| { |
| "examples": [ |
| { |
| "id": "ordinal_action_0", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the second object the person picks up into the basket.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "ketchup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "orange_juice_1" |
| ], |
| "oracle_plan": [ |
| "PICK(orange_juice_1, main_back_left_region)", |
| "PLACE(orange_juice_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(orange_juice_1, main_front_right_region)", |
| "PLACE(orange_juice_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_0.bddl", |
| "video": { |
| "front": "front/GX010197.MP4", |
| "side": "side/GX010179.MP4", |
| "oblique": "oblique/GX010207.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_1", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the third pick-up action into the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "ketchup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_left_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "orange_juice_1" |
| ], |
| "oracle_plan": [ |
| "PICK(orange_juice_1, main_front_left_region)", |
| "PLACE(orange_juice_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(orange_juice_1, main_back_right_region)", |
| "PLACE(orange_juice_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_1.bddl", |
| "video": { |
| "front": "front/GX010198.MP4", |
| "side": "side/GX010180.MP4", |
| "oblique": "oblique/GX010208.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_2", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the third pick-up action into the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "ketchup_1", |
| "milk_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_2.bddl", |
| "video": { |
| "front": "front/GX010199.MP4", |
| "side": "side/GX010181.MP4", |
| "oblique": "oblique/GX010209.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_3", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the third pick-up action into the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "ketchup_1", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_front_right_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_right_region" |
| ] |
| ], |
| "interest_objects": [ |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_3.bddl", |
| "video": { |
| "front": "front/GX010200.MP4", |
| "side": "side/GX010182.MP4", |
| "oblique": "oblique/GX010210.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_4", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the second pick-up action into the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "ketchup_1", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_front_right_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "interest_objects": [ |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_4.bddl", |
| "video": { |
| "front": "front/GX010201.MP4", |
| "side": "side/GX010183.MP4", |
| "oblique": "oblique/GX010211.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_5", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the second pick-up action into the basket.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "cream_cheese_1", |
| "butter_1", |
| "butter_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_front_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_back_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_5.bddl", |
| "video": { |
| "front": "front/GX010205.MP4", |
| "side": "side/GX010187.MP4", |
| "oblique": "oblique/GX010216.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_6", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the first pick-up action into the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "cream_cheese_1", |
| "milk_1", |
| "orange_juice_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_front_center_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_back_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_front_center_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "orange_juice_1" |
| ], |
| "oracle_plan": [ |
| "PICK(orange_juice_1, main_back_right_region)", |
| "PLACE(orange_juice_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(orange_juice_1, main_front_left_region)", |
| "PLACE(orange_juice_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_6.bddl", |
| "video": { |
| "front": "front/GX010209.MP4", |
| "side": "side/GX010191.MP4", |
| "oblique": "oblique/GX010220.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_7", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the first pick-up action on the center of the desktop.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "new_salad_dressing_1", |
| "bbq_sauce_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "bbq_sauce_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "bbq_sauce_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(new_salad_dressing_1, wooden_tray_1_contain_region)", |
| "PLACE(new_salad_dressing_1, main_middle_center_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(new_salad_dressing_1, wooden_tray_1_contain_region)", |
| "PLACE(new_salad_dressing_1, main_middle_center_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_7.bddl", |
| "video": { |
| "front": "front/GX010210.MP4", |
| "side": "side/GX010192.MP4", |
| "oblique": "oblique/GX010221.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_8", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the second pick-up action on the wooden tray closer to the person in the video.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "butter_1", |
| "butter_2", |
| "butter_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_front_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_front_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_3", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_3" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_3, main_back_left_region)", |
| "PLACE(butter_3, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_3, main_front_right_region)", |
| "PLACE(butter_3, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_3", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_8.bddl", |
| "video": { |
| "front": "front/GX010211.MP4", |
| "side": "side/GX010193.MP4", |
| "oblique": "oblique/GX010222.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_9", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the second pick-up action on the wooden tray closer to the person in the video.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2", |
| "butter_3", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_2" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_back_center_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_front_center_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_9.bddl", |
| "video": { |
| "front": "front/GX010260.MP4", |
| "side": "side/GX010242.MP4", |
| "oblique": "oblique/GX010271.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_10", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the second pick-up action into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "butter_1", |
| "butter_2", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_back_right_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_front_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_10.bddl", |
| "video": { |
| "front": "front/GX010269.MP4", |
| "side": "side/GX010251.MP4", |
