Composite · DeliverBrewedCoffee¶
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 RoboCasa365 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 up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.
Playback speed
Recorded by us: our reference solution, replayed by the verifier (the scene camera).
What RoboCasa365 states about this task
| Success criteria | 1. The check for DeliverBrewedCoffee requires that the coffee and the breakfast plate both touch the dining counter with their centres at most 0.3 m apart (horizontally), and the gripper ends more than 0.25 m from the coffee. 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 | robocasa365/DeliverBrewedCoffee |
| Robot | Franka Panda on an Omron mobile base with a torso lift (PandaOmron) |
| Category | Composite · brewing |
| Instance | the initial state of official demonstration episode 0 (demo_0); MuJoCo state, model arrays, task state and RNG frozen in instance.npz (SHA-256 a646afc2d881…, checked on load) |
| Deliverable | (T, 13) native controller commands, 1 ≤ T ≤ 3000, 20 Hz |
| Reference Solution | Retargeted by PR #4 from official demonstration episode 0 (demo_0, 441 recorded actions; RoboCasa365's demonstrations use a different arm controller): it follows the demonstration's recorded arm joint positions as this controller's absolute joint targets, with the base and torso commands corrected by feedback (PR #4 method demo_feedback). Executed from the frozen scene by the robot's own controller: 441 actions in solution/oracle.npz. Neither the demonstration nor the reference is in the image; the agent cannot reach them. |
| Limited Mode | Standard mode (robot as a service, eai-standard/2.1) of robocasa365-deliver-brewed-coffee-i00-privileged: the same frozen instance and success check, served by the sim sidecar (images/robocasa365/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-robocasa365:0.1.0 |
| Agent Budget | 3600 s of wall clock per mode |
| Environment Source | https://github.com/robocasa/robocasa/blob/4f8a2980def75a55dff96b990745b83540425f09/robocasa/environments/kitchen/composite/brewing/deliver_brewed_coffee.py#L4 |
| Task Dirs | robocasa365-deliver-brewed-coffee-i00-privileged, robocasa365-deliver-brewed-coffee-i00-standard |
From https://github.com/robocasa/robocasa @ 4f8a298 (robocasa 1.0.1), as defined in our task definitions @ 8c5594a43.
Tags¶
Task DomainMobile / Whole-body Manipulation
Why this task is interesting¶
Not yet written.
Capability notes¶
Not yet written.
Oracle demo review¶
Not yet reviewed.