task_table.csv

task_name,scene,instruction,episode_s,attributes,num_subtasks,difficulty_label
AnimalsInBinTask (benchmark/animals_in_bin.py),toys_cleanup.usda,**default:** Put the lizards in the bin<br>**vague:** Put away the animals<br>**specific:** Pick up the two identical green lizard figurines and place them into the bin,90,semantics,2,simple
AppleAndYogurtInBowlTask (benchmark/apple_and_yogurt_in_bowl_task.py),workdesk_snacks.usda,**default:** Put the apple and yogurt in the bowl<br>**vague:** Put the food items in the bowl<br>**specific:** Pick up the red apple and the small yogurt container and place both inside the bowl,120,affordance,2,moderate
BagelsOnPlateTask (benchmark/bagel_on_plate_task.py),bagel_plate_banana_bowl.usda,**default:** Put the bagels on the plate<br>**vague:** Plate some bagels<br>**specific:** Pick up the two bagels from the table and place them onto the plate,60,semantics,2,simple
BananaInBowlTask (benchmark/banana_in_bowl_task.py),banana_bowl.usda,**default:** Pick up the banana and place it in the bowl<br>**vague:** Put the fruit in the bowl<br>**specific:** Grasp the yellow banana and place it inside the red bowl on the table,50,semantics,1,simple
BananaOnPlateTask (benchmark/banana_on_plate_task.py),bagel_plate_banana_bowl.usda,**default:** Pick up the banana and put it on the plate<br>**vague:** Put fruit on the dish<br>**specific:** Pick up the yellow banana and place it flat on the white ceramic plate,40,,1,simple
BananasInBinOneMoreTask (benchmark/bananas_in_bin_one_more.py),bananas_5_grey_bin.usda,**default:** Put one (1) more bananas in the grey bin.<br>**vague:** Add a banana to the bin<br>**specific:** Pick up one additional banana and place it in the grey bin alongside the ones already there,60,"semantics, counting",1,moderate
BananasInBinThreeTotalTask (benchmark/bananas_in_bin_three.py),bananas_5_grey_bin.usda,"**default:** Make sure there are 3 (three) bananas in the grey bin.<br>**vague:** 3 bananas in the bin<br>**specific:** In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside",60,"semantics, counting",1,moderate
BananasInCrateTask (benchmark/bananas_in_crate.py),bananas_5_in_crate.usda,**default:** Put 2 bananas in the crate<br>**vague:** Put 2 bananas in the container<br>**specific:** Put 2 bananas in the purple crate. Make sure there are exactly 2 (two) bananas in the crate.,60,counting,1,moderate
BananasOutOfBinTask (benchmark/bananas_out_of_bin.py),bananas_5_grey_bin.usda,**specific:** Take all the bananas out of the grey bin and put it on the table.<br>**default:** Take the bananas out<br>**vague:** Empty the grey bin,90,"semantics, spatial",2,moderate
BananaThenRubiksCubeTask (benchmark/banana_then_rubiks_cube.py),rubiks_cube_banana_bowl.usda,"**default:** put the banana then the cube in the bowl<br>**vague:** put banana then cube away<br>**specific:** First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after",60,conjunction,2,simple
BBQSauceInBinTask (benchmark/bbq_sauce_in_bin_task.py),bin_condiments.usda,**default:** Put the red BBQ sauce bottles in the grey bin<br>**vague:** Put the bbq sauce bottles away<br>**specific:** Pick up the two red BBQ sauce bottles from the table and place them into the grey bin,90,"color, semantics",2,simple
BigPumpkinInBinTask (benchmark/clutter_big_pumpkin_task.py),clutter_fruit_bottle_bluebin.usda,**default:** Put the bigger pumpkin in the bin<br>**vague:** Put the big pumpkin away<br>**specific:** Identify the larger pumpkin of the two pumpkins on the table and place it in the bin,60,size,1,simple
BlackItemsInBinTask (benchmark/black_items_in_bin.py),workdesk_bin.usda,**default:** Put the black items in the grey bin<br>**vague:** Clean up the dark items<br>**specific:** Identify all black-colored objects on the table and place them into the grey bin,120,"color, sorting",5,complex
BlocksInBinTask (benchmark/blocks_in_bin.py),toys_cleanup.usda,**default:** Sort all colored blocks into the bin<br>**vague:** Put away the colored blocks<br>**specific:** Put away the solidly-colored wooden blocks from the table and place them all into the bin,150,sorting,4,complex
BlockStackingOrderAgnosticTask (benchmark/block_stacking_order_agnostic_task.py),colored_blocks.usda,"**default:** Stack the blocks into a tower<br>**vague:** Build a tower<br>**specific:** Pick up the colored blocks and stack them vertically on top of each other, forming one tower",90,stacking,3,complex
