| { |
| "examples": [ |
| { |
| "id": "eliminating_ambiguities_0", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it in the basket.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2", |
| "butter_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_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, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_middle_right_region)", |
| "PLACE(butter_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_0.bddl", |
| "video": { |
| "front": "front/GX010181.MP4", |
| "side": "side/GX010163.MP4", |
| "oblique": "oblique/GX010191.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_1", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the selected object and put it in the basket.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2", |
| "butter_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "butter_3", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_3" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_3, main_middle_center_region)", |
| "PLACE(butter_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_3, main_middle_center_region)", |
| "PLACE(butter_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_1.bddl", |
| "video": { |
| "front": "front/GX010182.MP4", |
| "side": "side/GX010164.MP4", |
| "oblique": "oblique/GX010192.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_2", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it in the basket.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "milk_1", |
| "milk_2", |
| "milk_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_front_left_region" |
| ], |
| [ |
| "On", |
| "milk_3", |
| "main_front_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_3", |
| "main_front_center_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_2" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_front_left_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_back_right_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_2.bddl", |
| "video": { |
| "front": "front/GX010183.MP4", |
| "side": "side/GX010165.MP4", |
| "oblique": "oblique/GX010193.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_3", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up others and put them on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "milk_1", |
| "milk_2", |
| "milk_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_front_left_region" |
| ], |
| [ |
| "On", |
| "milk_3", |
| "main_front_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_3", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_2", |
| "milk_3" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_front_left_region)", |
| "PLACE(milk_2, wooden_tray_1_contain_region)", |
| "PICK(milk_3, main_front_center_region)", |
| "PLACE(milk_3, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_back_right_region)", |
| "PLACE(milk_2, wooden_tray_1_contain_region)", |
| "PICK(milk_3, main_back_center_region)", |
| "PLACE(milk_3, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_3", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_3.bddl", |
| "video": { |
| "front": "front/GX010184.MP4", |
| "side": "side/GX010166.MP4", |
| "oblique": "oblique/GX010194.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_4", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2", |
| "butter_3", |
| "butter_4" |
| ], |
| "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_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_4", |
| "main_middle_right_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", |
| "butter_4", |
| "main_middle_right_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" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_4.bddl", |
| "video": { |
| "front": "front/GX010185.MP4", |
| "side": "side/GX010167.MP4", |
| "oblique": "oblique/GX010195.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_5", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the remaining ones and put them on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2", |
| "butter_3", |
| "butter_4" |
| ], |
| "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_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_4", |
| "main_front_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", |
| "butter_4", |
| "main_front_left_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" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_5.bddl", |
| "video": { |
| "front": "front/GX010186.MP4", |
| "side": "side/GX010168.MP4", |
| "oblique": "oblique/GX010196.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_7", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the remaining ones and put them on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2", |
| "butter_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_7.bddl", |
| "video": { |
| "front": "front/GX010188.MP4", |
| "side": "side/GX010170.MP4", |
| "oblique": "oblique/GX010198.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_8", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "new_salad_dressing_1", |
| "new_salad_dressing_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(new_salad_dressing_1, main_middle_center_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_8.bddl", |
| "video": { |
| "front": "front/GX010189.MP4", |
| "side": "side/GX010171.MP4", |
| "oblique": "oblique/GX010199.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_9", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_right_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" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_9.bddl", |
| "video": { |
| "front": "front/GX010190.MP4", |
| "side": "side/GX010172.MP4", |
| "oblique": "oblique/GX010200.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_10", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "butter_1", |
| "butter_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_right_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_middle_right_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_2, main_middle_left_region)", |
| "PLACE(butter_2, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_10.bddl", |
| "video": { |
| "front": "front/GX010191.MP4", |
| "side": "side/GX010173.MP4", |
