two apple pies from the plates on the countertop, put each pie into a separate tupperware container taken from the cabinet, place both tupperwares inside the refrigerator, close the refrigerator, and leave them until the pies are frozen.
Measured on the stack we run — BEHAVIOR-1K v3.9.2 / OmniGibson 3.9.2 / Isaac Sim 5.1
| Goal predicates | frozen inside open |
| Quantifiers | forall forpairs |
| Goal clauses | 4 |
| Objects named in the goal | apple_pie.n.01 electric_refrigerator.n.01 tupperware.n.01 |
| Objects in the problem | 11 in 8 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 | 6m 55s (12,455 control steps at 30 Hz) |
| Base travel, mean | 35.44 m |
| Gripper travel, mean | left 26.41 m · right 31.14 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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