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================================================================================
ROBOLAB TASK STATISTICS — FULL REPORT
Total tasks: 120
================================================================================
## TASKS BY SUBFOLDER
----------------------------------------
benchmark : 120 tasks (100.0%)
====================================================================================================
TASK ATTRIBUTES SUMMARY
Total unique attributes: 11
Total tasks scanned: 120
Untagged tasks: 3
====================================================================================================
Attribute | Count
-------------------------
visual | 84
color | 26
semantics | 60
size | 6
relational | 42
conjunction | 8
counting | 7
spatial | 29
procedural | 34
affordance | 12
reorientation | 6
sorting | 12
stacking | 6
-------------------------
vague | 7
-------------------------
====================================================================================================
DETAILED BREAKDOWN BY ATTRIBUTE
====================================================================================================
AFFORDANCE (12 tasks):
1. AppleAndYogurtInBowlTask (benchmark/apple_and_yogurt_in_bowl_task.py)
2. MarkerInMugTask (benchmark/marker_in_mug_task.py)
3. PickUpBluePitcherTask (benchmark/pick_up_blue_pitcher.py)
4. PinkSpoonInPotTask (benchmark/pink_spoon_in_pot.py)
5. PutMugsOnShelfTask (benchmark/put_mugs_on_shelf.py)
6. PutTwoMugsOnShelfTask (benchmark/put_two_mugs_on_shelf.py)
7. ReorientJugTask (benchmark/reorient_jug.py)
8. SpoonInMugTask (benchmark/spoon_in_mug_task.py)
9. SpoonsInPotTask (benchmark/spoons_in_pot.py)
10. TakeMugsOffOfShelfTask (benchmark/take_mugs_off_of_shelf.py)
11. TakeSpatulaOffShelfTask (benchmark/take_spatula_off_shelf.py)
12. UtensilsInMugTask (benchmark/utensils_in_mug.py)
COLOR (26 tasks):
1. BBQSauceInBinTask (benchmark/bbq_sauce_in_bin_task.py)
2. BlackItemsInBinTask (benchmark/black_items_in_bin.py)
3. BlockStackingSpecifiedOrderTask (benchmark/block_stacking_specified_order_task.py)
4. CookingClearPlateTask (benchmark/cooking_clear_plate_specific.py)
5. CookingPickPastaToolTask (benchmark/cooking_pick_pasta_tool.py)
6. FoodPackingByColorTask (benchmark/food_packing_by_color_task.py)
7. FruitsGreenLimesOnPlateTask (benchmark/fruits_green_limes_on_plate.py)
8. FruitsMovingTask (benchmark/fruits_move_orange.py)
9. GreenSpoonsInPotTask (benchmark/green_spoons_in_pot.py)
10. HammersInLeftBinTask (benchmark/tool_organization_left_task.py)
11. PickOrangeObjectTask (benchmark/cooking_orange_object.py)
12. PickUpBluePitcherTask (benchmark/pick_up_blue_pitcher.py)
13. PickUpGreenObjectTask (benchmark/pick_up_green_object.py)
14. PinkSpoonInPotTask (benchmark/pink_spoon_in_pot.py)
15. RedDishesInBinTask (benchmark/red_dishes_in_bin.py)
16. RedItemsInBinTask (benchmark/red_items_in_bin.py)
17. ReorientRedMugTask (benchmark/reorient_red_mugs_task.py)
18. ReorientWhiteMugsTask (benchmark/reorient_white_mugs.py)
19. SauceBottlesCrateTask (benchmark/sauce_bottles_crate_task.py)
20. StackWhiteMugsTask (benchmark/stack_white_mugs_task.py)
21. ToolOrganizationTask (benchmark/tool_organization_task.py)
22. ToolsPickingHammerTask (benchmark/tools_picking_hammer.py)
23. WhiteMugInCenterOfTableTask (benchmark/white_mug_in_center_of_table.py)
24. WhiteMugsInBinTask (benchmark/white_mugs_in_bin.py)
25. YellowAndWhiteObjectsInBinTask (benchmark/yellow_and_white_objects_in_bin.py)
26. YogurtInBowlTask (benchmark/yogurt_in_bowl.py)
CONJUNCTION (8 tasks):
