Datasets:

BaiqiL
/

WatchAct

	{
	"examples": [
	{
	"id": "returning_objects_0",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-right of the main table area (\"main_back_right_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-center of the main table area (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the back-right of the main table area (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\").",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the front basket (\"basket_2_contain_region\"), then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_right_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_left_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_0.bddl",
	"video": {
	"front": "front/GX010284.MP4",
	"side": "side/GX010266.MP4",
	"oblique": "oblique/GX010295.MP4"
	}
	},
	{
	"id": "returning_objects_1",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-right of the main table area (\"main_back_right_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the back-center of the main table area (\"main_back_center_region\").",
	"Place cream_cheese (\"cream_cheese_2\") at the back-left of the main table area (\"main_back_left_region\")."
	],
	"steps": [
	"Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the back-center of the main table area (\"main_back_center_region\") and place it at the middle-center of the main table area (\"main_middle_center_region\"). ",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_2\") from the back-left of the main table area (\"main_back_left_region\") and place it into the basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_back_left_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_center_region)",
	"PLACE(cream_cheese_1, main_middle_center_region)",
	"PICK(cream_cheese_2, main_back_left_region)",
	"PLACE(cream_cheese_2, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_center_region)",
	"PLACE(cream_cheese_1, main_middle_center_region)",
	"PICK(cream_cheese_2, main_front_right_region)",
	"PLACE(cream_cheese_2, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_1.bddl",
	"video": {
	"front": "front/GX010285.MP4",
	"side": "side/GX010267.MP4",
	"oblique": "oblique/GX010296.MP4"
	}
	},
	{
	"id": "returning_objects_2",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the back-center of the table (\"main_back_center_region\").",
	"Place cream_cheese (\"cream_cheese_2\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place butter (\"butter_1\") into the first basket (\"basket_1_contain_region\")."
	],
	"steps": [
	"Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the back-center of the table (\"main_back_center_region\") and place it into the second basket (\"basket_2_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2",
	"butter_1"
	],
	"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_middle_right_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_right_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_2.bddl",
	"video": {
	"front": "front/GX010286.MP4",
	"side": "side/GX010268.MP4",
	"oblique": "oblique/GX010297.MP4"
	}
	},
	{
	"id": "returning_objects_3",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") on the main middle-right area of the table (\"main_middle_right_region\").",
	"Place ketchup (\"ketchup_1\") on the main middle-center area of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the ketchup (\"ketchup_1\") from the main middle-center area of the table (\"main_middle_center_region\") and place it into the front basket (\"basket_2_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"ketchup_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"On",
	"ketchup_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"In",
	"ketchup_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"ketchup_1"
	],
	"oracle_plan": [
	"PICK(ketchup_1, main_middle_center_region)",
	"PLACE(ketchup_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(ketchup_1, main_middle_center_region)",
	"PLACE(ketchup_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"ketchup_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_3.bddl",
	"video": {
	"front": "front/GX010287.MP4",
	"side": "side/GX010269.MP4",
	"oblique": "oblique/GX010298.MP4"
	}
	},
	{
	"id": "returning_objects_4",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") on the middle-right area of the table (\"main_middle_right_region\").",
	"Place milk (\"milk_1\") on the middle-center area of the table (\"main_middle_center_region\").",
	"Place milk (\"milk_2\") inside the front basket (\"basket_2_contain_region\").",
	"Place ketchup (\"ketchup_1\") on the back-right area of the table (\"main_back_right_region\").",
	"Place butter (\"butter_1\") inside the back basket (\"basket_1_contain_region\")."
	],
	"steps": [
	"Step 1 — Pick up the ketchup (\"ketchup_1\") from the back-right area (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\"). ",
	"Step 2 — Pick up the milk (\"milk_1\") from the middle-center area (\"main_middle_center_region\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"milk_1",
	"milk_2",
	"ketchup_1",
	"butter_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"On",
	"milk_1",
	"main_middle_center_region"
	],
	[
	"In",
	"milk_2",
	"basket_2_contain_region"
	],
	[
	"On",
	"ketchup_1",
	"main_back_right_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"In",
	"milk_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"milk_2",
	"basket_2_contain_region"
	],
	[
	"In",
	"ketchup_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"ketchup_1",
	"milk_1"
	],
	"oracle_plan": [
	"PICK(milk_1, main_middle_center_region)",
	"PLACE(milk_1, basket_1_contain_region)",
	"PICK(ketchup_1, main_back_right_region)",
	"PLACE(ketchup_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(milk_1, main_middle_center_region)",
	"PLACE(milk_1, basket_1_contain_region)",
	"PICK(ketchup_1, main_front_left_region)",
	"PLACE(ketchup_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"milk_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"ketchup_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_4.bddl",
	"video": {
	"front": "front/GX010288.MP4",
	"side": "side/GX010270.MP4",
	"oblique": "oblique/GX010299.MP4"
	}
	},
	{
	"id": "returning_objects_5",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place cream_cheese (\"cream_cheese_2\") at the front-right of the table (\"main_front_right_region\").",
	"Place butter (\"butter_1\") at the back-right of the table (\"main_back_right_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the back-right of the table (\"main_back_right_region\") and place it into the basket (\"basket_1_contain_region\").",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_2\") from the front-right of the table (\"main_front_right_region\") and place it into the basket (\"basket_2_contain_region\")."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2",
	"butter_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_front_right_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_2"
	],
	"oracle_plan": [
	"PICK(cream_cheese_2, main_front_right_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)",
	"PICK(butter_1, main_back_right_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_2, main_back_left_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)",
	"PICK(butter_1, main_front_left_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_2",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_5.bddl",
	"video": {
	"front": "front/GX010289.MP4",
	"side": "side/GX010271.MP4",
	"oblique": "oblique/GX010300.MP4"
	}
	},
	{
	"id": "returning_objects_6",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-center region of the table (\"main_middle_center_region\").",
	"Place cream_cheese (\"cream_cheese_2\") at the middle-right region of the table (\"main_middle_right_region\")."
