Browse the task demonstrations below. Select a task tab to view the example video and the task metadata.
Long-Horizon
Bottle
Detergent
Dish
Dishwasher
Fruit
Make Sandwich
Microwave
Pen
Shop
Bottle
Location
Kitchen counter
Instruction
Move the bottle through the required long-horizon sequence and place it at the target location.
Score
Each bottle contributes `1/12`. The total score is the sum over all bottles that satisfy the configured target-region predicate in `goal`.
Detergent
Location
Laundry or utility area
Instruction
Find the detergent, complete the required interaction sequence, and place it at the goal region.
Score
Each detergent contributes `1/3`. The score is the sum of detergents that are successfully placed into the basket according to `goal`.
Dish
Location
Dining table or kitchen workspace
Instruction
Manipulate the dish through the multi-step task and finish at the designated target pose.
Score
Each required item contributes `1/5`: the dishes and glass must be in the big basket, and the spoon must be in the small basket. The final score is the sum of satisfied sub-goals.
Dishwasher
Location
Kitchen dishwasher station
Instruction
Open, interact with, and complete the dishwasher-related task sequence successfully.
Score
Open the dishwasher for `1/2`. Each of the two bowls placed inside contributes `1/6`, and closing the dishwasher contributes the remaining `1/6`.
Fruit
Location
Kitchen fruit area
Instruction
Handle the fruit items according to the long-horizon goal and finish with all required placements completed.
Score
Each of the three fruits placed into the target container contributes `1/5`, and pouring water contributes `2/5`.
Make Sandwich
Location
Kitchen preparation area
Instruction
Assemble the sandwich by executing the required multi-step preparation sequence.
Score
Each sandwich layer stacked on top of the previous one contributes `1/4`. The total score sums the four required stacking relations in `goal`.
Microwave
Location
Kitchen microwave station
Instruction
Complete the microwave interaction sequence, including object handling and appliance interaction.
Score
Opening the microwave contributes `1/2`. Each of the two egg tarts placed inside contributes `1/6`, and closing the microwave contributes the final `1/6`.
Pen
Location
Desk or study area
Instruction
Manipulate the pen across the required long-horizon sequence and end in the target region.
Score
Each pen contributes `1/3`. The score is the sum of pens that satisfy the configured final placement relation.
Shop
Location
Shelf or retail-style scene
Instruction
Finish the shop-style organization task by completing the required sequence of placements and interactions.
Score
Six objects staying in the checkout region for 30 steps contribute `1/6` each, and six objects placed on the left side contribute `1/6` each, following the configured shop predicates.
Pick-and-Place
Utensils to Holder
Bookmark on Book
Soap to Dish
Apple to Fruit Bowl
Remote to Holder
Perfume to Cosmetics Rack
Salt to Spice Rack
Apple from Shelf
Teacup to Saucer
Bowl to Plate
Utensils to Holder
Location
Kitchen utensil area
Instruction
Pick up the utensils and place them into the holder.
Score
Spoon placed on the holder contributes `0.5`, and fork placed on the holder contributes `0.5`. Order does not matter.
Bookmark on Book
Location
Desk or reading area
Instruction
Pick up the bookmark and place it on the target book.
Score
Score `1.0` if the bookmark is placed on the book with at least 40% overlap; otherwise `0.0`.
Soap to Dish
Location
Bathroom or sink area
Instruction
Pick up the soap and place it in the soap dish.
Score
Score `1.0` if the soap is placed on the dish; otherwise `0.0`.
Apple to Fruit Bowl
Location
Kitchen or dining table
Instruction
Pick up the apple and place it into the fruit bowl.
Score
Score `1.0` if the apple is placed into the fruit bowl; otherwise `0.0`.
Remote to Holder
Location
Living room table
Instruction
Pick up the remote and place it into the holder.
Score
Score `1.0` if the remote is placed on the holder with at least 40% overlap; otherwise `0.0`.
Perfume to Cosmetics Rack
Location
Vanity or cosmetics area
Instruction
Pick up the perfume bottle and place it on the cosmetics rack.
Score
Placing the perfume bottle above the rack contributes `0.5`, and inserting it into one slot of the rack contributes the remaining `0.5`.
Salt to Spice Rack
Location
Kitchen spice station
Instruction
Pick up the salt container and place it on the spice rack.
Score
Score `1.0` if the salt container is placed into the spice rack; otherwise `0.0`.
Apple from Shelf
Location
Shelf storage area
Instruction
Retrieve the apple from the shelf and move it to the designated target area.
Score
Score `1.0` if the apple is moved out beyond the shelf railing, meaning it is successfully taken out; otherwise `0.0`.
Teacup to Saucer
Location
Tea set or dining area
Instruction
Pick up the teacup and place it on the saucer.
Score
Placing the teacup on the saucer contributes `0.5`, and placing the teapot on the tray contributes `0.5`. Order does not matter.
Bowl to Plate
Location
Dining table
Instruction
Pick up the bowl and place it onto the target plate region.
Score
Score `1.0` if any one of the three bowls is successfully picked and placed onto the plate; otherwise `0.0`.
Dexterous & Precise
Collect Coffee Beans
Flip Cup & Collect Cookies
Frame Against Pen Holder
Install Gear
Peg in Hole
Put Glass in Glassbox
Tighten Nut
Collect Coffee Beans
Location
Tabletop manipulation scene
Instruction
Collect the scattered coffee beans into the target container or region.
Score
Each coffee bean placed in the jar contributes `0.5/7`. The total score is the sum over all seven beans.
Flip Cup & Collect Cookies
Location
Tabletop manipulation scene
Instruction
Flip the cup and collect the cookies according to the task requirement.
Score
The cup contributes `0.5` when its opening faces upward and its center axis stays within 10 degrees of the world Z axis. Each cookie placed in the bowl contributes `0.5/5`.
Frame Against Pen Holder
Location
Desk manipulation scene
Instruction
Move and align the frame against the pen holder at the required pose.
Score
Score `1.0` when the frame is upright, tightly leaning against the pen holder, and the frame normal stays within 45 degrees of the world Z axis.
Install Gear
Location
Assembly workstation
Instruction
Pick up the gear and install it onto the target shaft or slot.
Score
Score `1.0` when the operated gear is placed at the specified position and properly engaged with the other two gears.
Peg in Hole
Location
Assembly workstation
Instruction
Insert the peg into the target hole with the required precision.
Score
Score `1.0` when the peg axis is aligned with the hole axis, inserted to the required depth, and remains vertical.
Put Glass in Glassbox
Location
Fragile-object handling scene
Instruction
Pick up the glass carefully and place it into the glass box.
Score
Score `1.0` when the glasses are folded, placed inside the glasses box, and the box is closed. The folding angle must be within 20 degrees.
Tighten Nut
Location
Assembly workstation
Instruction
Align and tighten the nut to complete the fastening task.
Score
Score `1.0` when the nut is fully screwed onto the bolt.