1. BananaThenRubiksCubeTask (benchmark/banana_then_rubiks_cube.py)
2. CubesAndBlocksInBinTask (benchmark/cubes_and_blocks_in_bin.py)
3. FruitsMovingOrangeOrLimeTask (benchmark/fruits_move_orange_or_lime.py)
4. PhoneOrRemoteInBinTask (benchmark/phone_or_remote_in_bin_task.py)
5. RubiksCubeAndBananaTask (benchmark/rubiks_cube_and_banana_task.py)
6. RubiksCubeOrBananaTask (benchmark/rubiks_cube_or_banana_task.py)
7. RubiksCubeThenBananaTask (benchmark/rubiks_cube_then_banana.py)
8. YellowAndWhiteObjectsInBinTask (benchmark/yellow_and_white_objects_in_bin.py)
COUNTING (7 tasks):
1. BananasInBinOneMoreTask (benchmark/bananas_in_bin_one_more.py)
2. BananasInBinThreeTotalTask (benchmark/bananas_in_bin_three.py)
3. BananasInCrateTask (benchmark/bananas_in_crate.py)
4. FruitsOnPlate3Task (benchmark/fruits_to_plate_3.py)
5. FruitsOrangesOnPlateTask (benchmark/fruits_oranges_on_plate.py)
6. PutMugsOnShelfTask (benchmark/put_mugs_on_shelf.py)
7. PutTwoMugsOnShelfTask (benchmark/put_two_mugs_on_shelf.py)
REORIENTATION (6 tasks):
1. GreenSpoonsInPotTask (benchmark/green_spoons_in_pot.py)
2. ReorientAllMugsTask (benchmark/reorient_all_mugs_task.py)
3. ReorientJugTask (benchmark/reorient_jug.py)
4. ReorientRedMugTask (benchmark/reorient_red_mugs_task.py)
5. ReorientWhiteMugsTask (benchmark/reorient_white_mugs.py)
6. SpoonsInPotTask (benchmark/spoons_in_pot.py)
SEMANTICS (60 tasks):
1. AnimalsInBinTask (benchmark/animals_in_bin.py)
2. BBQSauceInBinTask (benchmark/bbq_sauce_in_bin_task.py)
3. BagelsOnPlateTask (benchmark/bagel_on_plate_task.py)
4. BananaInBowlTask (benchmark/banana_in_bowl_task.py)
5. BananasInBinOneMoreTask (benchmark/bananas_in_bin_one_more.py)
6. BananasInBinThreeTotalTask (benchmark/bananas_in_bin_three.py)
7. BananasOutOfBinTask (benchmark/bananas_out_of_bin.py)
8. CannedFoodInBinTask (benchmark/canned_food_in_bin_task.py)
9. ClampInRightBinTask (benchmark/clamp_in_right_bin.py)
10. CleanUpToysTask (benchmark/clean_up_toys.py)
11. ClearOrganicObjectsTask (benchmark/clutter_organic_objects_task.py)
12. ClutterPlasticTask (benchmark/clutter_plastic_task.py)
13. ClutterPumpkinTask (benchmark/clutter_pumpkin_task.py)
14. CoffeePotInBinTask (benchmark/coffee_pot_in_bin.py)
15. CondimentsInBinTask (benchmark/condiments_in_bin_task.py)
16. DishesInBinTask (benchmark/dishes_in_bin.py)
17. ElectronicsInBinTask (benchmark/electronics_in_bin_task.py)
18. FoodPacking1BoxesTask (benchmark/foodpacking_1bin_1box.py)
19. FoodPacking1CansTask (benchmark/foodpacking_1bin_1can.py)
20. FoodPacking2BoxesTask (benchmark/foodpacking_1bin_2box.py)
21. FoodPacking2CansTask (benchmark/foodpacking_1bin_2can.py)
22. FoodPacking3BoxesTask (benchmark/foodpacking_1bin_3box.py)
23. FoodPacking3CansTask (benchmark/foodpacking_1bin_3can.py)
24. FruitsOnPlate3Task (benchmark/fruits_to_plate_3.py)
25. FruitsOnPlateTask (benchmark/fruits_to_plate.py)
26. FruitsOnionTask (benchmark/fruits_onion_to_bowl.py)
27. FruitsOnionToPlateTask (benchmark/fruits_onion_to_plate.py)
28. FruitsOrangesOnPlateTask (benchmark/fruits_oranges_on_plate.py)
29. GrabABagelTask (benchmark/grab_a_bagel.py)
30. GrabAFruitTask (benchmark/grab_a_fruit.py)
31. HammersInLeftBinTask (benchmark/tool_organization_left_task.py)
32. JugsOnShelfTask (benchmark/jugs_on_shelf_task.py)
33. MouseOnKeyboardTask (benchmark/mouse_on_keyboard.py)
34. MoveBananaToBagelPlateTask (benchmark/move_banana_to_bagel_plate.py)
35. NonHammerToolsInRightBinTask (benchmark/non_hammer_tools_in_right_bin.py)
36. OneBottleInSquarePailTask (benchmark/one_bottle_in_square_pail.py)
