Bimanual task suites

This page lists the dual-arm (BiMESA) benchmark task suites defined in mesa/task_suites/task_sets.py. For the single-arm suites, see task suites.

BiMESA-57 training set

BiMESA is the dual-arm counterpart to MESA, built on a two-arm reverse-mounted YAM platform. The BiMESA-57 training set contains 57 in-distribution tasks organized into three skill blocks:

Block	Skill	Tasks	Generation
A	Spatial pick-and-place	27	MESA-Gen (aligned combos), teleop (cross combos)
B	Cross-arm handoff	17	Teleop
C	Single-arm articulated	13	MESA-Gen

MESA-Gen synthesizes only the aligned Block A combos and all of Block C. Cross-arm handoffs (Block B) and the cross combos of Block A are collected by teleoperation — MESA-Gen does not generate handoffs.

The bimesa-id suite evaluates these same 57 tasks from unseen initial states. The remaining four suites each hold out one generalization axis.

BiMESA-ID (bimesa-id)

The 57 in-distribution training tasks, evaluated from unseen initial states. Block A tasks carry a __<combo> suffix, Block B a handoff_ prefix, and Block C the open_and_ / _and_close articulated grammar.

Task ID	Natural Language Instruction
apple_tray_on__right_right	put the apple on the tray
onion_tray_on__right_right	put the onion on the tray
lime_tray_on__left_left	put the lime on the tray
tangerine_tray_on__right_right	put the tangerine on the tray
bell_pepper_tray_on__right_right	put the bell pepper on the tray
candle_tray_on__right_right	put the candle on the tray
coffee_cup_tray_on__right_right	put the coffee cup on the tray
lemon_plate_on__right_right	put the lemon on the plate
orange_plate_on__right_right	put the orange on the plate
mango_plate_on__left_left	put the mango on the plate
kiwi_plate_on__right_right	put the kiwi on the plate
beer_plate_on__left_left	put the beer on the plate
lime_bowl_on__right_right	put the lime in the bowl
mushroom_bowl_on__right_right	put the mushroom in the bowl
apple_bowl_on__left_left	put the apple in the bowl
jam_basket_contain_region__right_right	put the jam in the basket
yogurt_basket_contain_region__right_right	put the yogurt in the basket
mango_basket_contain_region__right_right	put the mango in the basket
bell_pepper_basket_contain_region__right_right	put the bell pepper in the basket
bottled_drink_basket_contain_region__left_left	put the bottled drink in the basket
orange_cutting_board_on__right_right	put the orange on the cutting board
kiwi_cutting_board_on__right_right	put the kiwi on the cutting board
tangerine_cutting_board_on__left_left	put the tangerine on the cutting board
onion_cutting_board_on__right_right	put the onion on the cutting board
garlic_pan_on__right_right	put the garlic in the pan
onion_pan_on__left_left	put the onion in the pan
can_pan_on__left_left	put the can in the pan
handoff_water_bottle_tray_on	put the water bottle on the tray
handoff_beer_plate_on	put the beer on the plate
handoff_wine_cutting_board_on	put the wine on the cutting board
handoff_bottled_water_basket_contain_region	put the bottled water in the basket
handoff_can_pan_on	put the can in the pan
handoff_jam_bowl_drainer_right_region	put the jam in the right side of the dish drainer
handoff_bottled_drink_basket_contain_region	put the bottled drink in the basket
handoff_coffee_cup_tray_on	put the coffee cup on the tray
handoff_spray_basket_contain_region	put the spray in the basket
handoff_milk_tray_on	put the milk on the tray
handoff_candle_tray_on	put the candle on the tray
handoff_alcohol_basket_contain_region	put the alcohol in the basket
handoff_jug_basket_contain_region	put the jug in the basket
handoff_ketchup_plate_on	put the ketchup on the plate
handoff_condiment_plate_on	put the condiment on the plate
handoff_soap_dispenser_tray_on	put the soap dispenser on the tray
handoff_yogurt_bowl_on	put the yogurt in the bowl
open_and_candle_slide_cabinet_contain_region	open the slide cabinet and put the candle in it
open_and_book_slide_cabinet_contain_region	open the slide cabinet and put the book in it
open_and_can_slide_cabinet_contain_region	open the slide cabinet and put the can in it
open_and_beer_slide_cabinet_contain_region	open the slide cabinet and put the beer in it
open_and_can_sliding_top_box_contain_region	open the box and put the can in it
open_and_apple_sliding_top_box_contain_region	open the box and put the apple in it
beer_slide_cabinet_contain_region_and_close	put the beer in the slide cabinet and close it
mango_slide_cabinet_contain_region_and_close	put the mango in the slide cabinet and close it
apple_sliding_top_box_contain_region_and_close	put the apple in the box and close it
lemon_sliding_top_box_contain_region_and_close	put the lemon in the box and close it
open_and_mango_sliding_top_box_contain_region_and_close	open the box and put the mango in it and close it
open_and_can_sliding_top_box_contain_region_and_close	open the box and put the can in it and close it
open_and_orange_slide_cabinet_contain_region_and_close	open the slide cabinet and put the orange in it and close it