BlockStackingSpecifiedOrderTask (benchmark/block_stacking_specified_order_task.py),colored_blocks.usda,"**default:** Stack the blocks in the order from bottom to top: red, blue, green, yellow<br>**vague:** Stack in the order of red, blue, green, yellow<br>**specific:** Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower",90,"stacking, color",3,complex
BowlInBinTask (benchmark/bowl_in_bin_task.py),bin_mug_mustard_marker_bowl.usda,**default:** put the bowl in the grey bin<br>**vague:** put away bowl<br>**specific:** Pick up the bowl from the table and place it inside the grey bin,60,,1,simple
BowlStackingLeftOnRightTask (benchmark/bowl_stacking_left_on_right.py),bowls_2_table.usda,**default:** Stack the left bowl on the right bowl<br>**vague:** Stack the left bowl on the right<br>**specific:** Pick up the bowl to the left of the robot and place it on top of the bowl to the right of the robot,20,spatial,1,simple
BowlStackingRightOnLeftTask (benchmark/bowl_stacking_right_on_left.py),bowls_2_table.usda,**default:** Stack the right bowl on the left bowl<br>**vague:** Stack the right bowl on the left<br>**specific:** Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot,20,spatial,1,simple
ButterAboveRaisinTask (benchmark/butter_above_raisin_task.py),butter_raisin_box.usda,**specific:** Place the butter on top of the raisin box. The butter should end up on the raisin box.<br>**vague:** Put butter on raisin box<br>**default:** Pick up the butter box and place it on top of the raisin box,40,spatial,1,simple
CannedFoodInBinTask (benchmark/canned_food_in_bin_task.py),bin_condiments.usda,**default:** Put the canned food in the grey bin<br>**vague:** Put away cans<br>**specific:** Put the small canned tuna in the grey bin,60,semantics,1,simple
ClampInRightBinTask (benchmark/clamp_in_right_bin.py),tools_container.usda,**default:** Put the spring clamp in the right bin<br>**vague:** Put the clamp in the right bin<br>**specific:** Pick up the spring clamp from the table and place it in the bin on the right side,60,"semantics, spatial",1,simple
CleanUpToysTask (benchmark/clean_up_toys.py),toys_cleanup.usda,"**default:** Clean up all the smaller toys and leave the birdhouse on the table<br>**vague:** Clean up everything except the birdhouse<br>**specific:** Pick up every toy object (rubiks cube, lizard figurines, colored blocks) from the table and place them all into the bin. Please ignore the birdhouse and don't touch it.",300,"sorting, semantics",9,complex
ClearOrganicObjectsTask (benchmark/clutter_organic_objects_task.py),clutter_fruit_bottle_bluebin.usda,"**default:** Clear away the organic objects<br>**vague:** Put away all the food items<br>**specific:** Identify every organic fruits and vegetables (lemon, lime, orange, pomegranate, pumpkin, red onion, avocado) on the table and place each into the bin",240,semantics,11,complex
ClutterPlasticTask (benchmark/clutter_plastic_task.py),clutter_fruit_bottle_bluebin.usda,"**default:** Put all plastic bottles away in the bin<br>**vague:** Clean up all the bottles<br>**specific:** Pick up all three plastic bottles (milk jug, utility jug, and plastic bottle) from the table and place them into the bin",180,semantics,3,moderate
ClutterPumpkinTask (benchmark/clutter_pumpkin_task.py),clutter_fruit_bottle_bluebin.usda,**default:** Put all the pumpkins away in the bin<br>**vague:** Clean up pumpkins<br>**specific:** Pick up the big and small pumpkins from the table and place them all into the bin,90,semantics,2,simple
CoffeePotInBinTask (benchmark/coffee_pot_in_bin.py),bin_condiments.usda,**default:** Put the coffee pot in the grey bin<br>**vague:** Put away the coffee pot<br>**specific:** Pick up the black speckled coffee pot and place it inside the grey bin,60,semantics,1,simple
CondimentsInBinTask (benchmark/condiments_in_bin_task.py),bin_condiments.usda,**default:** Sort the sauce condiments into the grey bin<br>**vague:** Put the sauces away<br>**specific:** Pick up each sauce condiment bottle from the table and place it into the grey bin,180,"semantics, sorting",4,complex
CookingClearPlateTask (benchmark/cooking_clear_plate_specific.py),cooking_table.usda,**default:** Put the two measuring cups outside of the plate<br>**vague:** Clear the plate<br>**specific:** Pick up the orange measuring cup and the blue measuring cup from the plate and place each on the table surface,180,"color, sorting",2,moderate
CookingPickPastaToolTask (benchmark/cooking_pick_pasta_tool.py),cooking_table.usda,**default:** Move the pink tool from this utensil container to the other utensil holder<br>**vague:** Move the pink tool over to the other container<br>**specific:** Remove the pink pasta tool from its current utensil container and place it in the other utensil holder,60,"spatial, vague, color",1,simple
