Atomic Tasks
Contents
Atomic Tasks#
The current release includes 25 atomic tasks for systematically training policies across eight foundational skill families. The breakdown of these tasks across skill families is as follows:
Pick and place#
Task | Description | Class File |
---|---|---|
PickPlaceCounterToCabinet |
Pick an object from the counter and place it inside the cabinet. The cabinet is already open. | Source |
PickPlaceCabinetToCounter |
Pick an object from the cabinet and place it on the counter. The cabinet is already open. | Source |
PickPlaceCounterToSink |
Pick an object from the counter and place it in the sink. | Source |
PickPlaceSinkToCounter |
Pick an object from the sink and place it on the counter area next to the sink. | Source |
PickPlaceCounterToMicrowave |
Pick an object from the counter and place it inside the microwave. The microwave door is already open. | Source |
PickPlaceMicrowaveToCounter |
Pick an object from inside the microwave and place it on the counter. The microwave door is already open. | Source |
PickPlaceCounterToStove |
Pick an object from the counter and place it in a pan or pot on the stove. | Source |
PickPlaceStoveToCounter |
Pick an object from the stove (via a pot or pan) and place it on (the plate on) the counter. | Source |
Opening and closing doors#
Task | Description | Class File |
---|---|---|
OpenSingleDoor |
Open a microwave door or a cabinet with a single door. | Source |
CloseSingleDoor |
Close a microwave door or a cabinet with a single door. | Source |
OpenDoubleDoor |
Open a cabinet with two opposite-facing doors. | Source |
CloseDoubleDoor |
Close a cabinet with two opposite-facing doors. | Source |
Opening and closing drawers#
Task | Description | Class File |
---|---|---|
OpenDrawer |
Open a drawer. | Source |
CloseDrawer |
Close a drawer. | Source |
Turning levers#
Task | Description | Class File |
---|---|---|
TurnOnSinkFaucet |
Turn on the sink faucet to begin the flow of water. | Source |
TurnOffSinkFaucet |
Turn off the sink faucet to begin the flow of water. | Source |
TurnSinkSpout |
Turn the sink spout. | Source |
Twisting knobs#
Task | Description | Class File |
---|---|---|
TurnOnStove |
Turn on a specified stove burner by twisting the respective stove knob. | Source |
TurnOffStove |
Turn off a specified stove burner by twisting the respective stove knob. | Source |
Insertion#
Task | Description | Class File |
---|---|---|
CoffeeSetupMug |
Pick the mug from the counter and insert it onto the coffee machine mug holder area. | Source |
CoffeeServeMug |
Remove the mug from the coffee machine mug holder and place it on the counter. | Source |