	],
	"steps": [
	"Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-center region of the table (\"main_middle_center_region\") and place it into the front basket (\"basket_2_contain_region\"). ",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_2\") from the middle-right region of the table (\"main_middle_right_region\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_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_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_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_2_contain_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_6.bddl",
	"video": {
	"front": "front/GX010290.MP4",
	"side": "side/GX010272.MP4",
	"oblique": "oblique/GX010301.MP4"
	}
	},
	{
	"id": "returning_objects_7",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place tomato_sauce (\"tomato_sauce_1\") at the middle-center of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-right of the table (\"main_middle_right_region\") and place it into the basket (\"basket_1_contain_region\"). ",
	"Step 2 — Pick up the tomato_sauce (\"tomato_sauce_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into the basket (\"basket_2_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"tomato_sauce_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"On",
	"tomato_sauce_1",
	"main_middle_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",
	"tomato_sauce_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1",
	"tomato_sauce_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_right_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(tomato_sauce_1, main_middle_center_region)",
	"PLACE(tomato_sauce_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_middle_left_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(tomato_sauce_1, main_middle_center_region)",
	"PLACE(tomato_sauce_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"tomato_sauce_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_7.bddl",
	"video": {
	"front": "front/GX010291.MP4",
	"side": "side/GX010273.MP4",
	"oblique": "oblique/GX010302.MP4"
	}
	},
	{
	"id": "returning_objects_8",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place new_salad_dressing (\"new_salad_dressing_1\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place tomato_sauce (\"tomato_sauce_1\") at the front-center of the table (\"main_front_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the tomato_sauce (\"tomato_sauce_1\") from the front-center of the table (\"main_front_center_region\") and place it into the basket (\"basket_1_contain_region\").",
	"Step 2 — Pick up the new_salad_dressing (\"new_salad_dressing_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into the basket (\"basket_2_contain_region\")."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"new_salad_dressing_1",
	"tomato_sauce_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"new_salad_dressing_1",
	"main_middle_center_region"
	],
	[
	"On",
	"tomato_sauce_1",
	"main_front_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"new_salad_dressing_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"tomato_sauce_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"new_salad_dressing_1",
	"tomato_sauce_1"
	],
	"oracle_plan": [
	"PICK(new_salad_dressing_1, main_middle_center_region)",
	"PLACE(new_salad_dressing_1, basket_2_contain_region)",
	"PICK(tomato_sauce_1, main_front_center_region)",
	"PLACE(tomato_sauce_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(new_salad_dressing_1, main_middle_center_region)",
	"PLACE(new_salad_dressing_1, basket_2_contain_region)",
	"PICK(tomato_sauce_1, main_back_center_region)",
	"PLACE(tomato_sauce_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"new_salad_dressing_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"tomato_sauce_1",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_8.bddl",
	"video": {
	"front": "front/GX010292.MP4",
	"side": "side/GX010274.MP4",
	"oblique": "oblique/GX010303.MP4"
	}
	},
	{
	"id": "returning_objects_9",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place the new_salad_dressing (\"new_salad_dressing_1\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place the tomato_sauce (\"tomato_sauce_1\") at the back-right of the table (\"main_back_right_region\")."
	],
	"steps": [
	"Step 1 — Pick up the new_salad_dressing (\"new_salad_dressing_1\") from the middle-right of the table (\"main_middle_right_region\") and place it into the back basket (\"basket_1_contain_region\").",
	"Step 2 — Pick up the tomato_sauce (\"tomato_sauce_1\") from the back-right of the table (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"new_salad_dressing_1",
	"tomato_sauce_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"new_salad_dressing_1",
	"main_middle_right_region"
	],
	[
	"On",
	"tomato_sauce_1",
	"main_back_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"new_salad_dressing_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"tomato_sauce_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"new_salad_dressing_1",
	"tomato_sauce_1"
	],
	"oracle_plan": [
	"PICK(new_salad_dressing_1, main_middle_right_region)",
	"PLACE(new_salad_dressing_1, basket_1_contain_region)",
	"PICK(tomato_sauce_1, main_back_right_region)",
	"PLACE(tomato_sauce_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(new_salad_dressing_1, main_middle_left_region)",
	"PLACE(new_salad_dressing_1, basket_1_contain_region)",
	"PICK(tomato_sauce_1, main_front_left_region)",
	"PLACE(tomato_sauce_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"new_salad_dressing_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"tomato_sauce_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_9.bddl",
	"video": {
	"front": "front/GX010293.MP4",
	"side": "side/GX010275.MP4",
	"oblique": "oblique/GX010304.MP4"
	}
	},
	{
	"id": "returning_objects_10",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place new_salad_dressing (\"new_salad_dressing_1\") at the back-left of the table (\"main_back_left_region\").",
	"Place new_salad_dressing (\"new_salad_dressing_2\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place tomato_sauce (\"tomato_sauce_1\") at the back-right of the table (\"main_back_right_region\").",
	"Place butter (\"butter_1\") at the middle-center of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the new_salad_dressing (\"new_salad_dressing_1\") from the back-left of the table (\"main_back_left_region\") and place it into the front basket (\"basket_2_contain_region\").",
	"Step 2 — Pick up the butter (\"butter_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into the back basket (\"basket_1_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"new_salad_dressing_1",
	"new_salad_dressing_2",
	"tomato_sauce_1",
	"butter_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"new_salad_dressing_1",