CubesAndBlocksInBinTask (benchmark/cubes_and_blocks_in_bin.py),toys_cleanup.usda,**default:** Put all the cubes and blocks in the bin<br>**vague:** Put blocks away<br>**specific:** Pick up every solid-colored cube and rubiks cubes from the table and place them all into the bin,240,"sorting, conjunction",7,complex
DishesInBinTask (benchmark/dishes_in_bin.py),mugs2_bananas2_ketchup_rubiks3_bin.usda,**default:** Put the dishware in the grey bin<br>**vague:** Put away dishes<br>**specific:** Pick up the two mugs and a bowl from the table and place them into the grey bin,180,"vague, semantics",3,moderate
ElectronicsInBinTask (benchmark/electronics_in_bin_task.py),workdesk_bin.usda,**default:** Put the electronic devices in the grey bin<br>**vague:** Put the gadgets away<br>**specific:** Identify every electronic device on the table and place each one into the grey bin,180,"semantics, sorting",4,complex
FoodPacking1BoxesTask (benchmark/foodpacking_1bin_1box.py),foodpacking_1bin_1box_1can.usda,**default:** Pack boxed foods into the bin<br>**vague:** Pack boxes<br>**specific:** Pick up the boxed food item and place it inside the bin,60,semantics,1,simple
FoodPacking1CansTask (benchmark/foodpacking_1bin_1can.py),foodpacking_1bin_1box_1can.usda,**default:** Pack canned foods into the bin<br>**vague:** Pack cans<br>**specific:** Pick up the canned food item and place it inside the bin,60,semantics,1,simple
FoodPacking2BoxesTask (benchmark/foodpacking_1bin_2box.py),foodpacking_1bin_2box_2can.usda,**default:** Pack boxed foods into the bin<br>**vague:** Pack boxes<br>**specific:** Pick up each boxed food item and place them all inside the bin,180,semantics,2,simple
FoodPacking2CansTask (benchmark/foodpacking_1bin_2can.py),foodpacking_1bin_2box_2can.usda,**default:** Pack canned foods into the bin<br>**vague:** Pack cans<br>**specific:** Pick up each canned food item and place them all inside the bin,180,semantics,2,simple
FoodPacking3BoxesTask (benchmark/foodpacking_1bin_3box.py),foodpacking_1bin_3box_3can.usda,**default:** Pack boxed foods into the bin<br>**vague:** Pack boxes<br>**specific:** Pick up all three boxed food items and place each one inside the bin,240,semantics,3,moderate
FoodPacking3CansTask (benchmark/foodpacking_1bin_3can.py),foodpacking_1bin_3box_3can.usda,**default:** Pack canned foods into the bin<br>**vague:** Pack cans<br>**specific:** Pick up all three canned food items and place each one inside the bin,240,semantics,3,moderate
FoodPackingByColorTask (benchmark/food_packing_by_color_task.py),food_packing.usda,"**default:** Pack yellow objects in right container and blue object in the left container<br>**vague:** Sort things by color<br>**specific:** Pick up the yellow can and place it in the right container, then pick up the blue object and place it in the left container",120,"spatial, sorting, color",2,moderate
FruitsGreenLimesOnPlateTask (benchmark/fruits_green_limes_on_plate.py),fruits_out_of_basket.usda,"**default:** Put all the green fruit on the plate<br>**vague:** Plate green fruits<br>**specific:** Put all green limes on the table and place them on the flat, beige colored plate",90,color,2,simple
FruitsMovingOrangeOrLimeTask (benchmark/fruits_move_orange_or_lime.py),fruits_in_basket.usda,**default:** Move an orange or a lime to the wood bowl<br>**vague:** Put an orange or lime fruit in the wooden bowl<br>**specific:** Select either an orange or a green lime and place it inside the wooden bowl,60,conjunction,1,simple
FruitsMovingTask (benchmark/fruits_move_orange.py),fruits_in_basket.usda,**default:** Move an orange to the white bowl<br>**vague:** Move orange to white bowl<br>**specific:** Pick up one orange citrus fruit and place it inside the white bowl,60,color,1,simple
FruitsOnionTask (benchmark/fruits_onion_to_bowl.py),fruits_in_basket.usda,**default:** Put the onion in the wood bowl<br>**vague:** Put the vegetable in the wood bowl<br>**specific:** Pick up the round onion and place it inside the wooden bowl,60,semantics,1,simple
FruitsOnionToPlateTask (benchmark/fruits_onion_to_plate.py),fruits_in_basket.usda,**default:** Put the onion on the plate<br>**vague:** Plate the onion<br>**specific:** Pick up the round onion and place it on the flat plate,60,"semantics, vague",1,simple
FruitsOnPlate3Task (benchmark/fruits_to_plate_3.py),fruits_out_of_basket.usda,"**default:** Put three (3) fruits on the plate<br>**vague:** Put three fruit on the plate<br>**specific:** Select exactly three fruits (lemon, lime, orange, pomegranate) from the table and place all of them on the plate",200,"semantics, vague, counting",3,complex