37. OneBottleOnShelfTask (benchmark/one_bottle_on_shelf_task.py)
38. PickDrillTask (benchmark/pick_drill.py)
39. PickGlassesTask (benchmark/pick_glasses_task.py)
40. PlasticBottlesInSquarePailTask (benchmark/bottles_on_shelf_task.py)
41. RecycleCartonTask (benchmark/recycle_cartons.py)
42. RecycleCartonsOnBoxTask (benchmark/recycle_cartons_on_box.py)
43. RecycleCartonsVerticalCrateTask (benchmark/recycle_cartons_vertical_crate.py)
44. RedDishesInBinTask (benchmark/red_dishes_in_bin.py)
45. ReorientJugTask (benchmark/reorient_jug.py)
46. SauceBottlesCrateTask (benchmark/sauce_bottles_crate_task.py)
47. SmartphoneInBinTask (benchmark/smartphone_in_bin_task.py)
48. SpoonsInPotTask (benchmark/spoons_in_pot.py)
49. TakeMeasuringSpoonOutTask (benchmark/take_measuring_spoon_out.py)
50. TakeMugsOffOfShelfTask (benchmark/take_mugs_off_of_shelf.py)
51. ThrowAwayAppleTask (benchmark/throw_away_apple_task.py)
52. ThrowAwaySnacksTask (benchmark/throw_away_snacks_task.py)
53. ToolOrganizationBothTask (benchmark/tool_organization_both_task.py)
54. ToolOrganizationTask (benchmark/tool_organization_task.py)
55. ToolsPickingAllHammersTask (benchmark/tools_picking_all_hammers.py)
56. ToolsPickingDrillTask (benchmark/tools_picking_drill.py)
57. ToolsPickingHammerTask (benchmark/tools_picking_hammer.py)
58. ToyInBinTask (benchmark/lizard_in_bin_task.py)
59. UtensilsInMugTask (benchmark/utensils_in_mug.py)
60. WoodSpatulaToBowlTask (benchmark/wood_spatula_to_bowl.py)
SIZE (6 tasks):
1. BigPumpkinInBinTask (benchmark/clutter_big_pumpkin_task.py)
2. LargerObjectRaisinBoxInBinTask (benchmark/bigger_object.py)
3. PlasticBottlesInSquarePailTask (benchmark/bottles_on_shelf_task.py)
4. SmallPumpkinInBinTask (benchmark/clutter_small_pumpkin_task.py)
5. SmallerObjectButterInBinTask (benchmark/smaller_object.py)
6. YogurtInBowlTask (benchmark/yogurt_in_bowl.py)
SORTING (12 tasks):
1. BlackItemsInBinTask (benchmark/black_items_in_bin.py)
2. BlocksInBinTask (benchmark/blocks_in_bin.py)
3. CleanUpToysTask (benchmark/clean_up_toys.py)
4. CondimentsInBinTask (benchmark/condiments_in_bin_task.py)
5. CookingClearPlateTask (benchmark/cooking_clear_plate_specific.py)
6. CubesAndBlocksInBinTask (benchmark/cubes_and_blocks_in_bin.py)
7. ElectronicsInBinTask (benchmark/electronics_in_bin_task.py)
8. FoodPackingByColorTask (benchmark/food_packing_by_color_task.py)
9. NonHammerToolsInRightBinTask (benchmark/non_hammer_tools_in_right_bin.py)
10. PlasticBottlesInSquarePailTask (benchmark/bottles_on_shelf_task.py)
11. RedItemsInBinTask (benchmark/red_items_in_bin.py)
12. RubiksCubesInBinTask (benchmark/rubiks_cubes_in_bin.py)
SPATIAL (29 tasks):
1. BananasOutOfBinTask (benchmark/bananas_out_of_bin.py)
2. BowlStackingLeftOnRightTask (benchmark/bowl_stacking_left_on_right.py)
3. BowlStackingRightOnLeftTask (benchmark/bowl_stacking_right_on_left.py)
4. ButterAboveRaisinTask (benchmark/butter_above_raisin_task.py)
5. ClampInRightBinTask (benchmark/clamp_in_right_bin.py)
6. CookingPickPastaToolTask (benchmark/cooking_pick_pasta_tool.py)
7. FoodPackingByColorTask (benchmark/food_packing_by_color_task.py)
8. HammersInLeftBinTask (benchmark/tool_organization_left_task.py)
9. KeyboardOutOfBinTask (benchmark/keyboard_out_of_bin_task.py)
10. MustardAboveRaisinTask (benchmark/mustard_above_raisin_task.py)
11. MustardInLeftBinTask (benchmark/mustard_in_left_bin.py)
12. MustardInRightBinTask (benchmark/mustard_in_right_bin.py)
13. NonHammerToolsInRightBinTask (benchmark/non_hammer_tools_in_right_bin.py)
14. PutBowlOnShelfTopTask (benchmark/put_bowl_on_shelf.py)
15. PutMugsOnShelfTask (benchmark/put_mugs_on_shelf.py)
