Task Descriptions¶
In the following, we list all of the 50 tasks contained in Meta-World with a small verbal description.
Turn on faucet¶
Rotate the faucet counter-clockwise. Randomize faucet positions
Sweep¶
Sweep a puck off the table. Randomize puck positions
Assemble nut¶
Pick up a nut and place it onto a peg. Randomize nut and peg positions
Turn off faucet¶
Rotate the faucet clockwise. Randomize faucet positions
Push¶
Push the puck to a goal. Randomize puck and goal positions
Pull lever¶
Pull a lever down 90 degrees. Randomize lever positions
Turn dial¶
Rotate a dial 180 degrees. Randomize dial positions
Push with stick¶
Grasp a stick and push a box using the stick. Randomize stick positions.
Get coffee¶
Push a button on the coffee machine. Randomize the position of the coffee machine
Pull handle side¶
Pull a handle up sideways. Randomize the handle positions
Basketball¶
Dunk the basketball into the basket. Randomize basketball and basket positions
Pull with stick¶
Grasp a stick and pull a box with the stick. Randomize stick positions
Sweep into hole¶
Sweep a puck into a hole. Randomize puck positions
Disassemble nut¶
Pick a nut out of the a peg. Randomize the nut positions
Place onto shelf¶
Pick and place a puck onto a shelf. Randomize puck and shelf positions
Push mug¶
Push a mug under a coffee machine. Randomize the mug and the machine positions
Press handle side¶
Press a handle down sideways. Randomize the handle positions
Hammer¶
Hammer a screw on the wall. Randomize the hammer and the screw positions
Slide plate¶
Slide a plate into a cabinet. Randomize the plate and cabinet positions
Slide plate side¶
Slide a plate into a cabinet sideways. Randomize the plate and cabinet positions
Press handle¶
Press a handle down. Randomize the handle positions
Pull handle¶
Pull a handle up. Randomize the handle positions
Soccer¶
Kick a soccer into the goal. Randomize the soccer and goal positions
Retrieve plate side¶
Get a plate from the cabinet sideways. Randomize plate and cabinet positions
Retrieve plate¶
Get a plate from the cabinet. Randomize plate and cabinet positions
Close drawer¶
Push and close a drawer. Randomize the drawer positions
Reach¶
Reach a goal position. Randomize the goal positions
Reach with wall¶
Bypass a wall and reach a goal. Randomize goal positions
Insert peg side¶
Insert a peg sideways. Randomize peg and goal positions
Pull¶
Pull a puck to a goal. Randomize puck and goal positions
Push with wall¶
Bypass a wall and push a puck to a goal. Randomize puck and goal positions
Pick out of hole¶
Pick up a puck from a hole. Randomize puck and goal positions
Pick&place w/ wall¶
Pick a puck, bypass a wall and place the puck. Randomize puck and goal positions
Pick&place¶
Pick and place a puck to a goal. Randomize puck and goal positions
Pull mug¶
Pull a mug from a coffee machine. Randomize the mug and the machine positions
Unplug peg¶
Unplug a peg sideways. Randomize peg positions
Close window¶
Push and close a window. Randomize window positions
Open window¶
Push and open a window. Randomize window positions
Open door¶
Open a door with a revolving joint. Randomize door positions
Close door¶
Close a door with a revolving joint. Randomize door positions
Open drawer¶
Open a drawer. Randomize drawer positions
Insert hand¶
Insert the gripper into a hole.
Close box¶
Grasp the cover and close the box with it. Randomize the cover and box positions
Lock door¶
Lock the door by rotating the lock clockwise. Randomize door positions
Unlock door¶
Unlock the door by rotating the lock counter-clockwise. Randomize door positions
Pick bin¶
Grasp the puck from one bin and place it into another bin. Randomize puck positions