Kitchen Benchmark Catalog#

The kitchen benchmark contains 42 DROID tasks defined as environment graph YAML specs under isaaclab_arena_environments/kitchen_bench/. Pass a spec to policy_runner.py with --env_spec to run that environment. π0.5 (pi05_droid_jointpos, DROID adapter) was evaluated on 100 episodes per environment on October 28, 2026.

Task categories#

Task category

Number of tasks

pi0.5 success rate

Open door

9

48.4%

Press button

2

10.0%

Turn knob

3

34.7%

Single-object pick-and-place (container)

18

40.4%

Multi-level pick-and-place

3

26.0%

Multi-object pick-and-place

3

39.7%

Spatial placement

2

30.5%

Stacking

2

42.0%

Total

42

38.8%

Each row links to the source YAML and shows a Pi policy execution recorded from the maintained DROID external camera. Rows are grouped by task category.

Task category

Environment graph YAML

pi0.5 success rate

Pi policy execution

Open door

kitchen_bench_lightwheel_open_cabinet_u_shaped_with_island_farmhouse2.yaml

12%

 Pi policy opening a cabinet in the U-shaped farmhouse kitchen

Open door

kitchen_bench_lightwheel_open_freezer_g_shaped_large_scandinavian.yaml

64%

 Pi policy opening the freezer in the G-shaped Scandinavian kitchen

Open door

kitchen_bench_lightwheel_open_fridge.yaml

59%

 Pi policy opening the refrigerator in the Lightwheel kitchen

Open door

kitchen_bench_lightwheel_open_fridge_g_shaped_large_scandinavian.yaml

63%

 Pi policy opening the refrigerator in the G-shaped Scandinavian kitchen

Open door

kitchen_bench_lightwheel_open_fridge_u_shaped_with_island_farmhouse2.yaml

71%

 Pi policy opening the refrigerator in the U-shaped farmhouse kitchen

Open door

kitchen_bench_lightwheel_open_microwave.yaml

63%

 Pi policy opening the microwave in the Lightwheel kitchen

Open door

kitchen_bench_lightwheel_open_microwave_g_shaped_large_scandinavian.yaml

18%

 Pi policy opening the microwave in the G-shaped Scandinavian kitchen

Open door

kitchen_bench_lightwheel_open_oven_g_shaped_large_scandinavian.yaml

69%

 Pi policy opening the oven in the G-shaped Scandinavian kitchen

Open door

kitchen_bench_lightwheel_open_right_microwave_l_shaped_scandinavian.yaml

17%

 Pi0.5 policy opening the right-wall microwave in the Scandinavian kitchen

Pi0.5, 2x speed.

Press button

kitchen_bench_lightwheel_press_left_toaster_cancel_button_g_shaped_large_scandinavian.yaml

8%

 Pi policy pressing the left toaster cancel button in the G-shaped Scandinavian kitchen

Press button

kitchen_bench_lightwheel_press_right_toaster_cancel_button_g_shaped_large_scandinavian.yaml

12%

 Pi policy pressing the right toaster cancel button in the G-shaped Scandinavian kitchen

Turn knob

kitchen_bench_lightwheel_turn_oven_temperature_knob_g_shaped_large_scandinavian.yaml

31%

 Pi policy turning the oven temperature knob in the G-shaped Scandinavian kitchen

Turn knob

kitchen_bench_replicator_g_shape_turn_stand_mixer_knob.yaml

34%

 Pi0.5 policy turning the stand mixer speed knob in the G-shaped kitchen

Pi0.5, 2x speed.

Turn knob

kitchen_bench_lightwheel_turn_toaster_oven_timer_knob_l_shaped_scandinavian.yaml

39%

 Pi0.5 policy turning the toaster oven timer in the Scandinavian kitchen

Pi0.5, 2x speed.