	"main_back_left_region"
	],
	[
	"On",
	"new_salad_dressing_2",
	"main_middle_right_region"
	],
	[
	"On",
	"tomato_sauce_1",
	"main_back_right_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"new_salad_dressing_1",
	"basket_2_contain_region"
	],
	[
	"On",
	"new_salad_dressing_2",
	"main_middle_right_region"
	],
	[
	"On",
	"tomato_sauce_1",
	"main_back_right_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"new_salad_dressing_1"
	],
	"oracle_plan": [
	"PICK(new_salad_dressing_1, main_back_left_region)",
	"PLACE(new_salad_dressing_1, basket_2_contain_region)",
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(new_salad_dressing_1, main_front_right_region)",
	"PLACE(new_salad_dressing_1, basket_2_contain_region)",
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"new_salad_dressing_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_10.bddl",
	"video": {
	"front": "front/GX010294.MP4",
	"side": "side/GX010276.MP4",
	"oblique": "oblique/GX010305.MP4"
	}
	},
	{
	"id": "returning_objects_11",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place new_salad_dressing (\"new_salad_dressing_1\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place tomato_sauce (\"tomato_sauce_1\") at the back-center of the table (\"main_back_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the tomato_sauce (\"tomato_sauce_1\") from the back-center of the table (\"main_back_center_region\") and place it into the basket (\"basket_2_contain_region\").",
	"Step 2 — Pick up the new_salad_dressing (\"new_salad_dressing_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into the basket (\"basket_1_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"new_salad_dressing_1",
	"tomato_sauce_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"new_salad_dressing_1",
	"main_middle_center_region"
	],
	[
	"On",
	"tomato_sauce_1",
	"main_back_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"new_salad_dressing_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"tomato_sauce_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"new_salad_dressing_1",
	"tomato_sauce_1"
	],
	"oracle_plan": [
	"PICK(new_salad_dressing_1, main_middle_center_region)",
	"PLACE(new_salad_dressing_1, basket_1_contain_region)",
	"PICK(tomato_sauce_1, main_back_center_region)",
	"PLACE(tomato_sauce_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(new_salad_dressing_1, main_middle_center_region)",
	"PLACE(new_salad_dressing_1, basket_1_contain_region)",
	"PICK(tomato_sauce_1, main_front_center_region)",
	"PLACE(tomato_sauce_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"new_salad_dressing_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"tomato_sauce_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_11.bddl",
	"video": {
	"front": "front/GX010295.MP4",
	"side": "side/GX010277.MP4",
	"oblique": "oblique/GX010306.MP4"
	}
	},
	{
	"id": "returning_objects_12",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the back-center of the table (\"main_back_center_region\").",
	"Place cream_cheese (\"cream_cheese_2\") at the back-right of the table (\"main_back_right_region\").",
	"Place butter (\"butter_1\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place butter (\"butter_2\") into the basket_2 (\"basket_2_contain_region\")."
	],
	"steps": [
	"Step 1 — Pick up the cream_cheese (\"cream_cheese_1\") from the back-center of the table (\"main_back_center_region\") and place it into basket_1 (\"basket_1_contain_region\").",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_2\") from the back-right of the table (\"main_back_right_region\") and place it into basket_2 (\"basket_2_contain_region\").",
	"Step 3 — Pick up the butter (\"butter_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into basket_1 (\"basket_1_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2",
	"butter_1",
	"butter_2"
	],
	"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",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_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_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(cream_cheese_2, main_back_right_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)",
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(cream_cheese_2, main_front_left_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)",
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_12.bddl",
	"video": {
	"front": "front/GX010296.MP4",
	"side": "side/GX010278.MP4",
	"oblique": "oblique/GX010307.MP4"
	}
	},
	{
	"id": "returning_objects_13",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the back-right of the table (\"main_back_right_region\").",
	"Place cream_cheese (\"cream_cheese_2\") at the middle-left of the table (\"main_middle_left_region\").",
	"Place cream_cheese (\"cream_cheese_3\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place butter (\"butter_1\") inside the front basket (\"basket_2_contain_region\")."
	],
	"steps": [
	"Step 1 — Pick up the cream_cheese (\"cream_cheese_2\") from the middle-left of the table (\"main_middle_left_region\") and place it into the front basket (\"basket_2_contain_region\"). ",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_3\") from the middle-center of the table (\"main_middle_center_region\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2",
	"cream_cheese_3",
	"butter_1"
	],
	"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_left_region"
	],
	[
	"On",
	"cream_cheese_3",
	"main_middle_center_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_right_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_3",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_2",
	"cream_cheese_3"
	],
	"oracle_plan": [
	"PICK(cream_cheese_2, main_middle_left_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)",
	"PICK(cream_cheese_3, main_middle_center_region)",
	"PLACE(cream_cheese_3, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_2, main_middle_right_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)",
	"PICK(cream_cheese_3, main_middle_center_region)",
	"PLACE(cream_cheese_3, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_2",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_3",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_13.bddl",
	"video": {
	"front": "front/GX010297.MP4",
	"side": "side/GX010279.MP4",
	"oblique": "oblique/GX010308.MP4"
	}
	},
	{
	"id": "returning_objects_14",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the back-left of the main table area (\"main_back_left_region\").",
	"Place cream_cheese (\"cream_cheese_2\") at the back-center of the main table area (\"main_back_center_region\").",
	"Place cream_cheese (\"cream_cheese_3\") at the middle-right of the main table area (\"main_middle_right_region\").",
	"Place butter (\"butter_1\") into the front basket (\"basket_2_contain_region\")."