FruitsOnPlateTask (benchmark/fruits_to_plate.py),fruits_out_of_basket.usda,**default:** Put all the fruits on the plate<br>**vague:** Put fruits on the plate<br>**specific:** Pick up all fruits that are on the table and place them all onto the large round plate,300,"semantics, vague",7,complex
FruitsOrangesOnPlateTask (benchmark/fruits_oranges_on_plate.py),fruits_out_of_basket.usda,"**default:** Put all the oranges on the plate<br>**vague:** Plate the oranges<br>**specific:** Pick up all of the orange citrus fruit from the table and place them all on the plate, there should be two oranges on the plate",90,"counting, vague, semantics",2,moderate
GrabABagelTask (benchmark/grab_a_bagel.py),breakfast_table.usda,**default:** Grab a bagel<br>**vague:** Grab some bread<br>**specific:** Reach for one of the bagels on the table and pick it up,30,semantics,1,simple
GrabAFruitTask (benchmark/grab_a_fruit.py),breakfast_table.usda,**default:** Pick up a fruit<br>**vague:** Grab a fruit<br>**specific:** Reach for and grasp any one of the fruits on the table and lift it off the surface,30,semantics,1,simple
GreenSpoonsInPotTask (benchmark/green_spoons_in_pot.py),ladle_pot.usda,**default:** Put the green spoons in the pot<br>**vague:** Put the green utensils in the pot<br>**specific:** Pick up all green-colored spoons and place them inside the cooking pot,180,"reorientation, color",3,complex
HammersInLeftBinTask (benchmark/tool_organization_left_task.py),tools_container.usda,**default:** Put the red hammer and black hammer in the left bin<br>**vague:** Put hammers in the left bin<br>**specific:** Pick up the red-handled hammer and the black-handled hammer and place both in the left bin,180,"semantics, spatial, color",2,moderate
JugsOnShelfTask (benchmark/jugs_on_shelf_task.py),shelf_with_cleaning_products.usda,**default:** Put all the jugs on the shelf<br>**vague:** Put the jugs on the shelf<br>**specific:** Pick up both jugs from the table and place them on the shelf,120,semantics,2,simple
KeyboardOutOfBinTask (benchmark/keyboard_out_of_bin_task.py),workdesk_bin.usda,"**default:** Take the keyboard out of the bin and put it on the table<br>**vague:** Take the keyboard out<br>**specific:** Reach into the bin, grasp the keyboard, lift it out, and place it on the table surface",60,spatial,1,simple
LargerObjectRaisinBoxInBinTask (benchmark/bigger_object.py),butter_raisin_box_grey_bin.usda,**default:** Place the larger object in the grey bin.<br>**vague:** Put the larger object away<br>**specific:** Compare the objects and put the larger raisin box in the grey bin,30,size,1,simple
MarkerInMugTask (benchmark/marker_in_mug_task.py),workdesk.usda,"**default:** Put the whiteboard marker in the mug<br>**vague:** Put the marker in the mug<br>**specific:** Pick up the marker and drop it vertically into the mug, make sure the marker stands upright",40,affordance,1,moderate
MouseOnKeyboardTask (benchmark/mouse_on_keyboard.py),workdesk.usda,**default:** Put the computer mouse on the keyboard<br>**vague:** Put the mouse on the keyboard<br>**specific:** Pick up the computer mouse and place it on top of the keyboard,60,semantics,1,simple
MoveBananaToBagelPlateTask (benchmark/move_banana_to_bagel_plate.py),breakfast_table.usda,**default:** Move the bananas to the bagel plate<br>**vague:** Put the bananas with the bagels<br>**specific:** Pick up the yellow bananas and transfer them onto the plate containing the bagels,90,semantics,2,simple
MustardAboveRaisinTask (benchmark/mustard_above_raisin_task.py),mustard_raisin_box.usda,**default:** Place the mustard on the raisin box. <br>**vague:** Put bottle on box<br>**specific:** Pick up the mustard bottle and put it on top of the raisin box. The mustard should end up directly above the raisin box.,40,spatial,1,simple
MustardInLeftBinTask (benchmark/mustard_in_left_bin.py),two_bin.usda,**default:** Put the mustard in the left bin<br>**vague:** Use the left bin for mustard<br>**specific:** Pick up the mustard bottle and place it in the bin on the left side,30,spatial,1,simple
MustardInRightBinTask (benchmark/mustard_in_right_bin.py),two_bin.usda,**default:** Put the mustard in the right bin<br>**vague:** Use the right bin for mustard<br>**specific:** Pick up the mustard bottle and place it in the bin on the right side,30,spatial,1,simple
NonHammerToolsInRightBinTask (benchmark/non_hammer_tools_in_right_bin.py),tools_container.usda,"**default:** Put the non-hammer tools in the right bin<br>**vague:** Sort non-hammer tools to the right<br>**specific:** Pick up the cordless drill and the spring clamp and place both in the bin on the right side, leaving the hammers untouched",180,"semantics, spatial, sorting",2,moderate