16. PutTwoMugsOnShelfTask (benchmark/put_two_mugs_on_shelf.py)
17. RecycleCartonsVerticalCrateTask (benchmark/recycle_cartons_vertical_crate.py)
18. RubiksCubeBehindBowlTask (benchmark/rubiks_cube_behind_bowl.py)
19. RubiksCubeInFrontOfBowlTask (benchmark/rubiks_cube_in_front_of_bowl.py)
20. RubiksCubeLeftOfBowlTask (benchmark/rubiks_cube_left_of_bowl.py)
21. RubiksCubeRightOfBowlTask (benchmark/rubiks_cube_right_of_bowl.py)
22. SpoonInMugTask (benchmark/spoon_in_mug_task.py)
23. TakeSpatulaOffShelfTask (benchmark/take_spatula_off_shelf.py)
24. ToolOrganizationBothTask (benchmark/tool_organization_both_task.py)
25. ToolOrganizationTask (benchmark/tool_organization_task.py)
26. ToolsPickingAllHammersTask (benchmark/tools_picking_all_hammers.py)
27. ToolsPickingDrillTask (benchmark/tools_picking_drill.py)
28. ToolsPickingHammerTask (benchmark/tools_picking_hammer.py)
29. WhiteMugInCenterOfTableTask (benchmark/white_mug_in_center_of_table.py)
STACKING (6 tasks):
1. BlockStackingOrderAgnosticTask (benchmark/block_stacking_order_agnostic_task.py)
2. BlockStackingSpecifiedOrderTask (benchmark/block_stacking_specified_order_task.py)
3. Stack3RubiksCubeTask (benchmark/rubiks_cube_stacking_task.py)
4. StackWhiteMugsTask (benchmark/stack_white_mugs_task.py)
5. StackYellowOnRedTask (benchmark/stack_yellow_on_red.py)
6. UnstackRubiksCubeTask (benchmark/unstack_rubiks_cube.py)
VAGUE (7 tasks):
1. CookingPickPastaToolTask (benchmark/cooking_pick_pasta_tool.py)
2. DishesInBinTask (benchmark/dishes_in_bin.py)
3. FruitsOnPlate3Task (benchmark/fruits_to_plate_3.py)
4. FruitsOnPlateTask (benchmark/fruits_to_plate.py)
5. FruitsOnionToPlateTask (benchmark/fruits_onion_to_plate.py)
6. FruitsOrangesOnPlateTask (benchmark/fruits_oranges_on_plate.py)
7. RecycleCartonTask (benchmark/recycle_cartons.py)
UNTAGGED (3 tasks):
1. BananaOnPlateTask (benchmark/banana_on_plate_task.py)
2. BowlInBinTask (benchmark/bowl_in_bin_task.py)
3. RubiksCubeTask (benchmark/rubiks_cube_task.py)
================================================================================
ATTRIBUTE BREAKDOWN BY CATEGORY
================================================================================
Visual:
semantics : 60 ( 65.2%)
color : 26 ( 28.3%)
size : 6 ( 6.5%)
Relational:
spatial : 29 ( 65.9%)
conjunction : 8 ( 18.2%)
counting : 7 ( 15.9%)
Procedural:
affordance : 12 ( 33.3%)
sorting : 12 ( 33.3%)
stacking : 6 ( 16.7%)
reorientation : 6 ( 16.7%)
================================================================================
OBJECT STATISTICS
================================================================================
Unique objects (exact): 144
Unique objects (normalized, excl. duplicates like mug_01/mug_02): 120
Total object instances across all tasks: 1071
Average objects per task: 8.9
Min objects in a task: 1
Max objects in a task: 19
Top 20 Most Used Objects (normalized names):
banana : 43 tasks
bowl : 36 tasks
rubiks_cube : 33 tasks
grey_bin : 30 tasks
ceramic_mug : 28 tasks
lemon : 28 tasks
lime01 : 28 tasks
orange : 28 tasks
mug : 25 tasks
spatula : 23 tasks
lizard_figurine : 22 tasks
wooden_bowl : 21 tasks
serving_bowl : 20 tasks
bagel : 19 tasks
spoon_big : 18 tasks
yogurt_cup : 18 tasks
smartphone : 17 tasks
storage_box : 15 tasks
mustard : 14 tasks
pomegranate01 : 14 tasks
Objects Used in Multiple Tasks (top 30):
bowl : appears in 32 tasks
grey_bin : appears in 30 tasks
ceramic_mug : appears in 28 tasks
banana : appears in 22 tasks
wooden_bowl : appears in 21 tasks
mug : appears in 21 tasks
serving_bowl : appears in 20 tasks
rubiks_cube : appears in 19 tasks
