farama-foundation/franka-kitchen
FrankaKitchen-v1 subtasks and goal sets on a Franka Panda.
bench eval run \
-d farama-foundation/franka-kitchen@0.1 \
--registry https://robouse.ai/hub/registry.json \
--agent oracleAbout this dataset
- Embodiment
- Franka Panda
- Simulator
- Gymnasium-Robotics 1.4.2 (Franka Kitchen)
- Requirements
- CPU only · 1.1 GB image ·
bench>=0.7.4,<0.8 - Licence
- Task packages Apache-2.0; adapted from Franka Kitchen (Gymnasium-Robotics; Relay Policy Learning / D4RL kitchen) by Farama Foundation, MIT (code); Apache-2.0 (kitchen and Franka assets)
@misc{robouse_farama_foundation_franka_kitchen_0_1,
title = {Robo Use farama-foundation/franka-kitchen 0.1},
author = {{BenchFlow}},
year = {2026},
howpublished = {\url{https://robouse.ai/hub/farama-foundation/franka-kitchen/}},
note = {BenchFlow dataset, tag farama-foundation/franka-kitchen-v0.1, commit bcd0d002b9df; adapted from Franka Kitchen (Gymnasium-Robotics; Relay Policy Learning / D4RL kitchen) (Farama Foundation)}
}10 tasks
Size
Step budget
kitchen-bottom-burnerTurn on the bottom burner (the lower-left knob).
Franka Panda500 stepsjudged on the final state
kitchen-burners-cabinetsDo all of these, in any order: turn on the bottom burner (the lower-left knob); turn on the top burner (the upper-left knob); open the sliding…Do all of these, in any order: turn on the bottom burner (the lower-left knob); turn on the top burner (the upper-left knob); open the sliding cabinet door; open the hinged wall cabinet (its right-hand door).
Franka Panda1,500 stepsjudged on the final state
kitchen-completeDo all of these, in any order: open the microwave door; move the kettle onto the back-left burner; turn on the light switch; open the sliding…Do all of these, in any order: open the microwave door; move the kettle onto the back-left burner; turn on the light switch; open the sliding cabinet door.
Franka Panda1,500 stepsjudged on the final state
kitchen-hinge-cabinetOpen the hinged wall cabinet (its right-hand door).
Franka Panda500 stepsjudged on the final state
kitchen-kettleMove the kettle onto the back-left burner.
Franka Panda500 stepsjudged on the final state
kitchen-mixedDo all of these, in any order: open the microwave door; move the kettle onto the back-left burner; turn on the bottom burner (the lower-left…Do all of these, in any order: open the microwave door; move the kettle onto the back-left burner; turn on the bottom burner (the lower-left knob); turn on the light switch.
Franka Panda1,500 stepsjudged on the final state
kitchen-top-burnerTurn on the top burner (the upper-left knob).
Franka Panda500 stepsjudged on the final state
↑ ↓ move between rows · Enter shows details · O opens the task
Each task is a package in the task format, pinned to robohub commit bcd0d002b9df. The verifier and the reference solution are not published.