| "oblique": "oblique/GX010201.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_12", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "orange_juice_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "orange_juice_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "orange_juice_2" |
| ], |
| "oracle_plan": [ |
| "PICK(orange_juice_2, main_middle_right_region)", |
| "PLACE(orange_juice_2, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(orange_juice_2, main_middle_left_region)", |
| "PLACE(orange_juice_2, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_12.bddl", |
| "video": { |
| "front": "front/GX010193.MP4", |
| "side": "side/GX010175.MP4", |
| "oblique": "oblique/GX010203.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_13", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "orange_juice_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "orange_juice_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "orange_juice_2" |
| ], |
| "oracle_plan": [ |
| "PICK(orange_juice_2, main_middle_right_region)", |
| "PLACE(orange_juice_2, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(orange_juice_2, main_middle_left_region)", |
| "PLACE(orange_juice_2, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_13.bddl", |
| "video": { |
| "front": "front/GX010194.MP4", |
| "side": "side/GX010176.MP4", |
| "oblique": "oblique/GX010204.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_14", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Pick up the other one and put it on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "orange_juice_1", |
| "orange_juice_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", |
| "orange_juice_2", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "orange_juice_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "orange_juice_2" |
| ], |
| "oracle_plan": [ |
| "PICK(orange_juice_2, main_middle_center_region)", |
| "PLACE(orange_juice_2, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(orange_juice_2, main_middle_center_region)", |
| "PLACE(orange_juice_2, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_2", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_14.bddl", |
| "video": { |
| "front": "front/GX010195.MP4", |
| "side": "side/GX010177.MP4", |
| "oblique": "oblique/GX010205.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_15", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "tomato_sauce_1", |
| "alphabet_soup_1", |
| "orange_juice_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "tomato_sauce_1" |
| ], |
| "oracle_plan": [ |
| "PICK(tomato_sauce_1, main_middle_left_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(tomato_sauce_1, main_middle_right_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_15.bddl", |
| "video": { |
| "front": "front/GX010233.MP4", |
| "side": "side/GX010215.MP4", |
| "oblique": "oblique/GX010244.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_16", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "tomato_sauce_1", |
| "alphabet_soup_1", |
| "orange_juice_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "orange_juice_1" |
| ], |
| "oracle_plan": [ |
| "PICK(orange_juice_1, main_middle_right_region)", |
| "PLACE(orange_juice_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(orange_juice_1, main_middle_left_region)", |
| "PLACE(orange_juice_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_16.bddl", |
| "video": { |
| "front": "front/GX010234.MP4", |
| "side": "side/GX010216.MP4", |
| "oblique": "oblique/GX010245.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_17", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "ketchup_2", |
| "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" |
| ], |
| [ |
| "On", |
| "ketchup_2", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_back_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "ketchup_2", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_back_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "ketchup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_1, main_middle_left_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_middle_right_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_17.bddl", |
| "video": { |
| "front": "front/GX010235.MP4", |
| "side": "side/GX010217.MP4", |
| "oblique": "oblique/GX010246.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_18", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "ketchup_1", |
| "ketchup_2", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "ketchup_2", |
| "main_back_center_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_middle_center_region" |
| ], |
| [ |
| "In", |
| "ketchup_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "ketchup_2" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_2, main_back_center_region)", |
| "PLACE(ketchup_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_2, main_front_center_region)", |
| "PLACE(ketchup_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_18.bddl", |
| "video": { |
| "front": "front/GX010236.MP4", |
| "side": "side/GX010218.MP4", |
| "oblique": "oblique/GX010247.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_19", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "tomato_sauce_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_right_region)", |
| "PLACE(alphabet_soup_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_left_region)", |
| "PLACE(alphabet_soup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_19.bddl", |
| "video": { |
| "front": "front/GX010237.MP4", |
| "side": "side/GX010219.MP4", |
| "oblique": "oblique/GX010248.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_20", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "porcelain_mug_1", |
| "porcelain_mug_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "porcelain_mug_1", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "porcelain_mug_2", |
| "main_front_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "porcelain_mug_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "porcelain_mug_2", |
| "main_front_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "porcelain_mug_1" |
| ], |
| "oracle_plan": [ |
| "PICK(porcelain_mug_1, main_middle_right_region)", |
| "PLACE(porcelain_mug_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(porcelain_mug_1, main_middle_left_region)", |
