farama-foundation/franka-kitchen
FrankaKitchen-v1 subtasks and goal sets on a Franka Panda.
robouse run-many \
--tasks "$(robouse tasks --path)/kitchen" \
--harness claude-code \
--out runs/kitchenAbout this dataset
- Embodiment
- Franka Panda
- Simulator
- Gymnasium-Robotics 1.4.2 (Franka Kitchen)
- Needs
pip install 'robouse[sim]', thenpip install 'robouse[gymrobotics]'- Release
- Robo Use 0.6.1, suite
kitchen - Licence
- Task text and reference solutions Apache-2.0 (Robo Use); adapted from Franka Kitchen (Gymnasium-Robotics; Relay Policy Learning / D4RL kitchen) by Farama Foundation, MIT (code); Apache-2.0 (kitchen and Franka assets)
10 tasks
Budget
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
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Each task is a folder in the task format, in tasks/kitchen/ of Robo Use 0.6.1. The task text is shown here; the reference solution and the verifier are on GitHub.