spoon_big : appears in 18 tasks
yogurt_cup : appears in 18 tasks
smartphone : appears in 17 tasks
lizard_figurine : appears in 16 tasks
mustard : appears in 14 tasks
lemon_01 : appears in 14 tasks
lemon_02 : appears in 14 tasks
lime01 : appears in 14 tasks
lime01_01 : appears in 14 tasks
orange_01 : appears in 14 tasks
orange_02 : appears in 14 tasks
pomegranate01 : appears in 14 tasks
pumpkinlarge : appears in 14 tasks
pumpkinsmall : appears in 14 tasks
cordless_drill : appears in 14 tasks
glasses : appears in 13 tasks
keyboard : appears in 13 tasks
marker : appears in 13 tasks
remote_control : appears in 13 tasks
computer_mouse : appears in 13 tasks
right_bin : appears in 13 tasks
redonion : appears in 12 tasks
================================================================================
SUBTASK COMPLEXITY
================================================================================
Average sequential stages per task: 1.07
Average atomic conditions per task: 3.70
Sequential stage count distribution:
1 stage(s): 113 tasks
2 stage(s): 5 tasks
3 stage(s): 2 tasks
================================================================================
SUBTASK COUNTS
================================================================================
num_subtasks = number of distinct manipulation actions required,
accounting for logical mode (all/any/choose).
Average subtasks per task: 2.01
Min: 1
Max: 11
Distribution:
1 subtask(s): 53 tasks
2 subtask(s): 41 tasks
3 subtask(s): 17 tasks
4 subtask(s): 4 tasks
5 subtask(s): 1 tasks
7 subtask(s): 2 tasks
9 subtask(s): 1 tasks
11 subtask(s): 1 tasks
Tasks with most subtasks:
1. ClearOrganicObjectsTask 11 subtask(s) (benchmark/clutter_organic_objects_task.py)
2. CleanUpToysTask 9 subtask(s) (benchmark/clean_up_toys.py)
3. CubesAndBlocksInBinTask 7 subtask(s) (benchmark/cubes_and_blocks_in_bin.py)
4. FruitsOnPlateTask 7 subtask(s) (benchmark/fruits_to_plate.py)
5. BlackItemsInBinTask 5 subtask(s) (benchmark/black_items_in_bin.py)
6. BlocksInBinTask 4 subtask(s) (benchmark/blocks_in_bin.py)
7. CondimentsInBinTask 4 subtask(s) (benchmark/condiments_in_bin_task.py)
8. ElectronicsInBinTask 4 subtask(s) (benchmark/electronics_in_bin_task.py)
9. ToolsPickingAllHammersTask 4 subtask(s) (benchmark/tools_picking_all_hammers.py)
10. BlockStackingOrderAgnosticTask 3 subtask(s) (benchmark/block_stacking_order_agnostic_task.py)
11. BlockStackingSpecifiedOrderTask 3 subtask(s) (benchmark/block_stacking_specified_order_task.py)
12. ClutterPlasticTask 3 subtask(s) (benchmark/clutter_plastic_task.py)
13. DishesInBinTask 3 subtask(s) (benchmark/dishes_in_bin.py)
14. FoodPacking3BoxesTask 3 subtask(s) (benchmark/foodpacking_1bin_3box.py)
15. FoodPacking3CansTask 3 subtask(s) (benchmark/foodpacking_1bin_3can.py)
16. FruitsOnPlate3Task 3 subtask(s) (benchmark/fruits_to_plate_3.py)
17. GreenSpoonsInPotTask 3 subtask(s) (benchmark/green_spoons_in_pot.py)
18. PlasticBottlesInSquarePailTask 3 subtask(s) (benchmark/bottles_on_shelf_task.py)
19. ReorientAllMugsTask 3 subtask(s) (benchmark/reorient_all_mugs_task.py)
20. RubiksCubeBehindBowlTask 3 subtask(s) (benchmark/rubiks_cube_behind_bowl.py)
================================================================================
DIFFICULTY SCORING
================================================================================
score = num_subtasks + max(skill_weight)
Thresholds: simple <= 2, moderate <= 4, complex > 4
Skill weights: {'color': 0, 'semantics': 0, 'size': 0, 'conjunction': 0, 'vague': 0, 'spatial': 1, 'counting': 2, 'sorting': 2, 'stacking': 2, 'affordance': 2, 'reorientation': 3}