| "PLACE(porcelain_mug_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "porcelain_mug_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_20.bddl", |
| "video": { |
| "front": "front/GX010238.MP4", |
| "side": "side/GX010220.MP4", |
| "oblique": "oblique/GX010249.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_21", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "milk_1", |
| "milk_2", |
| "milk_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_3", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "milk_3", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_3" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_3, main_middle_center_region)", |
| "PLACE(milk_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_3, main_middle_center_region)", |
| "PLACE(milk_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_21.bddl", |
| "video": { |
| "front": "front/GX010239.MP4", |
| "side": "side/GX010221.MP4", |
| "oblique": "oblique/GX010250.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_22", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "milk_1", |
| "milk_2", |
| "milk_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_3", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_3", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_front_left_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_22.bddl", |
| "video": { |
| "front": "front/GX010240.MP4", |
| "side": "side/GX010222.MP4", |
| "oblique": "oblique/GX010251.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_23", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "orange_juice_1", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_2" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_middle_right_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_middle_left_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_23.bddl", |
| "video": { |
| "front": "front/GX010241.MP4", |
| "side": "side/GX010223.MP4", |
| "oblique": "oblique/GX010252.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_24", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "orange_juice_1", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_middle_center_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_24.bddl", |
| "video": { |
| "front": "front/GX010242.MP4", |
| "side": "side/GX010224.MP4", |
| "oblique": "oblique/GX010253.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_25", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "orange_juice_1", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_2" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_middle_right_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_middle_left_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_25.bddl", |
| "video": { |
| "front": "front/GX010243.MP4", |
| "side": "side/GX010225.MP4", |
| "oblique": "oblique/GX010254.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_26", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the selected objects closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "cream_cheese_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_front_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_front_center_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "cream_cheese_1", |
| "cream_cheese_2" |
| ], |
| "oracle_plan": [ |
| "PICK(cream_cheese_1, main_back_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(cream_cheese_2, main_middle_right_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_front_right_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)", |
| "PICK(cream_cheese_2, main_middle_left_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_26.bddl", |
| "video": { |
| "front": "front/GX010244.MP4", |
| "side": "side/GX010226.MP4", |
| "oblique": "oblique/GX010255.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_27", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "cream_cheese_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_front_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_right_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_front_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_3, main_back_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_27.bddl", |
| "video": { |
| "front": "front/GX010245.MP4", |
| "side": "side/GX010227.MP4", |
| "oblique": "oblique/GX010256.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_28", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "butter_1", |
| "cream_cheese_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_front_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_right_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "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_front_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_3, main_back_center_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_28.bddl", |
| "video": { |
| "front": "front/GX010246.MP4", |
| "side": "side/GX010228.MP4", |
| "oblique": "oblique/GX010257.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_29", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "cream_cheese_2", |
| "cream_cheese_3" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_3", |
| "main_back_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "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_back_right_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_3, main_front_left_region)", |
| "PLACE(cream_cheese_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_29.bddl", |
| "video": { |
| "front": "front/GX010247.MP4", |
| "side": "side/GX010229.MP4", |
| "oblique": "oblique/GX010258.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_30", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place this object into the basket that is farther away from the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "alphabet_soup_1", |
| "tomato_sauce_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_2_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "tomato_sauce_1" |
| ], |
| "oracle_plan": [ |
| "PICK(tomato_sauce_1, main_middle_right_region)", |
| "PLACE(tomato_sauce_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(tomato_sauce_1, main_middle_left_region)", |
| "PLACE(tomato_sauce_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_30.bddl", |