	],
	"steps": [
	"Step 1 — Pick up the cream_cheese (\"cream_cheese_3\") from the middle-right of the main table area (\"main_middle_right_region\") and place it at the middle-center of the main table area (\"main_middle_center_region\").",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the back-left of the main table area (\"main_back_left_region\") and place it into the front basket (\"basket_2_contain_region\").",
	"Step 3 — Pick up the cream_cheese (\"cream_cheese_3\") from the middle-center of the main table area (\"main_middle_center_region\") and place it at the back-right of the main table area (\"main_back_right_region\").",
	"Step 4 — Pick up the cream_cheese (\"cream_cheese_2\") from the back-center of the main table area (\"main_back_center_region\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2",
	"cream_cheese_3",
	"butter_1"
	],
	"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_middle_right_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_3",
	"main_back_right_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1",
	"cream_cheese_2",
	"cream_cheese_3"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_left_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)",
	"PICK(cream_cheese_2, main_back_center_region)",
	"PLACE(cream_cheese_2, basket_1_contain_region)",
	"PICK(cream_cheese_3, main_middle_right_region)",
	"PLACE(cream_cheese_3, main_back_right_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_right_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)",
	"PICK(cream_cheese_2, main_front_center_region)",
	"PLACE(cream_cheese_2, basket_1_contain_region)",
	"PICK(cream_cheese_3, main_middle_left_region)",
	"PLACE(cream_cheese_3, main_front_left_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_3",
	"main_back_right_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_14.bddl",
	"video": {
	"front": "front/GX010298.MP4",
	"side": "side/GX010280.MP4",
	"oblique": "oblique/GX010309.MP4"
	}
	},
	{
	"id": "returning_objects_15",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place milk (\"milk_1\") at the middle-right of the main table area (\"main_middle_right_region\").",
	"Place orange_juice (\"orange_juice_1\") at the back-right of the main table area (\"main_back_right_region\").",
	"Place butter (\"butter_1\") inside the front basket (\"basket_2_contain_region\")."
	],
	"steps": [
	"Step 1 — Pick up the orange_juice (\"orange_juice_1\") from the back-right of the main table area (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\").",
	"Step 2 — Pick up the milk (\"milk_1\") from the middle-right of the main table area (\"main_middle_right_region\") and place it into the back basket (\"basket_1_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"milk_1",
	"orange_juice_1",
	"butter_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"milk_1",
	"main_middle_right_region"
	],
	[
	"On",
	"orange_juice_1",
	"main_back_right_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"milk_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"orange_juice_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"milk_1",
	"orange_juice_1"
	],
	"oracle_plan": [
	"PICK(milk_1, main_middle_right_region)",
	"PLACE(milk_1, basket_1_contain_region)",
	"PICK(orange_juice_1, main_back_right_region)",
	"PLACE(orange_juice_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(milk_1, main_middle_left_region)",
	"PLACE(milk_1, basket_1_contain_region)",
	"PICK(orange_juice_1, main_front_left_region)",
	"PLACE(orange_juice_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"milk_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"orange_juice_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_15.bddl",
	"video": {
	"front": "front/GX010299.MP4",
	"side": "side/GX010281.MP4",
	"oblique": "oblique/GX010310.MP4"
	}
	},
	{
	"id": "returning_objects_16",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place a milk carton (\"milk_1\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place an orange_juice (\"orange_juice_1\") inside the back basket (\"basket_1_contain_region\").",
	"Place a butter (\"butter_1\") at the back-right of the table (\"main_back_right_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the back-right of the table (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\").",
	"Step 2 — Pick up the milk carton (\"milk_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into the front basket (\"basket_2_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"milk_1",
	"orange_juice_1",
	"butter_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"milk_1",
	"main_middle_center_region"
	],
	[
	"In",
	"orange_juice_1",
	"basket_1_contain_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"milk_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"orange_juice_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"milk_1"
	],
	"oracle_plan": [
	"PICK(milk_1, main_middle_center_region)",
	"PLACE(milk_1, basket_2_contain_region)",
	"PICK(butter_1, main_back_right_region)",
	"PLACE(butter_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(milk_1, main_middle_center_region)",
	"PLACE(milk_1, basket_2_contain_region)",
	"PICK(butter_1, main_front_left_region)",
	"PLACE(butter_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"milk_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_16.bddl",
	"video": {
	"front": "front/GX010300.MP4",
	"side": "side/GX010282.MP4",
	"oblique": "oblique/GX010311.MP4"
	}
	},
	{
	"id": "returning_objects_17",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place the milk (\"milk_1\") at the back-right of the main table area (\"main_back_right_region\").",
	"Place the orange_juice (\"orange_juice_1\") at the middle-center of the main table area (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the milk (\"milk_1\") from the back-right of the main table area (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\").",
	"Step 2 — Pick up the orange_juice (\"orange_juice_1\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"milk_1",
	"orange_juice_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"milk_1",
	"main_back_right_region"
	],
	[
	"On",
	"orange_juice_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"milk_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"orange_juice_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"milk_1",
	"orange_juice_1"
	],
	"oracle_plan": [
	"PICK(milk_1, main_back_right_region)",
	"PLACE(milk_1, basket_2_contain_region)",
	"PICK(orange_juice_1, main_middle_center_region)",
	"PLACE(orange_juice_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(milk_1, main_front_left_region)",
	"PLACE(milk_1, basket_2_contain_region)",
	"PICK(orange_juice_1, main_middle_center_region)",
	"PLACE(orange_juice_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"milk_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"orange_juice_1",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_17.bddl",
	"video": {
	"front": "front/GX010301.MP4",
	"side": "side/GX010283.MP4",
	"oblique": "oblique/GX010312.MP4"
	}
	},
	{
	"id": "returning_objects_18",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place a butter (\"butter_1\") in the main middle-left region of the table (\"main_middle_left_region\").",
	"Place a butter (\"butter_2\") in the main front-center region of the table (\"main_front_center_region\").",
	"Place an orange_juice (\"orange_juice_1\") in the main middle-center region of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") from the main front-center region (\"main_front_center_region\") and place it into the front basket (\"basket_2_contain_region\"). ",
