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KitchenBench

KitchenBench is 10 kitchen-manipulation tasks expressed as Inspect Robots Tasks. They are embodiment-agnostic, so you run them against any compatible policy/embodiment pair. The set emphasizes bimanual coordination: pouring, lid removal, folding, part-mating, a pure two-arm handover, and tool-mediated scooping, alongside classic pick-place / stacking / slotted insertion and a multi-instance sort.

This page is the reference for what each task asks and everything it varies over. For installation, the quick start, and running on real hardware or in simulation, see the README on GitHub.

The tasks

Task (--task) Goal Varies over Bimanual Category
kitchenbench/place_cutlery place the {cutlery} on the {dishware} {cutlery}: spoon, fork, knife · {dishware}: plate, bowl, napkin · placement, approach angle, clutter pick-place
kitchenbench/stack stack the cups / bowls / plates stacked item: cups, bowls, plates · count: 2 to 5 · sizes, spacing, placement jitter stacking
kitchenbench/place_in_rack place the {dishware} into the dish rack {dishware}: plate, bowl, cup · slot, rack pose, approach tilt, slot width, friction insertion
kitchenbench/pour_pasta pour the dry pasta into the {vessel}: bowl, cup, pot · fill amount, pour height and angle, placement ✅ granular
kitchenbench/open_container open the {container}: jar, bottle, food container · lid torque, cap turns, tilt, size ✅ articulated
kitchenbench/fold_cloth fold the {cloth}: dish towel, napkin, cloth · size, fold count, crumple, rotation ✅ deformable
kitchenbench/seal_container seal the {container} with its lid {container}: food container, pot, jar · lid offset and yaw, press force, thread turns, fit clearance ✅ mating
kitchenbench/handoff hand off the {item} from one arm to the other {item}: utensil, cup, produce item · handoff height and position, fill level, fragility, tool length ✅ coordination
kitchenbench/sort_cutlery sort the cutlery into the correct tray compartments spoons, forks, knives · piece count: 3 to 10 · pile spread and overlap, tray pose classification
kitchenbench/scoop_pasta scoop about {fill_target_g} g of the {pasta} with the {tool} and transfer it to the container {pasta}: penne, rigatoni · {tool}: spoon, measuring cup · {fill_target_g}: 20 to 160 · pile depth, container distance ✅ granular+tool

The "Varies over" column is the union over the task's 5 instances. Each {placeholder} lists every value the goal sentence can name (an individual instance samples from a subset of them and fixes the rest in its goal text); the trailing items summarize the remaining setup variables (placement jitter, sizes, forces, and the like) the instances also sample, without listing every one. The full per-instance distributions live in specs.py, and tests/test_docs_table.py keeps this table in sync with them.

Where things live