| "video": { |
| "front": "front/GX010248.MP4", |
| "side": "side/GX010230.MP4", |
| "oblique": "oblique/GX010259.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_31", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "alphabet_soup_1", |
| "tomato_sauce_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "tomato_sauce_1" |
| ], |
| "oracle_plan": [ |
| "PICK(tomato_sauce_1, main_middle_right_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(tomato_sauce_1, main_middle_left_region)", |
| "PLACE(tomato_sauce_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "tomato_sauce_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_31.bddl", |
| "video": { |
| "front": "front/GX010249.MP4", |
| "side": "side/GX010231.MP4", |
| "oblique": "oblique/GX010260.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_32", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the unselected object closer to the person's basket in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "cream_cheese_1", |
| "alphabet_soup_1", |
| "tomato_sauce_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "tomato_sauce_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_center_region)", |
| "PLACE(alphabet_soup_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_center_region)", |
| "PLACE(alphabet_soup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_32.bddl", |
| "video": { |
| "front": "front/GX010250.MP4", |
| "side": "side/GX010232.MP4", |
| "oblique": "oblique/GX010261.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_33", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the selected ones into the basket that is farther away from the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "alphabet_soup_1", |
| "milk_1", |
| "milk_2", |
| "orange_juice_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_2_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_2", |
| "orange_juice_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_front_center_region)", |
| "PLACE(milk_2, basket_2_contain_region)", |
| "PICK(orange_juice_1, main_front_right_region)", |
| "PLACE(orange_juice_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_back_center_region)", |
| "PLACE(milk_2, basket_2_contain_region)", |
| "PICK(orange_juice_1, main_back_left_region)", |
| "PLACE(orange_juice_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_2", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "orange_juice_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_33.bddl", |
| "video": { |
| "front": "front/GX010251.MP4", |
| "side": "side/GX010233.MP4", |
| "oblique": "oblique/GX010262.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_34", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the selected ones into the basket that is farther away from the person in the video.", |
| "objects": [ |
| "basket_1", |
| "basket_2", |
| "alphabet_soup_1", |
| "milk_1", |
| "milk_2", |
| "orange_juice_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_2", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "orange_juice_1", |
| "main_front_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1", |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_back_left_region)", |
| "PLACE(alphabet_soup_1, basket_2_contain_region)", |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_1, basket_2_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_front_right_region)", |
| "PLACE(alphabet_soup_1, basket_2_contain_region)", |
| "PICK(milk_1, main_front_left_region)", |
| "PLACE(milk_1, basket_2_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_2_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_2_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_34.bddl", |
| "video": { |
| "front": "front/GX010252.MP4", |
| "side": "side/GX010234.MP4", |
| "oblique": "oblique/GX010263.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_35", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the selected objects on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "alphabet_soup_1", |
| "milk_1", |
| "milk_2", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_2", |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_front_center_region)", |
| "PLACE(milk_2, wooden_tray_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_right_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_back_center_region)", |
| "PLACE(milk_2, wooden_tray_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_left_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_2", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_35.bddl", |
| "video": { |
| "front": "front/GX010253.MP4", |
| "side": "side/GX010235.MP4", |
| "oblique": "oblique/GX010264.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_36", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the selected objects on the wooden tray.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "alphabet_soup_1", |
| "milk_1", |
| "bbq_sauce_1", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "bbq_sauce_1", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "bbq_sauce_1", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1", |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_left_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)", |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_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)", |
| "PICK(milk_1, main_front_left_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_36.bddl", |
| "video": { |
| "front": "front/GX010254.MP4", |
| "side": "side/GX010236.MP4", |
| "oblique": "oblique/GX010265.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_37", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please put the selected objects into that container.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "alphabet_soup_1", |
| "milk_1", |
| "bbq_sauce_1", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "bbq_sauce_1", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "In", |
| "bbq_sauce_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "alphabet_soup_1", |
| "bbq_sauce_1" |
| ], |
| "oracle_plan": [ |
| "PICK(alphabet_soup_1, main_middle_left_region)", |
| "PLACE(alphabet_soup_1, wooden_tray_1_contain_region)", |
| "PICK(bbq_sauce_1, main_front_center_region)", |
