Single-stage · OpenDrawer¶
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 runs for every task of a run.
Codex + GPT-6 Luna, reasoning xhigh (ChatGPT login)default runclosed
| Trial | Started | Agent time | Model requests | Tokens in / out | Est. cost | Grade |
|---|---|---|---|---|---|---|
| U✓ 44m | 10-01 19:18 | 44m | — | 5.4M / 78k | $0.113 | deterministic 1, grader_error 0, missing_trajectory 0, n_actions 642, replay_success 1, video_rendered 1 |
| L✗ 58m | 10-01 19:18 | 58m | — | 19.6M / 130k | $0.286 | deterministic 1, grader_error 0, live_success 0, missing_log 0, replay_success 0, video_rendered 1 |
Task instruction (upstream)
Open the right drawer.
Playback speed
Recorded by us: our reference solution, replayed by the verifier (the scene camera).
What RoboCasa states about this task
| Success criteria | 1. The right drawer is at least 95% open (the drawer's travel is scaled to 0–100% over 0.55 × the drawer's depth). 2. unlimited (privileged): both fresh-process replays of the handed-in trajectory end in the same state, and the check holds on it 3. 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/OpenDrawer |
| Robot | Franka Panda on an Omron mobile base with a torso lift (PandaOmron) |
| Category | Single-stage · kitchen drawer |
| Instance | the initial state of official demonstration episode 0 (demo_1, v0.1/single_stage/kitchen_drawer/OpenDrawer/2024-05-03); MuJoCo state, model arrays, task state and RNG frozen in instance.npz (SHA-256 129942a0a014…, checked on load) |
| Deliverable | (T, 12) native controller commands, 1 ≤ T ≤ 3000, 20 Hz |
| Reference Solution | The demonstration's own actions (original: 201 actions), executed from the frozen scene by the robot's own controller: 201 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-open-drawer-i00-privileged: the same frozen instance and success check, served by the sim sidecar (images/robocasa/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:0.1.0 |
| Agent Budget | 3600 s of wall clock per mode |
| Environment Source | https://github.com/robocasa/robocasa/blob/756598a5be52e052339bb2d957426e39015c2afb/robocasa/environments/kitchen/single_stage/kitchen_drawer.py#L185 |
| Task Dirs | robocasa-open-drawer-i00-privileged, robocasa-open-drawer-i00-standard |
From https://github.com/robocasa/robocasa @ 756598a (v0.2), 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.