Pick the mango from the counter and place it in the cabinet.
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WorldToken demonstrations
Watch WorldToken perform everyday kitchen tasks.
These 22 videos show the robot moving objects, opening drawers, and using kitchen appliances in simulation.
Each clip shows the same action from three camera views. The sentence above the video describes what the robot has been asked to do.
Pick and Place
7 videosPick the tangerine from the cabinet and place it on the counter.
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Pick the steak from the counter and place it in the sink.
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Pick the orange from the sink and place it on the plate located on the counter.
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Pick the garlic from the counter and place it in the microwave.
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Pick the egg from the plate and place it in the pan.
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Pick the apple from the pan and place it on the plate.
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Opening and closing doors
3 videosOpen the cabinet door.
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Close the cabinet door.
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Close the cabinet doors.
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Opening and closing drawers
2 videosOpen the left drawer.
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Close the right drawer.
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Turning levers
3 videosTurn on the sink faucet.
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Turn off the sink faucet.
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Turn the sink spout to the left.
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Twisting knobs
2 videosTurn on the front left burner of the stove.
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Turn off the front center burner of the stove.
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Insertion
2 videosPick the mug from the counter and place it under the coffee machine dispenser.
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Pick the mug from under the coffee machine dispenser and place it on the counter.
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Pressing buttons
3 videosPress the button on the coffee machine to serve coffee.
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Press the start button on the microwave.
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Press the stop button on the microwave.
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For the methods and results behind these demonstrations, visit the paper and research resources.