CHORES
CHORES (SPOC)
Ten-task simulated household benchmark where a Stretch robot finds, picks up and fetches objects in generated houses.1
Comparisons with real robots
Tried on real robots, not compared2
Details
Two models run on a real Stretch RE-1 in two physical settings, 88 trials; e.g. ObjectNav 55.0% sim vs 50.0% real. No correlation statistic.
Details
About
- What it is
- Benchmark Inferred1
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Classified by the Atlas from how the authors describe and distribute it.
- Built by
- 14 authors incl. Kiana Ehsani, Tanmay Gupta, Rose Hendrix, Jordi Salvador, Luca Weihs, Aniruddha Kembhavi; repo allenai/spoc-robot-training5
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Checked 2026-10-10.
- Released
- 2023-12 (arXiv v1 2023-12-05)1
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Checked 2026-10-10.
- Version
- No releases or tags; paper v2 (2024-08-07)5
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Checked 2026-10-10.
- Last update
- arXiv v2 2024-08-07; repo last pushed 2024-11-041
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Checked 2026-10-10.
- Status
- Dormant Inferred5
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Last push 2024-11. Checked 2026-10-10.
Setup
- Runs in
- Simulation2
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Checked 2026-10-10.
- Robot
- Arm on wheels2
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Checked 2026-10-10.
- Robot model
- Hello Robot Stretch RE-1, RGB cameras only2
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Checked 2026-10-10.
- Setting
- Whole home1
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Checked 2026-10-10.
- Size
- 10-task suite; ~200,000 procedurally generated houses; ~40,000 unique 3D assets (abstract) / 41,133 (paper body); average 195 evaluation episodes per task2
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Checked 2026-10-10.
Scoring and access
- Scored by
- Success rate2
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Success rate, episode-length-weighted success (SEL), % rooms visited. Checked 2026-10-10.
- Leaderboard
- None. Scores are only in papers.6
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Looked at project page and repo README. Checked 2026-10-10.
- Code licence
- Apache-2.04
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Read the LICENSE file. Checked 2026-10-10.
- Data licence
- Training data and houses distributed via the Apache-2.0 repo scripts; Objaverse-derived assets not checked Inferred4
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Checked 2026-10-10.
- Published at
- CVPR 2024 (CVF Open Access page)7
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Fetched via curl; page title 'CVPR 2024 Open Access Repository'. Checked 2026-10-10.
Sources 7
- 1SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real WorldPaper · Dec 2023 · checked 10 Oct 2026
- 2SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World (full text)Paper · Dec 2023 · checked 10 Oct 2026
- 3Semantic Scholar API recordIndex · checked 10 Oct 2026
- 4allenai/spoc-robot-training on GitHub (blob)Repository · checked 10 Oct 2026
- 5allenai/spoc-robot-training on GitHub (repository)Repository · checked 10 Oct 2026
- 6SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real WorldOfficial site · checked 10 Oct 2026
- 7CVPR 2024 Open Access RepositoryPaper · checked 10 Oct 2026
Change history
- Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).