| "PLACE(bbq_sauce_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)", |
| "PICK(bbq_sauce_1, main_back_center_region)", |
| "PLACE(bbq_sauce_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "bbq_sauce_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_37.bddl", |
| "video": { |
| "front": "front/GX010255.MP4", |
| "side": "side/GX010237.MP4", |
| "oblique": "oblique/GX010266.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_38", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please put the selected objects into that container.", |
| "objects": [ |
| "wooden_tray_1", |
| "basket_1", |
| "alphabet_soup_1", |
| "milk_1", |
| "bbq_sauce_1", |
| "new_salad_dressing_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_right_region" |
| ], |
| [ |
| "On", |
| "bbq_sauce_1", |
| "main_front_center_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "bbq_sauce_1", |
| "main_front_center_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_1", |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_back_right_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_right_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_front_left_region)", |
| "PLACE(milk_1, wooden_tray_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_left_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_38.bddl", |
| "video": { |
| "front": "front/GX010256.MP4", |
| "side": "side/GX010238.MP4", |
| "oblique": "oblique/GX010267.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_39", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please put the selected objects into that container.", |
| "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_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1", |
| "butter_2" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(butter_2, main_middle_center_region)", |
| "PLACE(butter_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_39.bddl", |
| "video": { |
| "front": "front/GX010257.MP4", |
| "side": "side/GX010239.MP4", |
| "oblique": "oblique/GX010268.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_40", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please put the selected objects into that container.", |
| "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_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "wooden_tray_1", |
| "fixture_back_region" |
| ], |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_right_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1", |
| "new_salad_dressing_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_right_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, wooden_tray_1_contain_region)", |
| "PICK(new_salad_dressing_1, main_middle_left_region)", |
| "PLACE(new_salad_dressing_1, wooden_tray_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "wooden_tray_1_contain_region" |
| ], |
| [ |
| "In", |
| "new_salad_dressing_1", |
| "wooden_tray_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_40.bddl", |
| "video": { |
| "front": "front/GX010258.MP4", |
| "side": "side/GX010240.MP4", |
| "oblique": "oblique/GX010269.MP4" |
| } |
| }, |
| { |
| "id": "eliminating_ambiguities_41", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please put the selected objects into that container.", |
| "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_middle_left_region" |
| ], |
| [ |
| "On", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "On", |
| "butter_3", |
| "main_front_right_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_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", |
| "butter_2", |
| "main_middle_center_region" |
| ], |
| [ |
| "In", |
| "butter_3", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "new_salad_dressing_1", |
| "main_middle_right_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1", |
| "butter_3" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_left_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(butter_3, main_front_right_region)", |
| "PLACE(butter_3, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_right_region)", |
| "PLACE(butter_1, basket_1_contain_region)", |
| "PICK(butter_3, main_back_left_region)", |
| "PLACE(butter_3, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "In", |
| "butter_3", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_4_ELIMINATING_AMBIGUITIES_ELIMINATING_AMBIGUITIES_41.bddl", |
| "video": { |
| "front": "front/GX010259.MP4", |
| "side": "side/GX010241.MP4", |
| "oblique": "oblique/GX010270.MP4" |
| } |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_0", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "ketchup_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "ketchup_1" |
| ], |
| "oracle_plan": [ |
| "PICK(ketchup_1, main_middle_left_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_middle_right_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010455.MP4", |
| "side": "side/GX010465.MP4", |
| "oblique": "oblique/GX010466.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_0.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_1", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "ketchup_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_middle_left_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_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, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_center_region)", |
| "PLACE(alphabet_soup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010456.MP4", |
| "side": "side/GX010466.MP4", |
| "oblique": "oblique/GX010467.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_1.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_2", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "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_middle_center_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_middle_center_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_2, main_middle_center_region)", |
| "PLACE(cream_cheese_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010457.MP4", |
| "side": "side/GX010467.MP4", |
