stack_cube#

dense-reward sparse-reward demos

🔗 Official Task Page

Task Description: The goal is to pick up a red cube and stack it on top of a green cube and let go of the cube without it falling.

Randomizations:

  • both cubes have their z-axis rotation randomized

  • both cubes have their xy positions on top of the table scene randomized. The positions are sampled such that the cubes do not collide with each other

Success Conditions:

  • the red cube is on top of the green cube (to within half of the cube size)

  • the red cube is static

  • the red cube is not being grasped by the robot (robot must let go of the cube)