| "oblique": "oblique/GX010280.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_11", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the second pick-up action into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "butter_1", |
| "butter_2", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_front_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_back_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_11.bddl", |
| "video": { |
| "front": "front/GX010270.MP4", |
| "side": "side/GX010252.MP4", |
| "oblique": "oblique/GX010281.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_12", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the second pick-up action into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "butter_1", |
| "butter_2", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "butter_2" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, basket_1_contain_region)", |
| "PLACE(cream_cheese_1, main_middle_center_region)", |
| "PICK(butter_2, main_back_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)", |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, basket_1_contain_region)", |
| "PLACE(cream_cheese_1, main_middle_center_region)", |
| "PICK(butter_2, main_front_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)", |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_12.bddl", |
| "video": { |
| "front": "front/GX010271.MP4", |
| "side": "side/GX010253.MP4", |
| "oblique": "oblique/GX010282.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_14", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the fourth pick-up action into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_center_region" |
| ] |
| ], |
| "interest_objects": [ |
| "cream_cheese_2" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_2, main_middle_left_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_2, main_middle_right_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_14.bddl", |
| "video": { |
| "front": "front/GX010273.MP4", |
| "side": "side/GX010255.MP4", |
| "oblique": "oblique/GX010284.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_15", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the third pick-up action into the basket futher away from the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_2_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "alphabet_soup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_left_region)", |
| "PLACE(alphabet_soup_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_right_region)", |
| "PLACE(alphabet_soup_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_15.bddl", |
| "video": { |
| "front": "front/GX010274.MP4", |
| "side": "side/GX010256.MP4", |
| "oblique": "oblique/GX010285.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_16", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the fifth pick-up action into the basket futher away from the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_front_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_front_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_2_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "alphabet_soup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_back_left_region)", |
| "PLACE(alphabet_soup_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_front_right_region)", |
| "PLACE(alphabet_soup_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_16.bddl", |
| "video": { |
| "front": "front/GX010275.MP4", |
| "side": "side/GX010257.MP4", |
| "oblique": "oblique/GX010286.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_18", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that the person picks up in the first and second pick-up actions into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "cream_cheese_1", |
| "tomato_sauce_1", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "interest_objects": [ |
| "ketchup_1", |
| "tomato_sauce_1" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_1, main_middle_left_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)", |
| "PICK(tomato_sauce_1, main_front_center_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_middle_right_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)", |
| "PICK(tomato_sauce_1, main_back_center_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_18.bddl", |
| "video": { |
| "front": "front/GX010277.MP4", |
| "side": "side/GX010259.MP4", |
| "oblique": "oblique/GX010288.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_19", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the first pick-up action into the basket futher away from the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "cream_cheese_1", |
| "tomato_sauce_1", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(new_salad_dressing_1, main_middle_right_region)", |
| "PLACE(new_salad_dressing_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(new_salad_dressing_1, main_middle_left_region)", |
| "PLACE(new_salad_dressing_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_19.bddl", |
| "video": { |
| "front": "front/GX010278.MP4", |
| "side": "side/GX010260.MP4", |
| "oblique": "oblique/GX010289.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_20", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that the person picks up in the first and second pick-up actions into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "cream_cheese_1", |
| "tomato_sauce_1", |
| "new_salad_dressing_1", |
| "new_salad_dressing_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_2", |
| "basket_2_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_2", |
| "basket_2_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "ketchup_1", |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_1, main_back_left_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_left_region)", |
| "PLACE(new_salad_dressing_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_front_right_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_right_region)", |
| "PLACE(new_salad_dressing_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_20.bddl", |
| "video": { |
| "front": "front/GX010279.MP4", |
| "side": "side/GX010261.MP4", |
| "oblique": "oblique/GX010290.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_21", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the first pick-up action into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "cream_cheese_1", |
| "tomato_sauce_1", |
| "new_salad_dressing_1", |
| "new_salad_dressing_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_2", |
| "basket_2_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_2", |
| "basket_2_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "ketchup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_1, main_back_center_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_front_center_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_21.bddl", |
| "video": { |
| "front": "front/GX010280.MP4", |
| "side": "side/GX010262.MP4", |
| "oblique": "oblique/GX010291.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_22", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the object that the person picks up in the third pick-up action into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "cream_cheese_3", |
| "cream_cheese_4" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_4", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_4", |