OneBottleInSquarePailTask (benchmark/one_bottle_in_square_pail.py),shelf_with_cleaning_products.usda,**default:** Put any white plastic bottle in the square pail<br>**vague:** Put a bottle in the square pail<br>**specific:** Pick up one of the three white plastic bottles and place it inside the square pail,60,semantics,1,simple
OneBottleOnShelfTask (benchmark/one_bottle_on_shelf_task.py),shelf_with_cleaning_products.usda,**default:** Put any white plastic bottle on the shelf<br>**vague:** Put a bottle on the shelf<br>**specific:** Pick up one of the three white plastic bottles and place it on the shelf,60,semantics,1,simple
PhoneOrRemoteInBinTask (benchmark/phone_or_remote_in_bin_task.py),workdesk_bin.usda,**default:** Put the phone or the remote in the grey bin<br>**vague:** Put the phone or the remote away<br>**specific:** Choose either the black phone or the remote control and it into the grey bin next to the keyboard,60,conjunction,1,simple
PickDrillTask (benchmark/pick_drill.py),mugs4_measuringcup_drill_bowl.usda,**default:** Pick up the cordless drill.<br>**vague:** Get the drill<br>**specific:** Pick up the orange cordless electric drill and lift it off the table,40,semantics,1,simple
PickGlassesTask (benchmark/pick_glasses_task.py),workdesk.usda,**default:** Pick up the eye glasses<br>**vague:** Grab the glasses<br>**specific:** Pick up the pair of black eyeglasses that's sitting on the table,30,semantics,2,simple
PickOrangeObjectTask (benchmark/cooking_orange_object.py),cooking_table.usda,**default:** Pick up the orange measuring cup<br>**vague:** Pick up orange-colored thing<br>**specific:** Identify and pick up the orange-colored object from the cooking area,60,color,2,simple
PickUpBluePitcherTask (benchmark/pick_up_blue_pitcher.py),blue.usda,**default:** Pick up the large blue pitcher<br>**vague:** Pick up blue object<br>**specific:** Pick up the large blue pitcher on the table by the side handle and lift it off the table,30,"color, affordance",2,moderate
PickUpGreenObjectTask (benchmark/pick_up_green_object.py),green.usda,**default:** Pick up the green vegetable block<br>**vague:** Pick up the green object<br>**specific:** Identify the green vegetable block on the table and lift it off the table,30,color,2,simple
PinkSpoonInPotTask (benchmark/pink_spoon_in_pot.py),ladle_pot.usda,**default:** Put the pink spaghetti spoon in the pot<br>**vague:** Put the pink spoon in the pot<br>**specific:** Pick up the pink spaghetti serving spoon that's on the left plate and place it inside the pot in the center of the table,60,"color, affordance",1,moderate
PlasticBottlesInSquarePailTask (benchmark/bottles_on_shelf_task.py),shelf_with_cleaning_products.usda,**default:** Put all the small plastic bottles in the square pail<br>**vague:** Clean up small bottles in the square pail<br>**specific:** Pick up the three small plastic bottles and place them inside the square shaped pail,180,"semantics, sorting, size",3,complex
PutBowlOnShelfTopTask (benchmark/put_bowl_on_shelf.py),shelf_mugs_jug_bowl.usda,**default:** Put the serving bowl anywhere on the shelf in front of you<br>**vague:** Put the bowl on shelf<br>**specific:** Pick up the white serving bowl that's on the table to the right and place it on any open space on the shelf on the center of the table,60,spatial,1,simple
PutMugsOnShelfTask (benchmark/put_mugs_on_shelf.py),shelf_mugs_jug_bowl.usda,**default:** Put the two mugs on the shelf<br>**vague:** Put the mugs on shelf<br>**specific:** Pick up the two mugs from the table and place them on the shelf in front of you,180,"affordance, spatial, counting",2,moderate
PutTwoMugsOnShelfTask (benchmark/put_two_mugs_on_shelf.py),wire_shelf_mugs_plate_spatula.usda,**default:** Put two (2) mugs on the wire shelf<br>**vague:** Put the mugs on shelf<br>**specific:** Select two mugs from the right side of the table and place them on the wire shelf in front of you,180,"affordance, spatial, counting",2,moderate
RecycleCartonsOnBoxTask (benchmark/recycle_cartons_on_box.py),cartons_on_box.usda,**default:** Put the cartons that can be recycled on the box<br>**vague:** Put the carton recyclables on the box<br>**specific:** Identify the food cartons that can be recycled and put them on top of the brown square box.,90,semantics,2,simple
