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- Tasks:
- "Place the [object name] in the plastic bin"
- "Place the [object 1] next to the [object 2]"
- "Place the [object 1] between the [object 2] and the [object 3]"
- "Move the [object name] [left/right/forwards/backwards]"
25 household objects, with each episode's task controlled for ambiguity (e.g preventing "Place the pen in the plastic bin" with two pens on the table)
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