Average difficulty score: 2.90
Score range: 1 – 11
Distribution by label:
simple : 64 tasks ( 53.3%)
moderate : 39 tasks ( 32.5%)
complex : 17 tasks ( 14.2%)
Score histogram:
score 1: 31 ###############################
score 2: 33 #################################
score 3: 16 ################
score 4: 23 #######################
score 5: 6 ######
score 6: 6 ######
score 7: 2 ##
score 9: 1 #
score 11: 2 ##
All tasks by difficulty (highest first):
1. CleanUpToysTask score=11 num_subtasks=9 [complex] (sorting, semantics)
2. ClearOrganicObjectsTask score=11 num_subtasks=11 [complex] (semantics)
3. CubesAndBlocksInBinTask score= 9 num_subtasks=7 [complex] (sorting, conjunction)
4. BlackItemsInBinTask score= 7 num_subtasks=5 [complex] (color, sorting)
5. FruitsOnPlateTask score= 7 num_subtasks=7 [complex] (semantics, vague)
6. BlocksInBinTask score= 6 num_subtasks=4 [complex] (sorting)
7. CondimentsInBinTask score= 6 num_subtasks=4 [complex] (semantics, sorting)
8. ElectronicsInBinTask score= 6 num_subtasks=4 [complex] (semantics, sorting)
9. GreenSpoonsInPotTask score= 6 num_subtasks=3 [complex] (reorientation, color)
10. ReorientAllMugsTask score= 6 num_subtasks=3 [complex] (reorientation)
11. SpoonsInPotTask score= 6 num_subtasks=3 [complex] (reorientation, semantics, affordance)
12. BlockStackingOrderAgnosticTask score= 5 num_subtasks=3 [complex] (stacking)
13. BlockStackingSpecifiedOrderTask score= 5 num_subtasks=3 [complex] (stacking, color)
14. FruitsOnPlate3Task score= 5 num_subtasks=3 [complex] (semantics, vague, counting)
15. PlasticBottlesInSquarePailTask score= 5 num_subtasks=3 [complex] (semantics, sorting, size)
16. RubiksCubesInBinTask score= 5 num_subtasks=3 [complex] (sorting)
17. ToolsPickingAllHammersTask score= 5 num_subtasks=4 [complex] (semantics, spatial)
18. AppleAndYogurtInBowlTask score= 4 num_subtasks=2 [moderate] (affordance)
19. CookingClearPlateTask score= 4 num_subtasks=2 [moderate] (color, sorting)
20. FoodPackingByColorTask score= 4 num_subtasks=2 [moderate] (spatial, sorting, color)
21. FruitsOrangesOnPlateTask score= 4 num_subtasks=2 [moderate] (counting, vague, semantics)
22. NonHammerToolsInRightBinTask score= 4 num_subtasks=2 [moderate] (semantics, spatial, sorting)
23. PickUpBluePitcherTask score= 4 num_subtasks=2 [moderate] (color, affordance)
24. PutMugsOnShelfTask score= 4 num_subtasks=2 [moderate] (affordance, spatial, counting)
25. PutTwoMugsOnShelfTask score= 4 num_subtasks=2 [moderate] (affordance, spatial, counting)
26. RedItemsInBinTask score= 4 num_subtasks=2 [moderate] (color, sorting)
27. ReorientJugTask score= 4 num_subtasks=1 [moderate] (semantics, reorientation, affordance)
28. ReorientRedMugTask score= 4 num_subtasks=1 [moderate] (reorientation, color)
29. ReorientWhiteMugsTask score= 4 num_subtasks=1 [moderate] (reorientation, color)
30. RubiksCubeBehindBowlTask score= 4 num_subtasks=3 [moderate] (spatial)
31. RubiksCubeInFrontOfBowlTask score= 4 num_subtasks=3 [moderate] (spatial)
32. RubiksCubeLeftOfBowlTask score= 4 num_subtasks=3 [moderate] (spatial)
33. RubiksCubeRightOfBowlTask score= 4 num_subtasks=3 [moderate] (spatial)
34. Stack3RubiksCubeTask score= 4 num_subtasks=2 [moderate] (stacking)
35. StackWhiteMugsTask score= 4 num_subtasks=2 [moderate] (stacking, color)
36. StackYellowOnRedTask score= 4 num_subtasks=2 [moderate] (stacking)
37. TakeMugsOffOfShelfTask score= 4 num_subtasks=2 [moderate] (semantics, affordance)
38. UnstackRubiksCubeTask score= 4 num_subtasks=2 [moderate] (stacking)