	"Step 2 — Pick up the butter (\"butter_1\") from the main middle-left region (\"main_middle_left_region\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"butter_2",
	"orange_juice_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_left_region"
	],
	[
	"On",
	"butter_2",
	"main_front_center_region"
	],
	[
	"On",
	"orange_juice_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_region"
	],
	[
	"On",
	"orange_juice_1",
	"main_middle_center_region"
	]
	],
	"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_front_center_region)",
	"PLACE(butter_2, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_middle_right_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(butter_2, main_back_center_region)",
	"PLACE(butter_2, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_18.bddl",
	"video": {
	"front": "front/GX010302.MP4",
	"side": "side/GX010284.MP4",
	"oblique": "oblique/GX010313.MP4"
	}
	},
	{
	"id": "returning_objects_19",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-right of the main table area (\"main_back_right_region\").",
	"Place butter (\"butter_2\") at the middle-center of the main table area (\"main_middle_center_region\").",
	"Place butter (\"butter_3\") at the front-center of the main table area (\"main_front_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the front basket (\"basket_2_contain_region\"). ",
	"Step 2 — Pick up the butter (\"butter_1\") from the back-right of the main table area (\"main_back_right_region\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"butter_2",
	"butter_3"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_center_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_right_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_left_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_19.bddl",
	"video": {
	"front": "front/GX010303.MP4",
	"side": "side/GX010285.MP4",
	"oblique": "oblique/GX010314.MP4"
	}
	},
	{
	"id": "returning_objects_20",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place a butter (\"butter_1\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place a butter (\"butter_2\") at the front-left of the table (\"main_front_left_region\").",
	"Place a butter (\"butter_3\") at the front-center of the table (\"main_front_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") and place it into the front basket (\"basket_2_contain_region\"). ",
	"Step 2 — Pick up the butter (\"butter_1\") and place it into the back basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"butter_2",
	"butter_3"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"butter_2",
	"main_front_left_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2"
	],
	"oracle_plan": [
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(butter_2, main_front_left_region)",
	"PLACE(butter_2, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(butter_2, main_back_right_region)",
	"PLACE(butter_2, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_20.bddl",
	"video": {
	"front": "front/GX010304.MP4",
	"side": "side/GX010286.MP4",
	"oblique": "oblique/GX010315.MP4"
	}
	},
	{
	"id": "returning_objects_21",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place butter (\"butter_2\") at the front-left of the table (\"main_front_left_region\").",
	"Place butter (\"butter_3\") at the front-center of the table (\"main_front_center_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-right of the table (\"main_middle_right_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into the basket (\"basket_2_contain_region\").",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-right of the table (\"main_middle_right_region\") and place it into the basket (\"basket_1_contain_region\").",
	"Step 3 — Pick up the butter (\"butter_2\") from the front-left of the table (\"main_front_left_region\") and place it into the basket (\"basket_1_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"butter_2",
	"butter_3",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"butter_2",
	"main_front_left_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(butter_2, main_front_left_region)",
	"PLACE(butter_2, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_right_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(butter_2, main_back_right_region)",
	"PLACE(butter_2, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_left_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_21.bddl",
	"video": {
	"front": "front/GX010305.MP4",
	"side": "side/GX010287.MP4",
	"oblique": "oblique/GX010316.MP4"
	}
	},
	{
	"id": "returning_objects_22",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a basket (\"basket_2\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-right of the main table area (\"main_back_right_region\").",
	"Place butter (\"butter_2\") at the middle-right of the main table area (\"main_middle_right_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-center of the main table area (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the back-right of the main table area (\"main_back_right_region\") and place it into the front basket (\"basket_2_contain_region\"). ",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the front basket (\"basket_2_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"butter_2",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_right_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_right_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_right_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_left_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_22.bddl",
	"video": {
	"front": "front/GX010306.MP4",
	"side": "side/GX010288.MP4",
	"oblique": "oblique/GX010317.MP4"
	}
	},
	{
	"id": "returning_objects_23",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a wooden_tray (\"wooden_tray_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the middle-center of the table (\"main_middle_center_region\").",
	"Place butter (\"butter_2\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the back-right of the table (\"main_back_right_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") from the middle-right of the table (\"main_middle_right_region\") and place it into the basket (\"basket_1_contain_region\").",
	"Step 2 — Pick up the butter (\"butter_1\") from the middle-center of the table (\"main_middle_center_region\") and place it at the middle-right of the table (\"main_middle_right_region\").",
	"Step 3 — Pick up the cream_cheese (\"cream_cheese_1\") from the back-right of the table (\"main_back_right_region\") and place it at the middle-center of the table (\"main_middle_center_region\"), then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"wooden_tray_1",
	"butter_1",
	"butter_2",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_right_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_right_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_2, main_middle_right_region)",
	"PLACE(butter_2, basket_1_contain_region)",
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, main_middle_right_region)",
	"PICK(cream_cheese_1, main_back_right_region)",
	"PLACE(cream_cheese_1, main_middle_center_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_2, main_middle_left_region)",
	"PLACE(butter_2, basket_1_contain_region)",
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, main_middle_left_region)",
	"PICK(cream_cheese_1, main_front_left_region)",
	"PLACE(cream_cheese_1, main_middle_center_region)"
	],
	"interest_objects_final_states": [
	[
	"On",
	"butter_1",