BiMESA-Spatial (bimesa-spatial)

38 tasks holding out a spatial configuration not seen in training: 27 held-out arm/side combos (Block A), 8 reversed handoff directions (Block B), and 3 held-out fixture sides (Block C).

Task ID	Natural Language Instruction
apple_tray_on__left_left	put the apple on the tray
onion_tray_on__pick_left_dest_right	put the onion on the tray
lime_tray_on__right_right	put the lime on the tray
tangerine_tray_on__pick_right_dest_left	put the tangerine on the tray
bell_pepper_tray_on__left_left	put the bell pepper on the tray
candle_tray_on__pick_right_dest_left	put the candle on the tray
coffee_cup_tray_on__pick_right_dest_left	put the coffee cup on the tray
lemon_plate_on__pick_right_dest_left	put the lemon on the plate
orange_plate_on__pick_left_dest_right	put the orange on the plate
mango_plate_on__right_right	put the mango on the plate
kiwi_plate_on__pick_right_dest_left	put the kiwi on the plate
beer_plate_on__right_right	put the beer on the plate
lime_bowl_on__left_left	put the lime in the bowl
mushroom_bowl_on__pick_left_dest_right	put the mushroom in the bowl
apple_bowl_on__right_right	put the apple in the bowl
jam_basket_contain_region__pick_left_dest_right	put the jam in the basket
yogurt_basket_contain_region__pick_right_dest_left	put the yogurt in the basket
mango_basket_contain_region__left_left	put the mango in the basket
bell_pepper_basket_contain_region__pick_left_dest_right	put the bell pepper in the basket
bottled_drink_basket_contain_region__right_right	put the bottled drink in the basket
orange_cutting_board_on__left_left	put the orange on the cutting board
kiwi_cutting_board_on__pick_left_dest_right	put the kiwi on the cutting board
tangerine_cutting_board_on__right_right	put the tangerine on the cutting board
onion_cutting_board_on__pick_right_dest_left	put the onion on the cutting board
garlic_pan_on__pick_left_dest_right	put the garlic in the pan
onion_pan_on__right_right	put the onion in the pan
can_pan_on__right_right	put the can in the pan
handoff_water_bottle_tray_on__pick_right_dest_left	put the water bottle on the tray
handoff_beer_plate_on__pick_right_dest_left	put the beer on the plate
handoff_wine_cutting_board_on__pick_right_dest_left	put the wine on the cutting board
handoff_can_pan_on__pick_right_dest_left	put the can in the pan
handoff_milk_tray_on__pick_left_dest_right	put the milk on the tray
handoff_jug_basket_contain_region__pick_left_dest_right	put the jug in the basket
handoff_condiment_plate_on__pick_left_dest_right	put the condiment on the plate
handoff_yogurt_bowl_on__pick_left_dest_right	put the yogurt in the bowl
open_and_candle_slide_cabinet_contain_region__pick_right_fixture_left	open the slide cabinet and put the candle in it
beer_slide_cabinet_contain_region_and_close__pick_left_fixture_right	put the beer in the slide cabinet and close it
open_and_orange_slide_cabinet_contain_region_and_close__pick_right_fixture_left	open the slide cabinet and put the orange in it and close it

BiMESA-Instance (bimesa-instance)

18 tasks that swap a trained pick or destination object for a held-out mesh of the same instance (marked _ai): 9 pick-and-place, 5 handoff, 4 articulated.

Task ID	Natural Language Instruction
apple_ai_tray_ai_on	put the apple on the tray
orange_ai_plate_ai_on	put the orange on the plate
mushroom_ai_bowl_on	put the mushroom in the bowl
jam_ai_basket_contain_region	put the jam in the basket
apple_ai_bowl_on	put the apple in the bowl
bell_pepper_ai_basket_contain_region	put the bell pepper in the basket
orange_ai_cutting_board_on	put the orange on the cutting board
beer_ai_plate_ai_on	put the beer on the plate
bell_pepper_ai_tray_on	put the bell pepper on the tray
handoff_beer_ai_plate_ai_on	put the beer on the plate
handoff_jam_ai_bowl_drainer_right_region	put the jam in the right side of the dish drainer
handoff_can_pan_ai_on	put the can in the pan
handoff_water_bottle_tray_ai_on	put the water bottle on the tray
handoff_candle_tray_ai_on	put the candle on the tray
open_and_apple_ai_sliding_top_box_contain_region	open the box and put the apple in it
open_and_beer_ai_slide_cabinet_contain_region	open the slide cabinet and put the beer in it
open_and_orange_ai_slide_cabinet_contain_region_and_close	open the slide cabinet and put the orange in it and close it
apple_ai_sliding_top_box_contain_region_and_close	put the apple in the box and close it