| "main_back_center_region" |
| ] |
| ], |
| "interest_objects": [ |
| "cream_cheese_2" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_2, main_middle_right_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_2, main_middle_left_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_22.bddl", |
| "video": { |
| "front": "front/GX010281.MP4", |
| "side": "side/GX010263.MP4", |
| "oblique": "oblique/GX010292.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_23", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that the person picks up in the third and fourth pick-up actions into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "cream_cheese_3", |
| "cream_cheese_4" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_4", |
| "basket_1_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_4", |
| "basket_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "cream_cheese_2", |
| "cream_cheese_3" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_2, main_middle_left_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)", |
| "PICK(cream_cheese_3, main_back_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_2, main_middle_right_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)", |
| "PICK(cream_cheese_3, main_front_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_23.bddl", |
| "video": { |
| "front": "front/GX010282.MP4", |
| "side": "side/GX010264.MP4", |
| "oblique": "oblique/GX010293.MP4" |
| } |
| }, |
| { |
| "id": "ordinal_action_24", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the objects that the person picks up in the second and third pick-up actions into the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "cream_cheese_3", |
| "cream_cheese_4" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_front_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_4", |
| "basket_1_contain_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_front_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_4", |
| "basket_1_contain_region" |
| ] |
| ], |
| "interest_objects": [ |
| "cream_cheese_1", |
| "cream_cheese_3" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(cream_cheese_3, main_back_left_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_right_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(cream_cheese_3, main_front_right_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Ordinal/KITCHEN_11_ORDINAL_ACTION_ORDINAL_ACTION_24.bddl", |
| "video": { |
| "front": "front/GX010283.MP4", |
| "side": "side/GX010265.MP4", |
| "oblique": "oblique/GX010294.MP4" |
| } |
| }, |
| { |
| "id": "easy_ordinal_action_0", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "butter_1", |
| "alphabet_soup_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_left_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_right_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010490.MP4", |
| "side": "side/GX010500.MP4", |
| "oblique": "oblique/GX010501.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_0.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_1", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "butter_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_left_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_right_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010491.MP4", |
| "side": "side/GX010501.MP4", |
| "oblique": "oblique/GX010502.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_1.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_2", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "butter_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010492.MP4", |
| "side": "side/GX010502.MP4", |
| "oblique": "oblique/GX010503.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_2.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_3", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "ketchup_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_center_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "ketchup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_1, main_back_left_region)", |
| "PLACE(ketchup_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_front_right_region)", |
| "PLACE(ketchup_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010493.MP4", |
| "side": "side/GX010503.MP4", |
| "oblique": "oblique/GX010504.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_3.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_4", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "ketchup_1", |
| "alphabet_soup_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_middle_left_region)", |
| "PLACE(cream_cheese_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_right_region)", |
| "PLACE(cream_cheese_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010494.MP4", |
| "side": "side/GX010504.MP4", |
| "oblique": "oblique/GX010505.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_4.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_5", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "ketchup_1", |
| "alphabet_soup_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_center_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_center_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010495.MP4", |
| "side": "side/GX010505.MP4", |
| "oblique": "oblique/GX010506.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_5.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_6", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "alphabet_soup_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_center_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_center_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010496.MP4", |
| "side": "side/GX010506.MP4", |
| "oblique": "oblique/GX010507.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_6.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_7", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "butter_1", |
| "butter_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_2" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_back_left_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_front_right_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010497.MP4", |
| "side": "side/GX010507.MP4", |
| "oblique": "oblique/GX010508.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_7.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_8", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "butter_1", |
| "butter_2", |
| "butter_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_back_center_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_2" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_middle_left_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_middle_right_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010498.MP4", |
| "side": "side/GX010508.MP4", |
| "oblique": "oblique/GX010509.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_8.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_9", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the basket.", |
| "objects": [ |
| "basket_1", |
| "butter_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010499.MP4", |
| "side": "side/GX010509.MP4", |
| "oblique": "oblique/GX010510.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_9.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_10", |
| "simulation_task": { |