39. UtensilsInMugTask score= 4 num_subtasks=2 [moderate] (semantics, affordance)
40. WhiteMugInCenterOfTableTask score= 4 num_subtasks=3 [moderate] (color, spatial)
41. BananasInBinOneMoreTask score= 3 num_subtasks=1 [moderate] (semantics, counting)
42. BananasInBinThreeTotalTask score= 3 num_subtasks=1 [moderate] (semantics, counting)
43. BananasInCrateTask score= 3 num_subtasks=1 [moderate] (counting)
44. BananasOutOfBinTask score= 3 num_subtasks=2 [moderate] (semantics, spatial)
45. ClutterPlasticTask score= 3 num_subtasks=3 [moderate] (semantics)
46. DishesInBinTask score= 3 num_subtasks=3 [moderate] (vague, semantics)
47. FoodPacking3BoxesTask score= 3 num_subtasks=3 [moderate] (semantics)
48. FoodPacking3CansTask score= 3 num_subtasks=3 [moderate] (semantics)
49. HammersInLeftBinTask score= 3 num_subtasks=2 [moderate] (semantics, spatial, color)
50. MarkerInMugTask score= 3 num_subtasks=1 [moderate] (affordance)
51. PinkSpoonInPotTask score= 3 num_subtasks=1 [moderate] (color, affordance)
52. RecycleCartonsVerticalCrateTask score= 3 num_subtasks=2 [moderate] (semantics, spatial)
53. SpoonInMugTask score= 3 num_subtasks=1 [moderate] (affordance, spatial)
54. TakeSpatulaOffShelfTask score= 3 num_subtasks=1 [moderate] (affordance, spatial)
55. ToolOrganizationBothTask score= 3 num_subtasks=2 [moderate] (semantics, spatial)
56. ToolOrganizationTask score= 3 num_subtasks=2 [moderate] (semantics, spatial, color)
57. AnimalsInBinTask score= 2 num_subtasks=2 [simple] (semantics)
58. BBQSauceInBinTask score= 2 num_subtasks=2 [simple] (color, semantics)
59. BagelsOnPlateTask score= 2 num_subtasks=2 [simple] (semantics)
60. BananaThenRubiksCubeTask score= 2 num_subtasks=2 [simple] (conjunction)
61. BowlStackingLeftOnRightTask score= 2 num_subtasks=1 [simple] (spatial)
62. BowlStackingRightOnLeftTask score= 2 num_subtasks=1 [simple] (spatial)
63. ButterAboveRaisinTask score= 2 num_subtasks=1 [simple] (spatial)
64. ClampInRightBinTask score= 2 num_subtasks=1 [simple] (semantics, spatial)
65. ClutterPumpkinTask score= 2 num_subtasks=2 [simple] (semantics)
66. CookingPickPastaToolTask score= 2 num_subtasks=1 [simple] (spatial, vague, color)
67. FoodPacking2BoxesTask score= 2 num_subtasks=2 [simple] (semantics)
68. FoodPacking2CansTask score= 2 num_subtasks=2 [simple] (semantics)
69. FruitsGreenLimesOnPlateTask score= 2 num_subtasks=2 [simple] (color)
70. JugsOnShelfTask score= 2 num_subtasks=2 [simple] (semantics)
71. KeyboardOutOfBinTask score= 2 num_subtasks=1 [simple] (spatial)
72. MoveBananaToBagelPlateTask score= 2 num_subtasks=2 [simple] (semantics)
73. MustardAboveRaisinTask score= 2 num_subtasks=1 [simple] (spatial)
74. MustardInLeftBinTask score= 2 num_subtasks=1 [simple] (spatial)
75. MustardInRightBinTask score= 2 num_subtasks=1 [simple] (spatial)
76. PickGlassesTask score= 2 num_subtasks=2 [simple] (semantics)
77. PickOrangeObjectTask score= 2 num_subtasks=2 [simple] (color)
78. PickUpGreenObjectTask score= 2 num_subtasks=2 [simple] (color)
79. PutBowlOnShelfTopTask score= 2 num_subtasks=1 [simple] (spatial)
80. RecycleCartonTask score= 2 num_subtasks=2 [simple] (semantics, vague)
81. RecycleCartonsOnBoxTask score= 2 num_subtasks=2 [simple] (semantics)
82. RedDishesInBinTask score= 2 num_subtasks=2 [simple] (color, semantics)
83. RubiksCubeAndBananaTask score= 2 num_subtasks=2 [simple] (conjunction)
84. RubiksCubeThenBananaTask score= 2 num_subtasks=2 [simple] (conjunction)
85. ThrowAwaySnacksTask score= 2 num_subtasks=2 [simple] (semantics)
86. ToolsPickingDrillTask score= 2 num_subtasks=1 [simple] (spatial, semantics)
