Kitchen Benchmark Catalog#

The kitchen benchmark contains 31 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. Each row links to the source YAML and shows a Pi policy execution recorded from the maintained DROID external camera.

Environment graph YAML

Pi policy execution

kitchen_bench_lightwheel_open_cabinet_u_shaped_with_island_farmhouse2.yaml

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

kitchen_bench_lightwheel_open_freezer_g_shaped_large_scandinavian.yaml

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

kitchen_bench_lightwheel_open_fridge.yaml

 Pi policy opening the refrigerator in the Lightwheel kitchen

kitchen_bench_lightwheel_open_fridge_g_shaped_large_scandinavian.yaml

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

kitchen_bench_lightwheel_open_fridge_u_shaped_with_island_farmhouse2.yaml

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

kitchen_bench_lightwheel_open_microwave.yaml

 Pi policy opening the microwave in the Lightwheel kitchen

kitchen_bench_lightwheel_open_microwave_g_shaped_large_scandinavian.yaml

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

kitchen_bench_lightwheel_open_oven_g_shaped_large_scandinavian.yaml

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

kitchen_bench_lightwheel_pick_and_place.yaml

 Pi policy placing mustard in a bowl in the Lightwheel kitchen

kitchen_bench_lightwheel_pick_lemon_shelf_on_plate_u_shaped_with_island_farmhouse2.yaml

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

kitchen_bench_lightwheel_place_bananas_in_wooden_bowl_u_shaped_with_island_farmhouse2.yaml

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

kitchen_bench_lightwheel_place_ladle_in_plate_g_shaped_large_scandinavian.yaml

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

kitchen_bench_lightwheel_place_lime_in_wooden_bowl_l_shaped_scandinavian.yaml

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

kitchen_bench_lightwheel_place_pepsi_in_basket_u_shaped_with_island_farmhouse2.yaml

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

kitchen_bench_lightwheel_press_left_toaster_cancel_button_g_shaped_large_scandinavian.yaml

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

kitchen_bench_lightwheel_press_right_toaster_cancel_button_g_shaped_large_scandinavian.yaml

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

kitchen_bench_lightwheel_turn_oven_temperature_knob_g_shaped_large_scandinavian.yaml

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

kitchen_bench_replicator_g_shape_banana_bowl.yaml

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

kitchen_bench_replicator_g_shape_bowl_sink.yaml

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

kitchen_bench_replicator_g_shape_mustard_bowl.yaml

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

kitchen_bench_replicator_l_island_banana_bowl.yaml

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

kitchen_bench_replicator_l_island_bowl_sink.yaml

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

kitchen_bench_replicator_l_island_mustard_bowl.yaml

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

kitchen_bench_replicator_l_shape_banana_bowl.yaml

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

kitchen_bench_replicator_l_shape_bowl_sink.yaml

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

kitchen_bench_replicator_l_shape_mustard_bowl.yaml

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

kitchen_bench_replicator_peninsula_bowl_sink.yaml

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

kitchen_bench_replicator_peninsula_mustard_bowl.yaml

 Pi policy placing mustard in a bowl in the peninsula kitchen

kitchen_bench_replicator_u_shape_banana_bowl.yaml

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

kitchen_bench_replicator_u_shape_bowl_sink.yaml

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

kitchen_bench_replicator_u_shape_mustard_bowl.yaml

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