RecycleCartonsVerticalCrateTask (benchmark/recycle_cartons_vertical_crate.py),cartons_in_vertical_crate.usda,**default:** Put the cartons that can be recycled in the vertical crate<br>**vague:** Recycle the cartons in the crate<br>**specific:** Pick up the food cartons that can be recycled and place them into the vertical crate in the center of the table,90,"semantics, spatial",2,moderate
RecycleCartonTask (benchmark/recycle_cartons.py),cartons_in_crate.usda,**default:** Put the recyclable cartons in the grey bin<br>**vague:** Recycle the cartons<br>**specific:** Pick up the food cartons that can be recycled and place them into the grey bin in the center of the table,90,"semantics, vague",2,simple
RedDishesInBinTask (benchmark/red_dishes_in_bin.py),rubiks_cube_banana_bowl_mug_bin.usda,**default:** Put the red dishware in the grey bin<br>**vague:** Clean up red dishware<br>**specific:** Pick up each red mug and bowl from the table and place them in the grey bin,60,"color, semantics",2,simple
RedItemsInBinTask (benchmark/red_items_in_bin.py),rubiks_cube_banana_bowl_mug_bin.usda,**default:** Put all the red things in the grey bin<br>**vague:** Sort items by color<br>**specific:** Identify every red-colored object on the table and place each one into the grey bin,60,"color, sorting",2,moderate
ReorientAllMugsTask (benchmark/reorient_all_mugs_task.py),mugs4_measuringcup_drill_bowl.usda,"**default:** Reorient all the mugs upright so that the opening is facing upwards.<br>**vague:** Make sure the mugs are upright<br>**specific:** Check each mug on the table and if any are tipped over or inverted, rotate them so the opening faces upward. Leave it if it's already upright.",90,reorientation,3,complex
ReorientJugTask (benchmark/reorient_jug.py),shelf_with_cleaning_products.usda,**default:** Stand the jug upright<br>**vague:** Fix the jug<br>**specific:** Grasp the jug that is tipped on its side place it upright,60,"semantics, reorientation, affordance",1,moderate
ReorientRedMugTask (benchmark/reorient_red_mugs_task.py),mugs4_measuringcup_drill_bowl.usda,"**default:** Put the red mug upright so that the opening is facing upwards.<br>**vague:** Fix the red cup<br>**specific:** Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright.",60,"reorientation, color",1,moderate
ReorientWhiteMugsTask (benchmark/reorient_white_mugs.py),mugs4_measuringcup_drill_bowl_v2.usda,"**default:** Make sure all the white mugs are upright so that the opening is facing upwards.<br>**vague:** Fix the cups<br>**specific:** For each white mug that is tipped over or upside down, rotate it so the opening faces straight up",60,"reorientation, color",1,moderate
RubiksCubeAndBananaTask (benchmark/rubiks_cube_and_banana_task.py),rubiks_cube_banana_bowl.usda,**default:** Put the cube and the banana in the bowl<br>**vague:** Put everything in the bowl<br>**specific:** Pick up the rubiks cube and the yellow banana and place both inside the bowl,60,conjunction,2,simple
RubiksCubeBehindBowlTask (benchmark/rubiks_cube_behind_bowl.py),rubiks_cube_banana_bowl.usda,"**default:** Put the rubiks cube behind the bowl<br>**vague:** Put the cube behind the bowl<br>**specific:** Pick up the rubiks cube and place it on the table directly behind the bowl, further from you",30,spatial,3,moderate
RubiksCubeInFrontOfBowlTask (benchmark/rubiks_cube_in_front_of_bowl.py),rubiks_cube_banana_bowl.usda,"**default:** Put the rubiks cube in front of the bowl<br>**vague:** Put the cube in front of the bowl<br>**specific:** Pick up the rubiks cube and place it on the table directly in front of the bowl, closer to you",30,spatial,3,moderate
RubiksCubeLeftOfBowlTask (benchmark/rubiks_cube_left_of_bowl.py),rubiks_cube_banana_bowl.usda,**default:** Put the rubiks cube to the left of the bowl<br>**vague:** Put the cube left of the bowl<br>**specific:** Pick up the rubiks cube and place it on the table to the left side of the bowl,30,spatial,3,moderate
RubiksCubeOrBananaTask (benchmark/rubiks_cube_or_banana_task.py),rubiks_cube_banana_bowl.usda,**default:** Put the cube or the banana in the bowl<br>**vague:** Choose an object and put it in the bowl<br>**specific:** Choose either the rubiks cube or the yellow banana and place it inside the bowl,30,conjunction,1,simple
RubiksCubeRightOfBowlTask (benchmark/rubiks_cube_right_of_bowl.py),rubiks_cube_banana_bowl_mug_bin.usda,**default:** Put the rubiks cube to the right of the bowl<br>**vague:** Put the cube right of the bowl<br>**specific:** Pick up the rubiks cube and place it on the table to the right side of the bowl,30,spatial,3,moderate
