Scenario Lab

Initial state

The bathroom is almost dark — the only light comes from a dim amber nightlight plugged into the outlet near the baseboard to the left, casting long low shadows across the tile floor. The overhead light is off. Through the stereo cameras at chest height, you can see the toilet straight ahead, lid down, with a damp hand towel draped unevenly over the tank — one corner hanging nearly to the floor. To the right, a chrome towel bar holds a single large bath towel that is visibly bunched and twisted, the left half hanging almost double-folded against itself rather than flat. On the floor directly in front of the towel bar is a small, slightly damp bathmat rolled loosely into a tube shape rather than lying flat, as if someone kicked it aside during a middle-of-the-night bathroom visit. A replacement folded bath towel — still dry, pale blue, neatly tri-folded — sits balanced on the edge of the closed toilet lid. Ambient sound: the faint hiss of a heating vent, occasional house-settling creaks. Partially occluded: the lower-left corner of the towel bar bracket is hidden behind the edge of the shower curtain, which is bunched to one side.

Goal state

The damp, bunched bath towel has been removed from the towel bar and placed in the laundry hamper (visible just outside the bathroom door, partially in the hallway). The clean pale blue towel is unfolded and hung evenly on the towel bar — both halves hanging symmetrically and no deep creases folded into it. The bathmat is unrolled and laid flat on the floor in front of the tub, oriented with its long axis parallel to the tub edge. The hand towel has been removed from the toilet tank and placed on top of the damp bath towel in the hamper. No towels remain on the floor or on the toilet tank.

Objects involved

Name	Descriptor	Role
bath towel	large, damp, mid-grey, terry cloth, bunched and twisted	target
hand towel	small, white with faint stripe, damp, draped loosely	target
replacement bath towel	pale blue, dry, terry cloth, neatly tri-folded	target
bathmat	rectangular, dark teal, soft pile, slightly damp, rolled into loose tube	target
towel bar	chrome, wall-mounted, horizontal, approximately 60cm wide	tool
toilet tank lid	white ceramic, flat surface, used as temporary towel shelf	obstacle
laundry hamper	wicker, rectangular, flip lid, positioned just outside bathroom door in hallway	tool
nightlight	small amber LED, plugged into baseboard outlet on left wall	distractor
shower curtain	white with faint pattern, bunched to one side, partially occluding towel bar bracket	distractor

Expected actions

1. approach towel bar along right side of bathroom, navigating around rolled bathmat on floor 5s
2. grasp damp bath towel with both grippers near its midpoint to gather the bunched fabric 4s
3. pull towel off towel bar by sliding it laterally off the left end of the bar 3s
4. turn toward bathroom doorway while holding damp towel compressed against one gripper 3s
5. navigate around bathmat and approach laundry hamper just outside bathroom door 6s
6. lift hamper lid or push it open with leading gripper if lid is present, then lower damp towel inside 5s
7. turn toward toilet and approach toilet tank 4s
8. grasp damp hand towel from top of toilet tank near its center 3s
9. navigate back to hamper and place hand towel on top of damp bath towel inside hamper 6s
10. turn toward toilet and approach toilet lid where clean blue towel is balanced 4s
11. pick up clean folded blue towel with both grippers, keeping it flat and not compressing the fold 4s
12. turn toward towel bar and approach it 3s
13. unfold towel to full open rectangle by releasing one gripper and allowing fabric to hang, then spreading evenly 6s
14. place towel over towel bar by draping it centered across the bar so both halves hang symmetrically 5s
15. retreat slightly and visually confirm both hanging halves are even length and fabric is not bunched 3s
16. navigate to rolled bathmat on floor in front of tub 4s
17. grasp one end of rolled bathmat with both grippers and unroll it away from the body by pushing leading edge forward 5s
18. nudge mat edges flat with grippers if corners are still curled, aligning long axis parallel to tub 5s

Narration script

00:00 I am in a dark bathroom lit only by a low amber nightlight near the baseboard. I can see a bunched damp bath towel on the towel bar to my right and a rolled-up bathmat on the floor in front of me.

00:05 I approach the towel bar, navigating carefully around the rolled bathmat on the tile floor.

00:10 I grasp the damp, bunched bath towel near its midpoint with both grippers, gathering the loose fabric together.

00:14 I slide the towel off the left end of the towel bar and hold it compressed against one gripper.

00:17 I turn toward the doorway and navigate around the bathmat toward the laundry hamper just outside in the hallway.

00:23 I lower the damp bath towel into the hamper.

00:28 I turn back toward the toilet tank, where the damp hand towel is draped unevenly with one corner almost touching the floor.

00:32 I grasp the hand towel near its center and lift it off the tank.

00:35 I navigate back to the hamper and place the hand towel on top of the damp bath towel inside.

00:41 I turn toward the toilet lid where the clean pale blue towel is balanced in a neat tri-fold. I pick it up with both grippers, keeping the fabric flat.

00:48 I turn toward the towel bar and approach it. I unfold the towel to its full open rectangle, letting one half hang free while I keep the center supported.

00:54 I drape the clean towel centered over the towel bar so both halves hang at equal length on either side.

00:59 I retreat slightly and check — both halves look symmetric and the fabric is hanging flat without deep bunching. Good.

01:02 I navigate to the rolled bathmat on the floor in front of the tub. I grasp one end with both grippers.

01:06 I unroll the mat by pushing its leading edge forward along the tile. The mat is soft and slightly damp — it resists a little but unrolls fully.

01:11 I nudge the curled corners flat with my grippers and confirm the mat is lying flat, long axis running parallel to the tub edge. The bathroom is ready.

Edge cases

The clean replacement towel has slid partially off the toilet lid due to its smooth folded surface and is hanging half-off, requiring the operator to catch and stabilize it before picking it up.
The bathmat is more damp than expected and heavier than its size suggests, causing one gripper to lose hold mid-unroll and requiring a re-grasp before the mat can be flattened.
The laundry hamper lid is spring-loaded and snaps back while the robot is trying to deposit the damp towel, requiring the operator to hold the lid open with one gripper while placing with the other.
Ambient nightlight is flickering slightly due to a loose connection, causing brief vision dropouts that make the low-contrast grey towel harder to distinguish against the chrome bar.