	"main_middle_right_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_23.bddl",
	"video": {
	"front": "front/GX010307.MP4",
	"side": "side/GX010289.MP4",
	"oblique": "oblique/GX010318.MP4"
	}
	},
	{
	"id": "returning_objects_24",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a wooden_tray (\"wooden_tray_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-left of the main table area (\"main_back_left_region\").",
	"Place butter (\"butter_2\") at the middle-center of the main table area (\"main_middle_center_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the back-center of the main table area (\"main_back_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") from the middle-center of the main table area (\"main_middle_center_region\") and place it into the basket (\"basket_1_contain_region\"). ",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the back-center of the main table area (\"main_back_center_region\") and place it into the wooden_tray (\"wooden_tray_1_contain_region\"). ",
	"Step 3 — Pick up the butter (\"butter_1\") from the back-left of the main table area (\"main_back_left_region\") and place it at the middle-center of the main table area (\"main_middle_center_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"wooden_tray_1",
	"butter_1",
	"butter_2",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_left_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_center_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"wooden_tray_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_back_center_region)",
	"PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
	"PICK(butter_1, main_back_left_region)",
	"PLACE(butter_1, main_middle_center_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_front_center_region)",
	"PLACE(cream_cheese_1, wooden_tray_1_contain_region)",
	"PICK(butter_1, main_front_right_region)",
	"PLACE(butter_1, main_middle_center_region)"
	],
	"interest_objects_final_states": [
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"wooden_tray_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_24.bddl",
	"video": {
	"front": "front/GX010308.MP4",
	"side": "side/GX010290.MP4",
	"oblique": "oblique/GX010319.MP4"
	}
	},
	{
	"id": "returning_objects_25",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a wooden_tray (\"wooden_tray_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-center of the table (\"main_back_center_region\").",
	"Place butter (\"butter_2\") at the middle-center of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") from the middle-center of the table (\"main_middle_center_region\") and place it into the basket (\"basket_1_contain_region\").",
	"Step 2 — Pick up the butter (\"butter_1\") from the back-center of the table (\"main_back_center_region\") and place it into the wooden_tray (\"wooden_tray_1_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"wooden_tray_1",
	"butter_1",
	"butter_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_center_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"wooden_tray_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_center_region)",
	"PLACE(butter_1, wooden_tray_1_contain_region)",
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_center_region)",
	"PLACE(butter_1, wooden_tray_1_contain_region)",
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"wooden_tray_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"basket_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_25.bddl",
	"video": {
	"front": "front/GX010309.MP4",
	"side": "side/GX010291.MP4",
	"oblique": "oblique/GX010320.MP4"
	}
	},
	{
	"id": "returning_objects_26",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a wooden_tray (\"wooden_tray_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place butter (\"butter_2\") at the front-center of the table (\"main_front_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") from the front-center of the table (\"main_front_center_region\") and place it at the back-center of the table (\"main_back_center_region\"). ",
	"Step 2 — Pick up the butter (\"butter_1\") from the middle-right of the table (\"main_middle_right_region\") and place it at the middle-center of the table (\"main_middle_center_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"wooden_tray_1",
	"butter_1",
	"butter_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_right_region"
	],
	[
	"On",
	"butter_2",
	"main_front_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"butter_2",
	"main_back_center_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2"
	],
	"oracle_plan": [
	"PICK(butter_1, main_middle_right_region)",
	"PLACE(butter_1, main_middle_center_region)",
	"PICK(butter_2, main_front_center_region)",
	"PLACE(butter_2, main_back_center_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_middle_left_region)",
	"PLACE(butter_1, main_middle_center_region)",
	"PICK(butter_2, main_back_center_region)",
	"PLACE(butter_2, main_front_center_region)"
	],
	"interest_objects_final_states": [
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"butter_2",
	"main_back_center_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_26.bddl",
	"video": {
	"front": "front/GX010311.MP4",
	"side": "side/GX010293.MP4",
	"oblique": "oblique/GX010322.MP4"
	}
	},
	{
	"id": "returning_objects_27",
	"human_video_instruction": {
	"setup": [
	"Place a basket (\"basket_1\") on the back fixture area of the table (\"fixture_back_region\").",
	"Place a wooden_tray (\"wooden_tray_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-right of the table (\"main_back_right_region\").",
	"Place butter (\"butter_2\") at the middle-right of the table (\"main_middle_right_region\").",
	"Place butter (\"butter_3\") at the front-center of the table (\"main_front_center_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-center of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the back-right of the table (\"main_back_right_region\") and place it into the basket (\"basket_1_contain_region\").",
	"Step 2 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-center of the table (\"main_middle_center_region\") and place it into the wooden_tray (\"wooden_tray_1_contain_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"basket_1",
	"wooden_tray_1",
	"butter_1",
	"butter_2",
	"butter_3",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_right_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_right_region"
	],
	[
	"On",
	"butter_3",
	"main_front_center_region"
	],
	[
	"In",
	"cream_cheese_1",
	"wooden_tray_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_right_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, wooden_tray_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_left_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, wooden_tray_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"wooden_tray_1_contain_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_27.bddl",
	"video": {
	"front": "front/GX010313.MP4",
	"side": "side/GX010295.MP4",
	"oblique": "oblique/GX010324.MP4"
	}
	},
	{
	"id": "returning_objects_28",
	"human_video_instruction": {
	"setup": [
	"Place a wooden_cabinet (\"wooden_cabinet_1\") on the back fixture area of the table (\"fixture_back_region\"). Ensure all drawers (top, middle, bottom) are closed.",
	"Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-right of the table (\"main_back_right_region\").",
	"Place butter (\"butter_2\") at the front-center of the table (\"main_front_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_2\") from the front-center of the table (\"main_front_center_region\") and place it into the middle drawer of the wooden_cabinet (\"wooden_cabinet_1_middle_region\"). ",