Single-object pick-and-place (container)

kitchen_bench_lightwheel_pick_and_place.yaml

63%

 Pi policy placing mustard in a bowl in the Lightwheel kitchen

Single-object pick-and-place (container)

kitchen_bench_lightwheel_place_ladle_in_plate_g_shaped_large_scandinavian.yaml

6%

 Pi policy placing a ladle in a plate in the G-shaped Scandinavian kitchen

Single-object pick-and-place (container)

kitchen_bench_lightwheel_place_lime_in_wooden_bowl_l_shaped_scandinavian.yaml

5%

 Pi policy placing a lime in a wooden bowl in the L-shaped Scandinavian kitchen

Single-object pick-and-place (container)

kitchen_bench_lightwheel_place_pepsi_in_basket_u_shaped_with_island_farmhouse2.yaml

24%

 Pi policy placing a Pepsi can in a basket in the U-shaped farmhouse kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_g_shape_banana_bowl.yaml

88%

 Pi policy placing a banana in a bowl in the G-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_g_shape_bowl_sink.yaml

89%

 Pi policy placing a bowl in the sink in the G-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_g_shape_mustard_bowl.yaml

2%

 Pi policy placing mustard in a bowl in the G-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_l_island_banana_bowl.yaml

57%

 Pi policy placing a banana in a bowl in the L-shaped island kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_l_island_bowl_sink.yaml

0%

 Pi policy placing a bowl in the sink in the L-shaped island kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_l_island_mustard_bowl.yaml

8%

 Pi policy placing mustard in a bowl in the L-shaped island kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_l_shape_banana_bowl.yaml

23%

 Pi policy placing a banana in a bowl in the L-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_l_shape_bowl_sink.yaml

52%

 Pi policy placing a bowl in the sink in the L-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_l_shape_mustard_bowl.yaml

6%

 Pi policy placing mustard in a bowl in the L-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_peninsula_bowl_sink.yaml

95%

 Pi policy placing a bowl in the sink in the peninsula kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_peninsula_mustard_bowl.yaml

9%

 Pi policy placing mustard in a bowl in the peninsula kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_u_shape_banana_bowl.yaml

87%

 Pi policy placing a banana in a bowl in the U-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_u_shape_bowl_sink.yaml

88%

 Pi policy placing a bowl in the sink in the U-shaped kitchen

Single-object pick-and-place (container)

kitchen_bench_replicator_u_shape_mustard_bowl.yaml

26%

 Pi policy placing mustard in a bowl in the U-shaped kitchen

Multi-level pick-and-place

kitchen_bench_lightwheel_pick_lemon_shelf_on_plate_u_shaped_with_island_farmhouse2.yaml

13%

 Pi policy picking a lemon from a shelf onto a plate in the U-shaped farmhouse kitchen

Multi-level pick-and-place

kitchen_bench_lightwheel_pick_orange_shelf_on_plate_u_shaped_with_island_farmhouse2.yaml

38%

 Pi0.5 policy moving an orange from the shelf to a plate in the U-shaped farmhouse kitchen

Pi0.5, 2x speed.

Multi-level pick-and-place

kitchen_bench_lightwheel_pick_apple_shelf_in_bowl_u_shaped_with_island_farmhouse2.yaml

27%

 Pi0.5 policy moving an apple from the shelf to a red bowl in the farmhouse kitchen

Pi0.5, 2x speed.

Multi-object pick-and-place

kitchen_bench_lightwheel_place_bananas_in_wooden_bowl_u_shaped_with_island_farmhouse2.yaml

22%

 Pi policy placing bananas in a wooden bowl in the U-shaped farmhouse kitchen

Multi-object pick-and-place

kitchen_bench_replicator_g_shape_banana_and_orange_in_bowl.yaml

43%

 Pi0.5 policy placing a banana and an orange into a wooden bowl in the G-shaped kitchen

Pi0.5, 2x speed.

Multi-object pick-and-place

kitchen_bench_lightwheel_place_three_fruits_in_wooden_bowl_l_shaped_scandinavian.yaml

54%

 Pi0.5 policy placing a lime, lemon, and apple into a wooden bowl in the Scandinavian kitchen

Pi0.5, 2x speed.

Spatial placement

kitchen_bench_replicator_g_shape_banana_in_left_bowl.yaml

36%

 Pi0.5 policy placing a banana into the left red bowl in the G-shaped kitchen

Pi0.5, 2x speed.

Spatial placement

kitchen_bench_replicator_peninsula_soup_in_far_bowl.yaml

25%

 Pi0.5 policy placing a soup can into the farther red bowl in the peninsula kitchen

Pi0.5, 2x speed.

Stacking

kitchen_bench_replicator_g_shape_mustard_on_wooden_block.yaml

37%

 Pi0.5 policy placing a mustard bottle onto a wooden block in the G-shaped kitchen

Pi0.5, 2x speed.

Stacking

kitchen_bench_lightwheel_stack_soup_on_cracker_box_one_wall_coastal.yaml

47%

 Pi0.5 policy placing a soup can onto a cracker box in the coastal kitchen

Pi0.5, 2x speed.