| "language_instruction": "Please complete the task based on the final scene after the person’s actions in the video: identify the object involved in the second touch event, and place it in the basket that is closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "butter_1", |
| "cream_cheese_1", |
| "cream_cheese_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_left_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_back_center_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_front_center_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010500.MP4", |
| "side": "side/GX010510.MP4", |
| "oblique": "oblique/GX010511.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_10.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_11", |
| "simulation_task": { |
| "language_instruction": "Please complete the task based on the final scene after the person’s actions in the video: Put the second small box that was touched into the basket farther from the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "butter_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_center_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010501.MP4", |
| "side": "side/GX010511.MP4", |
| "oblique": "oblique/GX010512.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_11.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_12", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the first touched small box into the basket closer to the person in the video, and put the second touched small box into the basket farther from the person.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "butter_1", |
| "cream_cheese_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1", |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_back_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(cream_cheese_1, main_back_center_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_front_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(cream_cheese_1, main_front_center_region)", |
| "PLACE(cream_cheese_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010502.MP4", |
| "side": "side/GX010512.MP4", |
| "oblique": "oblique/GX010513.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_12.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_13", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the third touch event and put it in the basket closer to the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "butter_1", |
| "alphabet_soup_1", |
| "milk_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_2_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_middle_right_region)", |
| "PLACE(milk_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_middle_left_region)", |
| "PLACE(milk_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010503.MP4", |
| "side": "side/GX010513.MP4", |
| "oblique": "oblique/GX010514.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_13.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_14", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the basket.", |
| "objects": [ |
| "basket_1", |
| "cream_cheese_1", |
| "cream_cheese_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_2" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_2, main_back_left_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_2, main_front_right_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010504.MP4", |
| "side": "side/GX010514.MP4", |
| "oblique": "oblique/GX010515.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_14.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_15", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the basket.", |
| "objects": [ |
| "basket_1", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "cream_cheese_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_3" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_3, main_middle_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_3, main_middle_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010505.MP4", |
| "side": "side/GX010515.MP4", |
| "oblique": "oblique/GX010516.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_15.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_16", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the basket.", |
| "objects": [ |
| "basket_1", |
| "butter_1", |
| "butter_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_2" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010506.MP4", |
| "side": "side/GX010516.MP4", |
| "oblique": "oblique/GX010517.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_16.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_17", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Put the first touched small box into the wooden tray closer to the person in the video, and put the second touched small box into the wooden tray farther from the person.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "new_salad_dressing_1", |
| "milk_1", |
| "butter_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_front_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_front_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_1", |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(new_salad_dressing_1, main_middle_left_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(new_salad_dressing_1, main_middle_right_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)", |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, wooden_tray_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010507.MP4", |
| "side": "side/GX010517.MP4", |
| "oblique": "oblique/GX010518.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_17.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_18", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray closer to the human in the video.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "cream_cheese_1", |
| "butter_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_back_center_region)", |
| "PLACE(butter_1, wooden_tray_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_front_center_region)", |
| "PLACE(butter_1, wooden_tray_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010508.MP4", |
| "side": "side/GX010518.MP4", |
| "oblique": "oblique/GX010519.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_18.bddl" |
| }, |
| { |
| "id": "easy_ordinal_action_19", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Identify the object involved in the second touch event and put it in the wooden tray closer to the human in the video.", |
| "objects": [ |
| "wooden_tray_1", |
| "wooden_tray_2", |
| "cream_cheese_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "wooden_tray_2", |
| "fixture_back_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_2_contain_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_left_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_1" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_back_center_region)", |
| "PLACE(cream_cheese_1, wooden_tray_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_front_center_region)", |
| "PLACE(cream_cheese_1, wooden_tray_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "wooden_tray_2_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010509.MP4", |
| "side": "side/GX010519.MP4", |
| "oblique": "oblique/GX010520.MP4" |
| }, |
| "bddl_file": "Ordinal/KITCHEN_EASY_11_ORDINAL_ACTION_ORDINAL_ACTION_19.bddl" |
| } |
| ] |
| } |
|
|