	"Step 2 — Pick up the butter (\"butter_1\") from the back-right of the table (\"main_back_right_region\") and place it into the basket (\"basket_1_contain_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"wooden_cabinet_1",
	"basket_1",
	"butter_1",
	"butter_2"
	],
	"initial_states": [
	[
	"On",
	"wooden_cabinet_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_right_region"
	],
	[
	"On",
	"butter_2",
	"main_front_center_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"final_goal": [
	[
	"On",
	"wooden_cabinet_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_right_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"OPEN(wooden_cabinet_1, middle_region)",
	"PICK(butter_2, main_front_center_region)",
	"PLACE(butter_2, wooden_cabinet_1_middle_region)",
	"CLOSE(wooden_cabinet_1, middle_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_left_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"OPEN(wooden_cabinet_1, middle_region)",
	"PICK(butter_2, main_back_center_region)",
	"PLACE(butter_2, wooden_cabinet_1_middle_region)",
	"CLOSE(wooden_cabinet_1, middle_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"butter_2",
	"wooden_cabinet_1_middle_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_28.bddl",
	"video": {
	"front": "front/GX010315.MP4",
	"side": "side/GX010326.MP4",
	"oblique": "oblique/GX010325.MP4"
	}
	},
	{
	"id": "returning_objects_29",
	"human_video_instruction": {
	"setup": [
	"Place a wooden_cabinet (\"wooden_cabinet_1\") on the back fixture area of the table (\"fixture_back_region\"). Ensure all drawers (top, middle, bottom) are closed.",
	"Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the middle-right area of the table (\"main_middle_right_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-center area of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Open the top drawer of the wooden_cabinet (\"wooden_cabinet_1_top_region\").",
	"Step 2 — Pick up the butter (\"butter_1\") from the middle-right area of the table (\"main_middle_right_region\") and place it into the top drawer of the wooden_cabinet (\"wooden_cabinet_1_top_region\").",
	"Step 3 — Close the top drawer of the wooden_cabinet (\"wooden_cabinet_1_top_region\").",
	"Step 4 — Open the middle drawer of the wooden_cabinet (\"wooden_cabinet_1_middle_region\").",
	"Step 5 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-center area of the table (\"main_middle_center_region\") and place it into the middle drawer of the wooden_cabinet (\"wooden_cabinet_1_middle_region\").",
	"Step 6 — Close the middle drawer of the wooden_cabinet (\"wooden_cabinet_1_middle_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"wooden_cabinet_1",
	"basket_1",
	"butter_1",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"wooden_cabinet_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_right_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"final_goal": [
	[
	"On",
	"wooden_cabinet_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"wooden_cabinet_1_top_region"
	],
	[
	"In",
	"cream_cheese_1",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"OPEN(wooden_cabinet_1, top_region)",
	"PICK(butter_1, main_middle_right_region)",
	"PLACE(butter_1, wooden_cabinet_1_top_region)",
	"CLOSE(wooden_cabinet_1, top_region)",
	"OPEN(wooden_cabinet_1, middle_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, wooden_cabinet_1_middle_region)",
	"CLOSE(wooden_cabinet_1, middle_region)"
	],
	"oracle_plan_human": [
	"OPEN(wooden_cabinet_1, top_region)",
	"PICK(butter_1, main_middle_left_region)",
	"PLACE(butter_1, wooden_cabinet_1_top_region)",
	"CLOSE(wooden_cabinet_1, top_region)",
	"OPEN(wooden_cabinet_1, middle_region)",
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, wooden_cabinet_1_middle_region)",
	"CLOSE(wooden_cabinet_1, middle_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"wooden_cabinet_1_top_region"
	],
	[
	"In",
	"cream_cheese_1",
	"wooden_cabinet_1_middle_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_29.bddl",
	"video": {
	"front": "front/GX010317.MP4",
	"side": "side/GX010328.MP4",
	"oblique": "oblique/GX010327.MP4"
	}
	},
	{
	"id": "returning_objects_30",
	"human_video_instruction": {
	"setup": [
	"Place a wooden_cabinet (\"wooden_cabinet_1\") on the back fixture area of the table (\"fixture_back_region\"). Ensure all drawers (top, middle, bottom) are closed.",
	"Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-center of the table (\"main_back_center_region\").",
	"Place butter (\"butter_2\") at the middle-center of the table (\"main_middle_center_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the back-center of the table (\"main_back_center_region\") and place it at the middle-right of the table (\"main_middle_right_region\"). ",
	"Step 2 — Pick up the butter (\"butter_2\") from the middle-center of the table (\"main_middle_center_region\") and place it into the bottom drawer of the wooden_cabinet (\"wooden_cabinet_1_bottom_region\"). ",
	"Step 3 — Pick up the butter (\"butter_1\") from the middle-right of the table (\"main_middle_right_region\") and place it into the middle drawer of the wooden_cabinet (\"wooden_cabinet_1_middle_region\"). "
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"wooden_cabinet_1",
	"basket_1",
	"butter_1",
	"butter_2"
	],
	"initial_states": [
	[
	"On",
	"wooden_cabinet_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_center_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_center_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"final_goal": [
	[
	"On",
	"wooden_cabinet_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"wooden_cabinet_1_middle_region"
	],
	[
	"In",
	"butter_2",
	"wooden_cabinet_1_bottom_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"butter_2"
	],
	"oracle_plan": [
	"OPEN(wooden_cabinet_1, middle_region)",
	"PICK(butter_1, main_back_center_region)",
	"PLACE(butter_1, wooden_cabinet_1_middle_region)",
	"CLOSE(wooden_cabinet_1, middle_region)",
	"OPEN(wooden_cabinet_1, bottom_region)",
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, wooden_cabinet_1_bottom_region)",
	"CLOSE(wooden_cabinet_1, bottom_region)"
	],
	"oracle_plan_human": [
	"OPEN(wooden_cabinet_1, middle_region)",
	"PICK(butter_1, main_front_center_region)",
	"PLACE(butter_1, wooden_cabinet_1_middle_region)",
	"CLOSE(wooden_cabinet_1, middle_region)",
	"OPEN(wooden_cabinet_1, bottom_region)",
	"PICK(butter_2, main_middle_center_region)",
	"PLACE(butter_2, wooden_cabinet_1_bottom_region)",
	"CLOSE(wooden_cabinet_1, bottom_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"wooden_cabinet_1_middle_region"
	],
	[
	"In",
	"butter_2",
	"wooden_cabinet_1_bottom_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_30.bddl",
	"video": {
	"front": "front/GX010318.MP4",
	"side": "side/GX010329.MP4",
	"oblique": "oblique/GX010328.MP4"
	}
	},
	{
	"id": "returning_objects_31",
	"human_video_instruction": {
	"setup": [
	"Place a wooden_cabinet (\"wooden_cabinet_1\") on the back fixture area of the table (\"fixture_back_region\"). Ensure all drawers (top, middle, bottom) are closed.",
	"Place a basket (\"basket_1\") on the front fixture area of the table (\"fixture_front_region\").",
	"Place butter (\"butter_1\") at the back-center of the main table area (\"main_back_center_region\").",
	"Place butter (\"butter_2\") at the middle-center of the main table area (\"main_middle_center_region\").",
	"Place cream_cheese (\"cream_cheese_1\") at the middle-right of the main table area (\"main_middle_right_region\")."
