Task Group#

Maniskill#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton
PokeCube❓✅❓❓❓❓
PullCube❓✅❓❓❓❓
PullCubeTool❓✅❓❓❓❓
PushCube❓✅❓❓❓❓
RollBall❓✅❓❓❓❓
StackPyramid❓✅❓❓❓❓
draw_svg❓❓❓❓❓❓
draw_triangle❓❓❓❓❓❓
lift_peg_upright❓❓❓❓❓❓
maniskill_base❓❓❓❓❓❓
native_tasks❓❓❓❓❓❓
peg_insertion_side❓❓❓❓❓❓
pick_cube❓❓❓❓❓❓
pick_cube_v1❓❓❓❓❓❓
pick_single_egad❓❓❓❓❓❓
pick_single_ycb❓❓❓❓❓❓
place_sphere❓❓❓❓❓❓
plug_charger❓❓❓❓❓❓
stack_cube❓❓❓❓❓❓
two_robot_pick_cube❓❓❓❓❓❓

RLBench#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton
basketball_in_hoop❓❓❓❓❓❓
beat_the_buzz❓❓❓❓❓❓
block_pyramid❓❓❓❓❓❓
change_channel❓❓❓❓❓❓
change_clock❓❓❓❓❓❓
close_box❓❓❓❓❓❓
close_door❓❓❓❓❓❓
close_drawer❓❓❓❓❓❓
close_fridge❓❓❓❓❓❓
close_grill❓❓❓❓❓❓
close_jar❓❓❓❓❓❓
close_laptop_lid❓❓❓❓❓❓
close_microwave❓❓❓❓❓❓
empty_dishwasher❓❓❓❓❓❓
get_ice_from_fridge❓❓❓❓❓❓
hit_ball_with_queue❓❓❓❓❓❓
hockey❓❓❓❓❓❓
insert_onto_square_peg❓❓❓❓❓❓
lamp_off❓❓❓❓❓❓
lift_numbered_block❓❓❓❓❓❓
light_bulb_in❓❓❓❓❓❓
light_bulb_out❓❓❓❓❓❓
meat_off_grill❓❓❓❓❓❓
open_box❓❓❓❓❓❓
open_grill❓❓❓❓❓❓
open_jar❓❓❓❓❓❓
open_oven❓❓❓❓❓❓
open_washing_machine❓❓❓❓❓❓
open_window❓❓❓❓❓❓
open_wine_bottle❓❓❓❓❓❓
phone_on_base❓❓❓❓❓❓
pick_and_lift❓❓❓❓❓❓
pick_and_lift_small❓❓❓❓❓❓
pick_up_cup❓❓❓❓❓❓
place_cups❓❓❓❓❓❓
place_
shape_in_shape_sorter
❓❓❓❓❓❓
play_jenga❓❓❓❓❓❓
plug_
charger_in_power_supply
❓❓❓❓❓❓
pour_from_cup_to_cup❓❓❓❓❓❓
press_switch❓❓❓❓❓❓
push_button❓❓❓❓❓❓
push_buttons❓❓❓❓❓❓
put_books_on_bookshelf❓❓❓❓❓❓
put_bottle_in_fridge❓❓❓❓❓❓
put_groceries_in_cupboard❓❓❓❓❓❓
put_item_in_drawer❓❓❓❓❓❓
put_knife_in_knife_block❓❓❓❓❓❓
put_money_in_safe❓❓❓❓❓❓
put_
plate_in_colored_dish_rack
❓❓❓❓❓❓
put_rubbish_in_bin❓❓❓❓❓❓
put_shoes_in_box❓❓❓❓❓❓
put_toilet_roll_on_stand❓❓❓❓❓❓
put_
umbrella_in_umbrella_stand
❓❓❓❓❓❓
reach_and_drag❓❓❓❓❓❓
reach_target❓❓❓❓❓❓
rl_bench❓❓❓❓❓❓
scoop_with_spatula❓❓❓❓❓❓
screw_nail❓❓❓❓❓❓
set_the_table❓❓❓❓❓❓
setup_checkers❓❓❓❓❓❓
setup_chess❓❓❓❓❓❓
slide_block_to_target❓❓❓❓❓❓
slide_
cabinet_open_and_place_cups
❓❓❓❓❓❓
stack_blocks❓❓❓❓❓❓
stack_chairs❓❓❓❓❓❓
stack_cups❓❓❓❓❓❓
stack_wine❓❓❓❓❓❓
sweep_to_dustpan❓❓❓❓❓❓

Libero#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton
LIBERO (native, all 130)❓✅❓❓❓❓
LIBERO-plus (native, perturbations)❓✅❓❓❓❓
libero_base❓❓❓❓❓❓
libero_pick_alphabet_soup❓❓❓❓❓❓
libero_pick_bbq_sauce❓❓❓❓❓❓
libero_pick_butter❓❓❓❓❓❓
libero_
pick_chocolate_pudding
❓❓❓❓❓❓
libero_pick_cream_cheese❓❓❓❓❓❓
libero_pick_ketchup❓❓❓❓❓❓
libero_pick_milk❓❓❓❓❓❓
libero_pick_orange_juice❓❓❓❓❓❓
libero_
pick_salad_dressing
❓❓❓❓❓❓
libero_pick_tomato_sauce❓❓❓❓❓❓
native_repro❓❓❓❓❓❓

Calvin#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton
base_table❓❓❓❓❓❓
scene_A❓❓❓❓❓❓
scene_B❓❓❓❓❓❓
scene_C❓❓❓❓❓❓
scene_D❓❓❓❓❓❓

Graspnet#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton

Gapartnet#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton

Arnold#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton

Unidoormanip#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton

Simpler#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton

Robosuite#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton
Robosuite (native, MuJoCo)❓✅❓❓❓❓
Robosuite (robosuite-free)❓✅❓❓❓❓
native_lift❓❓❓❓❓❓

Metaworld#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton

Rlafford#

Task / Robotisaacsimmujocoisaacgymsapien3genesisnewton