87. ToolsPickingHammerTask score= 2 num_subtasks=1 [simple] (semantics, spatial, color)
88. WhiteMugsInBinTask score= 2 num_subtasks=2 [simple] (color)
89. YellowAndWhiteObjectsInBinTask score= 2 num_subtasks=2 [simple] (color, conjunction)
90. BananaInBowlTask score= 1 num_subtasks=1 [simple] (semantics)
91. BananaOnPlateTask score= 1 num_subtasks=1 [simple] ()
92. BigPumpkinInBinTask score= 1 num_subtasks=1 [simple] (size)
93. BowlInBinTask score= 1 num_subtasks=1 [simple] ()
94. CannedFoodInBinTask score= 1 num_subtasks=1 [simple] (semantics)
95. CoffeePotInBinTask score= 1 num_subtasks=1 [simple] (semantics)
96. FoodPacking1BoxesTask score= 1 num_subtasks=1 [simple] (semantics)
97. FoodPacking1CansTask score= 1 num_subtasks=1 [simple] (semantics)
98. FruitsMovingOrangeOrLimeTask score= 1 num_subtasks=1 [simple] (conjunction)
99. FruitsMovingTask score= 1 num_subtasks=1 [simple] (color)
100. FruitsOnionTask score= 1 num_subtasks=1 [simple] (semantics)
101. FruitsOnionToPlateTask score= 1 num_subtasks=1 [simple] (semantics, vague)
102. GrabABagelTask score= 1 num_subtasks=1 [simple] (semantics)
103. GrabAFruitTask score= 1 num_subtasks=1 [simple] (semantics)
104. LargerObjectRaisinBoxInBinTask score= 1 num_subtasks=1 [simple] (size)
105. MouseOnKeyboardTask score= 1 num_subtasks=1 [simple] (semantics)
106. OneBottleInSquarePailTask score= 1 num_subtasks=1 [simple] (semantics)
107. OneBottleOnShelfTask score= 1 num_subtasks=1 [simple] (semantics)
108. PhoneOrRemoteInBinTask score= 1 num_subtasks=1 [simple] (conjunction)
109. PickDrillTask score= 1 num_subtasks=1 [simple] (semantics)
110. RubiksCubeOrBananaTask score= 1 num_subtasks=1 [simple] (conjunction)
111. RubiksCubeTask score= 1 num_subtasks=1 [simple] ()
112. SauceBottlesCrateTask score= 1 num_subtasks=1 [simple] (color, semantics)
113. SmallPumpkinInBinTask score= 1 num_subtasks=1 [simple] (size)
114. SmallerObjectButterInBinTask score= 1 num_subtasks=1 [simple] (size)
115. SmartphoneInBinTask score= 1 num_subtasks=1 [simple] (semantics)
116. TakeMeasuringSpoonOutTask score= 1 num_subtasks=1 [simple] (semantics)
117. ThrowAwayAppleTask score= 1 num_subtasks=1 [simple] (semantics)
118. ToyInBinTask score= 1 num_subtasks=1 [simple] (semantics)
119. WoodSpatulaToBowlTask score= 1 num_subtasks=1 [simple] (semantics)
120. YogurtInBowlTask score= 1 num_subtasks=1 [simple] (color, size)
================================================================================
EPISODE LENGTH ANALYSIS
================================================================================
Average episode length: 91.2 seconds
Min episode length: 20 seconds
Max episode length: 300 seconds
Average episode length by difficulty:
simple : 60.8 seconds (n=64)
moderate : 101.8 seconds (n=39)
complex : 181.2 seconds (n=17)
================================================================================
SCENE USAGE
================================================================================
Total unique scenes: 47
Most used scenes (top 15):
rubiks_cube_banana_bowl.usda : 7 tasks
workdesk_bin.usda : 7 tasks
toys_cleanup.usda : 6 tasks
clutter_fruit_bottle_bluebin.usda : 5 tasks
tools_container.usda : 5 tasks
fruits_in_basket.usda : 5 tasks
breakfast_table.usda : 5 tasks
shelf_with_cleaning_products.usda : 5 tasks
bin_condiments.usda : 4 tasks
fruits_out_of_basket.usda : 4 tasks
mugs4_measuringcup_drill_bowl.usda : 4 tasks
workdesk_snacks.usda : 3 tasks
bananas_5_grey_bin.usda : 3 tasks
cooking_table.usda : 3 tasks
ladle_pot.usda : 3 tasks
================================================================================