BiMESA-Object (bimesa-object)

17 tasks whose pick object comes from a category not seen in training: 10 pick-and-place, 3 handoff, 4 articulated.

Task ID	Natural Language Instruction
pear_pot_on	put the pear in the pot
cupcake_basket_contain_region	put the cupcake in the basket
beet_ai_pot_on	put the beet in the pot
brussel_sprout_ai_pan_on	put the brussel sprout in the pan
chili_pepper_ai_bowl_on	put the chili pepper in the bowl
ginger_ai_cutting_board_on	put the ginger on the cutting board
grapes_ai_basket_contain_region	put the grapes in the basket
radish_ai_cutting_board_on	put the radish on the cutting board
sausage_ai_baking_sheet_ai_on	put the sausage on the baking sheet
scone_ai_plate_on	put the scone on the plate
handoff_thermos_ai_basket_contain_region	put the thermos in the basket
handoff_olive_oil_bottle_ai_tray_on	put the olive oil bottle on the tray
handoff_pomegranate_ai_bowl_on	put the pomegranate in the bowl
open_and_pear_slide_cabinet_contain_region	open the slide cabinet and put the pear in it
open_and_cupcake_sliding_top_box_contain_region	open the box and put the cupcake in it
open_and_potato_ai_slide_cabinet_contain_region	open the slide cabinet and put the potato in it
open_and_grapes_ai_sliding_top_box_contain_region_and_close	open the box and put the grapes in it and close it

BiMESA-Composite (bimesa-composite)

15 tasks composing trained primitives in unseen ways: 5 pick-and-place, 4 articulated pairs, 3 two-object placements, and 3 open-place-close chains.

Task ID	Natural Language Instruction
apple_plate_on	put the apple on the plate
mushroom_tray_on	put the mushroom on the tray
onion_bowl_on	put the onion in the bowl
carrot_pan_on	put the carrot in the pan
lemon_cutting_board_on	put the lemon on the cutting board
open_and_beer_sliding_top_box_contain_region	open the box and put the beer in it
open_and_jam_slide_cabinet_contain_region	open the slide cabinet and put the jam in it
open_and_apple_sliding_top_box_contain_region_and_close	open the box and put the apple in it and close it
open_and_mushroom_slide_cabinet_contain_region_and_close	open the slide cabinet and put the mushroom in it and close it
lemon_lime_basket_contain_region	put the lemon and the lime in the basket
broccoli_mushroom_cutting_board_on	put the broccoli and the mushroom on the cutting board
fish_garlic_pan_on	put the fish and the garlic in the pan
open_and_lemon_sliding_top_box_contain_region_and_close	open the box and put the lemon in it and close it
open_and_beer_slide_cabinet_contain_region_and_close	open the slide cabinet and put the beer in it and close it
open_and_book_slide_cabinet_contain_region_and_close	open the slide cabinet and put the book in it and close it

Task ID Naming Conventions

Bimanual task IDs reuse the single-arm pick-and-place and articulated grammar for the object/target/region root, with two dual-arm additions.

Spatial combo suffix (Block A pick-and-place). A __<pick>_<dest> suffix records which arm picks and which side the destination is on:

• apple_tray_on__right_right → the right arm picks the apple, destination tray on the right.

• onion_tray_on__pick_left_dest_right → the left arm picks the onion, destination tray on the right.

__right_right and __left_left are aligned combos, where a single arm performs the whole task; __pick_left_dest_right and __pick_right_dest_left are cross combos. For articulated Block C tasks, __pick_<side>_fixture_<side> records the picking arm and the side the fixture sits on.

Handoff prefix (Block B). A handoff_ prefix marks a cross-arm handoff: one arm picks the object and passes it to the other, which places it. A __pick_<side>_dest_<side> suffix, when present, fixes the handoff direction.

• handoff_beer_plate_on → pick the beer with one arm, hand it across, and place it on the plate.

As in single-arm MESA, an _ai tag on an object name marks a held-out mesh used for the instance and category generalization suites (e.g. apple_ai_tray_ai_on).