RubiksCubesInBinTask (benchmark/rubiks_cubes_in_bin.py),toys_cleanup.usda,**default:** Sort all rubiks cubes into the bin<br>**vague:** Put away rubiks cubes<br>**specific:** Pick up only the three rubiks cube from the table and place them all into the grey bin,120,sorting,3,complex
RubiksCubeTask (benchmark/rubiks_cube_task.py),rubiks_cube_bowl.usda,**default:** Put the cube in the bowl<br>**vague:** Put it in the bowl<br>**specific:** Pick up the rubiks cube that's on the table and place it inside the bowl,40,,1,simple
RubiksCubeThenBananaTask (benchmark/rubiks_cube_then_banana.py),rubiks_cube_banana_bowl.usda,"**default:** Put the cube then the banana in the bowl<br>**vague:** Put the cube then banana in the bowl<br>**specific:** First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl",60,conjunction,2,simple
SauceBottlesCrateTask (benchmark/sauce_bottles_crate_task.py),bottles_crate.usda,**default:** Put the red bbq sauce bottle in the crate<br>**vague:** Put the red bottle away<br>**specific:** Pick up the red BBQ sauce bottle and place it inside the wooden crate,40,"color, semantics",1,simple
SmallerObjectButterInBinTask (benchmark/smaller_object.py),butter_raisin_box_grey_bin.usda,"**default:** Place the smaller object in the grey bin.<br>**vague:** Put one in the bin<br>**specific:** Compare the objects on the table, identify the smaller one, and place it in the grey bin",30,size,1,simple
SmallPumpkinInBinTask (benchmark/clutter_small_pumpkin_task.py),clutter_fruit_bottle_bluebin.usda,**default:** Put the small pumpkin in the bin<br>**vague:** Put away the small pumpkin<br>**specific:** Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin,60,size,1,simple
SmartphoneInBinTask (benchmark/smartphone_in_bin_task.py),workdesk_bin.usda,**default:** Put the smartphone in the grey bin<br>**vague:** Put the phone in the bin<br>**specific:** Pick up the smartphone in front of you and place it inside the grey bin alongside the keyboard,60,semantics,1,simple
SpoonInMugTask (benchmark/spoon_in_mug_task.py),workdesk_bin.usda,**default:** Put the metal spoon that's in the wooden bowl in the mug<br>**vague:** Put the spoon in the mug<br>**specific:** Take the metal spoon in the wooden bowl and place it inside the ceramic mug with the handle sticking out,60,"affordance, spatial",1,moderate
SpoonsInPotTask (benchmark/spoons_in_pot.py),ladle_pot.usda,"**default:** Put all of the serving spoons with no holes in the pot<br>**vague:** Put the spoons with no holes in the pot<br>**specific:** Pick up all of the serving spoons (two green, one red) with no holes from the table and place them inside the cooking pot",180,"reorientation, semantics, affordance",3,complex
Stack3RubiksCubeTask (benchmark/rubiks_cube_stacking_task.py),rubiks_cube_3.usda,**default:** Stack the rubiks cubes in a tower<br>**vague:** Stack everything in a tower<br>**specific:** Pick up the rubiks cubes and stack them vertically on top of each other on the table,60,stacking,2,moderate
StackWhiteMugsTask (benchmark/stack_white_mugs_task.py),mugs4_measuringcup_drill_bowl.usda,**default:** Stack the white mugs on top of each other.<br>**vague:** Stack the white mugs <br>**specific:** Take a white mug and place it on top of the other white mug,60,"stacking, color",2,moderate
StackYellowOnRedTask (benchmark/stack_yellow_on_red.py),toys_cleanup.usda,**default:** Stack the yellow block on the red block<br>**vague:** Stack blocks: yellow on red<br>**specific:** Pick up the yellow block on the left and place it precisely on top of the red block in front of the birdhouse,60,stacking,2,moderate
TakeMeasuringSpoonOutTask (benchmark/take_measuring_spoon_out.py),mugs4_measuringcup_drill_bowl_v2.usda,"**default:** Take the white colored measuring spoon out of the red bowl and put it on the table.<br>**vague:** Take the measuring spoon out of the bowl<br>**specific:** Reach into the bowl, grasp the measuring spoon, lift it out, and place it on the table surface",40,semantics,1,simple
TakeMugsOffOfShelfTask (benchmark/take_mugs_off_of_shelf.py),mugs_on_shelf.usda,**default:** Take the mugs off the shelf<br>**vague:** Clear the shelf<br>**specific:** Remove each mug from the second level of the shelf and place them on the table below,180,"semantics, affordance",2,moderate
TakeSpatulaOffShelfTask (benchmark/take_spatula_off_shelf.py),wire_shelf_mugs_plate_spatula.usda,"**default:** Take the spatula off the shelf and put it on the table<br>**vague:** Take the spatula off the shelf<br>**specific:** Reach up and remove the spatula from the shelf, then place it flat on the table surface",60,"affordance, spatial",1,moderate
