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

Pressing buttons

Task Description Class File
CoffeePressButton Press the button on the coffee machine to pour coffee into the mug. Source
TurnOnMicrowave Turn on the microwave by pressing the start button. Source
TurnOffMicrowave Turn off the microwave by pressing the stop button. Source