GR1 · PosttrainPnPNovelFromPlateToPanSplitA¶
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 RoboCasa-GR1 runs for every task of a run.
Codex + GPT-6 Luna, reasoning xhigh (ChatGPT login)default runclosed
Not in this run: not in the sample (robot_coding_bench PR
Task instruction (upstream)
Pick the pear from the plate and place it in the pan.
Playback speed
Recorded by us: our reference solution, replayed by the verifier (the scene camera).
What RoboCasa-GR1 states about this task
| Success criteria | 1. the pear is in the pan: touching the pan, with its centre horizontally within 0.7 x the pan's horizontal radius of the pan's centre 2. the pear does not touch the counter 3. the pan is upright (its z axis has a world-z component above 0.8) 4. both hands are clear: each grip site (left and right) is more than 0.25 m from the pear's origin and more than 0.25 m from the pan's origin (any_gripper_obj_far, th = 0.25) -- release the pear and move both hands away before the end 5. the distractor object that starts on the plate with the pear is not in the pan. 6. unlimited (privileged): both fresh-process replays of the handed-in trajectory end in the same state, and the check holds on it 7. limited (standard): the one episode (no reset) is recorded by the service and replays to the same state; the check holds on it live and in the replay |
| Family | robocasa-gr1/PosttrainPnPNovelFromPlateToPanSplitA |
| Robot | Fourier GR1 humanoid: two arms, waist and two six-command Fourier hands; fixed base |
| Category | Pick and place (novel objects) |
| Instance | the initial state of official demonstration episode 0 (demo_1, HDF5/PosttrainPnPNovelFromPlateToPanSplitA.hdf5); MuJoCo state, model arrays, task state and RNG frozen in instance.npz (SHA-256 894b4bf8f397…, checked on load) |
| Deliverable | (T, 24) native controller commands, 1 ≤ T ≤ 3000, 20 Hz |
| Reference Solution | The demonstration's own actions (original: 181 actions), executed from the frozen scene by the robot's own controller: 181 actions in solution/oracle.npz. The demonstration is a reference solution: it is not in the image and the agent cannot reach it. |
| Limited Mode | Standard mode (robot as a service, eai-standard/2.1) of robocasa-gr1-plate-to-pan-i00-privileged: the same frozen instance and success check, served by the sim sidecar (images/robocasa-gr1/standard/server_casa.py, tool module casa_tool), which records the episode, replays it in a fresh simulator and judges it; the verifier grades the sidecar's record in a container of its own. The agent sees the robot's cameras (RGB-D, calibrated), its own joints and end effector, and the instruction. |
| Oracle | full |
| Base Image | ghcr.io/mll-lab-nu/eai-robocasa-gr1:0.1.0 |
| Agent Budget | 3600 s of wall clock per mode |
| Environment Source | https://github.com/robocasa/robocasa-gr1-tabletop-tasks/blob/4840e671596f93ca03651524b9f72ffb1aadfeff/README.md#L116 |
| Task Dirs | robocasa-gr1-plate-to-pan-i00-privileged, robocasa-gr1-plate-to-pan-i00-standard |
From https://github.com/robocasa/robocasa-gr1-tabletop-tasks @ 4840e67, as defined in our task definitions @ 8c5594a43.
Tags¶
CapabilityControl & Coordination
Task DomainManipulation
Why this task is interesting¶
Not yet written.
Capability notes¶
Not yet written.
Oracle demo review¶
Not yet reviewed.