Composite · MakeIceLemonade¶
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)
Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.
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 MakeIceLemonade requires that the lemon wedge and at least one ice cube are in the glass (touching it, centres within 0.5 m horizontally), and the gripper ends more than 0.15 m from the lemon wedge and from both ice cubes. 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/MakeIceLemonade |
| Robot | Franka Panda on an Omron mobile base with a torso lift (PandaOmron) |
| Category | Composite · adding ice to beverages |
| Instance | the initial state of official demonstration episode 1 (demo_0); MuJoCo state, model arrays, task state and RNG frozen in instance.npz (SHA-256 e9a824eef72a…, checked on load) |
| Deliverable | (T, 13) native controller commands, 1 ≤ T ≤ 3000, 20 Hz |
| Reference Solution | Retargeted by PR #4 from official demonstration episode 1 (demo_0, 1620 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: 1620 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-make-ice-lemonade-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/adding_ice_to_beverages/make_ice_lemonade.py#L4 |
| Task Dirs | robocasa365-make-ice-lemonade-i00-privileged, robocasa365-make-ice-lemonade-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.