ThrowAwayAppleTask (benchmark/throw_away_apple_task.py),workdesk_snacks.usda,**default:** Throw away the apple<br>**vague:** Toss the apple<br>**specific:** Pick up the red apple from the table and drop it into the grey bin to discard it,60,semantics,1,simple
ThrowAwaySnacksTask (benchmark/throw_away_snacks_task.py),workdesk_snacks.usda,**default:** Put away the snacks in the bin<br>**vague:** Throw away the snacks<br>**specific:** Pick up each snack item from the table and drop it into the bin to discard,120,semantics,2,simple
ToolOrganizationBothTask (benchmark/tool_organization_both_task.py),tools_container.usda,"**default:** Put hammers in the right bin and do not touch anything else<br>**vague:** Put hammers in the right bin<br>**specific:** Pick up the red hammer and the black hammer and place them in the bin on the right side, leaving all other tools untouched",180,"semantics, spatial",2,moderate
ToolOrganizationTask (benchmark/tool_organization_task.py),tools_container.usda,**default:** Put the red hammer and black hammer in the left bin<br>**vague:** Put hammers in the left bin<br>**specific:** Pick up the red-handled hammer and the black-handled hammer and place both in the left bin,180,"semantics, spatial, color",2,moderate
ToolsPickingAllHammersTask (benchmark/tools_picking_all_hammers.py),tools_picking.usda,**default:** Take out all the hammers and put them on the table<br>**vague:** Empty the hammers bin<br>**specific:** Remove every hammer from the left bin and place each one on the table in front of you,240,"semantics, spatial",4,complex
ToolsPickingDrillTask (benchmark/tools_picking_drill.py),tools_picking.usda,**default:** Select the cordless drill and put it on the table<br>**vague:** Get the drill<br>**specific:** Pick up the cordless electric drill and place it on the table surface,60,"spatial, semantics",1,simple
ToolsPickingHammerTask (benchmark/tools_picking_hammer.py),tools_picking.usda,"**default:** Select the blue hammer and put it on the table<br>**vague:** Get the blue hammer<br>**specific:** Reach into the tool area, grasp the blue-handled hammer, and place it flat on the table surface",60,"semantics, spatial, color",1,simple
ToyInBinTask (benchmark/lizard_in_bin_task.py),workdesk_bin.usda,**specific:** Put the green lizard figurine away in the grey bin<br>**default:** Put the lizard away in the bin<br>**vague:** Put the toy away,60,semantics,1,simple
UnstackRubiksCubeTask (benchmark/unstack_rubiks_cube.py),mug_banana_ketchup_bowl_rubiks3_bin.usda,**default:** Unstack the rubiks cube tower<br>**vague:** Unstack the tower<br>**specific:** Remove each rubiks cube from the stacked tower one at a time and place them separately on the table,90,stacking,2,moderate
UtensilsInMugTask (benchmark/utensils_in_mug.py),breakfast_table.usda,"**default:** Put the fork and spoon in the ceramicmug<br>**vague:** Put the utensils in the mug<br>**specific:** Take the fork on the bagel plate and put it in the ceramic mug, and take the spoon from the red bowl and put it in the mug",90,"semantics, affordance",2,moderate
WhiteMugInCenterOfTableTask (benchmark/white_mug_in_center_of_table.py),objects_around_table.usda,**default:** Put the white mug in the center of the table.<br>**vague:** Move the mug to the center<br>**specific:** Pick up the white ceramic mug and place it in the center of the table surface away from the other objects,30,"color, spatial",3,moderate
WhiteMugsInBinTask (benchmark/white_mugs_in_bin.py),mugs2_bananas2_ketchup_rubiks3_bin.usda,**specific:** Put the two white mugs in the grey bin<br>**default:** Clean up the white mugs<br>**vague:** Put away all mugs,60,color,2,simple
WoodSpatulaToBowlTask (benchmark/wood_spatula_to_bowl.py),fruits_in_basket.usda,**default:** Put the wooden spatula in the bowl<br>**vague:** Put the wood utensil in the bowl<br>**specific:** Pick up the wooden spatula from the utensils box on the table and place it inside the wooden bowl in the center of the table,60,semantics,1,simple
YellowAndWhiteObjectsInBinTask (benchmark/yellow_and_white_objects_in_bin.py),mug_banana_ketchup_bowl_rubiks3_bin.usda,**default:** Put all white objects and yellow objects in the grey bin<br>**vague:** Clean up white and yellow objects<br>**specific:** Identify the white-colored and yellow-colored object on the table and place each one into the grey bin,60,"color, conjunction",2,simple
YogurtInBowlTask (benchmark/yogurt_in_bowl.py),breakfast_table.usda,**default:** Put the small red yogurt in the red bowl<br>**vague:** Put the yogurt in the bowl<br>**specific:** Pick up the small red yogurt container and place it inside the red bowl,40,"color, size",1,simple