Putting Up Christmas Decorations Inside¶
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
| Trial | Started | Agent time | Model requests | Tokens in / out | Est. cost | Grade |
|---|---|---|---|---|---|---|
| U✗ 4h 00m 22% | 09-27 06:09 | 4h 00m | 514 | 64.9M / 240k | $0.889 | deterministic 1, grader_error 0, instance_exact 0, instance_ok 1, n_actions 2570, video_rendered 1 |
| L✗ 3h 43m 0% | 09-27 06:09 | 3h 43m | 560 | 71.9M / 281k | $0.959 | deterministic 1, grader_error 0, live_success 0, n_actions 5428, replay_success 0, video_rendered 1 |
Task instruction (upstream)
In the living room, take the wreath, three candy canes, and two pillar candles out of the wicker basket. Place the wreath and two of the candy canes on the same living-room sofa. Put the remaining candy cane on top of a dining-room table. Put both pillar candles together on top of one dining-room table (they can share the same table). Finally, place all three gift boxes under or right next to the Christmas tree in the living room.
Measured on the stack we run — BEHAVIOR-1K v3.9.2 / OmniGibson 3.9.2 / Isaac Sim 5.1
| Goal predicates | nextto ontop touching under |
| Quantifiers | exists forall forn |
| Counted quantities | 1 2 |
| Goal clauses | 5 |
| Objects named in the goal | candy_cane.n.01 christmas_tree.n.05 gift_box.n.01 pillar_candle.n.01 sofa.n.01 table.n.02 wreath.n.01 |
| Objects in the problem | 17 in 10 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 | 7m 37s (13,719 control steps at 30 Hz) |
| Base travel, mean | 41.33 m |
| Gripper travel, mean | left 16.75 m · right 22.54 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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