Sorting Household Items¶
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 two baskets on the bedroom floor, take out the items and organize them in the bathroom: place both detergent bottles under the bathroom sink next to each other; put the box of sanitary napkins on the bathroom shelf; set the soap dispenser on the sink; make sure the cup remains on the sink; put both the toothpaste tube and the toothbrush inside the cup.
Measured on the stack we run — BEHAVIOR-1K v3.9.2 / OmniGibson 3.9.2 / Isaac Sim 5.1
| Goal predicates | inside nextto ontop under |
| Quantifiers | forall |
| Goal clauses | 7 |
| Objects named in the goal | bottle__of__detergent.n.01 box__of__sanitary_napkin.n.01 cup.n.01 shelf.n.01 sink.n.01 soap_dispenser.n.01 toothbrush.n.01 tube__of__toothpaste.n.01 |
| Objects in the problem | 13 in 11 categories |
| Rooms loaded | bathroom_0 bathroom_1 bedroom_0 corridor_0 dining_room_0 entryway_0 garden_0 |
| Demonstrations | 200 teleoperated episodes |
| Mean episode | 8m 47s (15,808 control steps at 30 Hz) |
| Base travel, mean | 50.91 m |
| Gripper travel, mean | left 25.34 m · right 28.24 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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