| "oblique": "oblique/GX010468.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_2.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_3", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "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" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_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_middle_left_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_right_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010458.MP4", |
| "side": "side/GX010468.MP4", |
| "oblique": "oblique/GX010469.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_3.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_4", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "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_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_2", |
| "main_middle_center_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, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_middle_right_region)", |
| "PLACE(cream_cheese_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010459.MP4", |
| "side": "side/GX010469.MP4", |
| "oblique": "oblique/GX010470.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_4.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_5", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "cream_cheese_1", |
| "butter_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "butter_1" |
| ], |
| "oracle_plan": [ |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(butter_1, main_middle_center_region)", |
| "PLACE(butter_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "butter_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010460.MP4", |
| "side": "side/GX010470.MP4", |
| "oblique": "oblique/GX010471.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_5.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_6", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "cream_cheese_1", |
| "butter_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_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, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_front_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/GX010461.MP4", |
| "side": "side/GX010471.MP4", |
| "oblique": "oblique/GX010472.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_6.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_7", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "cream_cheese_1", |
| "butter_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "cream_cheese_1", |
| "main_back_center_region" |
| ], |
| [ |
| "On", |
| "butter_1", |
| "main_back_left_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "cream_cheese_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "butter_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, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(cream_cheese_1, main_front_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/GX010462.MP4", |
| "side": "side/GX010472.MP4", |
| "oblique": "oblique/GX010473.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_7.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_8", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "ketchup_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_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, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(alphabet_soup_1, main_middle_center_region)", |
| "PLACE(alphabet_soup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "alphabet_soup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010463.MP4", |
| "side": "side/GX010473.MP4", |
| "oblique": "oblique/GX010474.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_8.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_9", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "ketchup_1", |
| "alphabet_soup_1" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "ketchup_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "alphabet_soup_1", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "ketchup_1", |
| "basket_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, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(ketchup_1, main_front_right_region)", |
| "PLACE(ketchup_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "ketchup_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010464.MP4", |
| "side": "side/GX010474.MP4", |
| "oblique": "oblique/GX010475.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_9.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_10", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_middle_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_left_region" |
| ], |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_2" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_2, main_middle_center_region)", |
| "PLACE(milk_2, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_2", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010465.MP4", |
| "side": "side/GX010475.MP4", |
| "oblique": "oblique/GX010476.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_10.bddl" |
| }, |
| { |
| "id": "easy_4_eliminating_ambiguities_example_11", |
| "simulation_task": { |
| "language_instruction": "Start executing the instruction from the final scene of the video: Please place the other one into the basket in the video.", |
| "objects": [ |
| "basket_1", |
| "milk_1", |
| "milk_2" |
| ], |
| "initial_states": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "On", |
| "milk_1", |
| "main_back_left_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_center_region" |
| ] |
| ], |
| "final_goal": [ |
| [ |
| "On", |
| "basket_1", |
| "fixture_front_region" |
| ], |
| [ |
| "In", |
| "milk_1", |
| "basket_1_contain_region" |
| ], |
| [ |
| "On", |
| "milk_2", |
| "main_back_center_region" |
| ] |
| ], |
| "primitive_action_sequence": null, |
| "sub_goals": null, |
| "interest_objects": [ |
| "milk_1" |
| ], |
| "oracle_plan": [ |
| "PICK(milk_1, main_back_left_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "oracle_plan_human": [ |
| "PICK(milk_1, main_front_right_region)", |
| "PLACE(milk_1, basket_1_contain_region)" |
| ], |
| "interest_objects_final_states": [ |
| [ |
| "In", |
| "milk_1", |
| "basket_1_contain_region" |
| ] |
| ] |
| }, |
| "video": { |
| "front": "front/GX010466.MP4", |
| "side": "side/GX010476.MP4", |
| "oblique": "oblique/GX010477.MP4" |
| }, |
| "bddl_file": "Reference_Disambiguation/KITCHEN_EASY_4_ELIMINATING_AMBIGUITIES_EASY_4_ELIMINATING_AMBIGUITIES_EXAMPLE_11.bddl" |
| } |
| ] |
| } |
|
|