	],
	"steps": [
	"Step 1 — Pick up the butter (\"butter_1\") from the back-center of the main table area (\"main_back_center_region\") and place it at the back-left of the main table area (\"main_back_left_region\").",
	"Step 2 — Pick up the butter (\"butter_1\") from the back-left of the main table area (\"main_back_left_region\") and place it into the basket (\"basket_1_contain_region\").",
	"Step 3 — Pick up the cream_cheese (\"cream_cheese_1\") from the middle-right of the main table area (\"main_middle_right_region\") and place it into the top drawer of the wooden_cabinet (\"wooden_cabinet_1_top_region\"). Then stop recording."
	]
	},
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: Put the objects moved in the video back to their original positions at the beginning of the video.",
	"objects": [
	"wooden_cabinet_1",
	"basket_1",
	"butter_1",
	"butter_2",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"wooden_cabinet_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_center_region"
	],
	[
	"On",
	"butter_2",
	"main_middle_center_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_right_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"final_goal": [
	[
	"On",
	"wooden_cabinet_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",
	"cream_cheese_1",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_top_region"
	],
	[
	"Close",
	"wooden_cabinet_1_middle_region"
	],
	[
	"Close",
	"wooden_cabinet_1_bottom_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"OPEN(wooden_cabinet_1, top_region)",
	"PICK(cream_cheese_1, main_middle_right_region)",
	"PLACE(cream_cheese_1, wooden_cabinet_1_top_region)",
	"CLOSE(wooden_cabinet_1, top_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"OPEN(wooden_cabinet_1, top_region)",
	"PICK(cream_cheese_1, main_middle_left_region)",
	"PLACE(cream_cheese_1, wooden_cabinet_1_top_region)",
	"CLOSE(wooden_cabinet_1, top_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"wooden_cabinet_1_top_region"
	]
	]
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_6_RETURNING_OBJECTS_RETURNING_OBJECTS_31.bddl",
	"video": {
	"front": "front/GX010319.MP4",
	"side": "side/GX010330.MP4",
	"oblique": "oblique/GX010329.MP4"
	}
	},
	{
	"id": "easy_6_returning_objects_0",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"butter_1",
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_center_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",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_center_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_left_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_right_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010467.MP4",
	"side": "side/GX010477.MP4",
	"oblique": "oblique/GX010478.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_0.bddl"
	},
	{
	"id": "easy_6_returning_objects_1",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"butter_1",
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_center_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",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_center_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_left_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_center_region)",
	"PLACE(butter_1, basket_1_contain_region)",
	"PICK(cream_cheese_1, main_middle_right_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010468.MP4",
	"side": "side/GX010478.MP4",
	"oblique": "oblique/GX010479.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_1.bddl"
	},
	{
	"id": "easy_6_returning_objects_2",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"butter_1",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_left_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"interest_objects": [
	"butter_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_middle_left_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_middle_right_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010469.MP4",
	"side": "side/GX010479.MP4",
	"oblique": "oblique/GX010480.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_2.bddl"
	},
	{
	"id": "easy_6_returning_objects_3",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"butter_1",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_left_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_left_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010470.MP4",
	"side": "side/GX010480.MP4",
	"oblique": "oblique/GX010481.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_3.bddl"
	},
	{
	"id": "easy_6_returning_objects_4",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010471.MP4",
	"side": "side/GX010481.MP4",
	"oblique": "oblique/GX010482.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_4.bddl"
	},
	{
	"id": "easy_6_returning_objects_6",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"butter_1",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_left_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(cream_cheese_1, main_middle_left_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_middle_center_region)",
	"PLACE(butter_1, basket_2_contain_region)",
	"PICK(cream_cheese_1, main_middle_right_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010473.MP4",
	"side": "side/GX010483.MP4",
	"oblique": "oblique/GX010484.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_6.bddl"
	},
	{
	"id": "easy_6_returning_objects_7",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_left_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_center_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_center_region)",
	"PLACE(cream_cheese_1, main_middle_left_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_center_region)",
	"PLACE(cream_cheese_1, main_middle_right_region)"
	],
	"interest_objects_final_states": [
	[
	"On",
	"cream_cheese_1",
	"main_middle_left_region"
	]
	]
	},
	"video": {
	"front": "front/GX010474.MP4",
	"side": "side/GX010484.MP4",
	"oblique": "oblique/GX010485.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_7.bddl"
	},
	{
	"id": "easy_6_returning_objects_8",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2",
	"ketchup_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_center_region"
	],
	[
	"On",
	"ketchup_1",
	"main_middle_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_center_region"
	],
	[
	"On",
	"ketchup_1",
	"main_middle_right_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010475.MP4",
	"side": "side/GX010485.MP4",
	"oblique": "oblique/GX010486.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_8.bddl"
	},
	{
	"id": "easy_6_returning_objects_9",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"cream_cheese_2",
	"ketchup_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	],
	[
	"On",
	"cream_cheese_2",
	"main_middle_center_region"
	],
	[
	"On",
	"ketchup_1",
	"main_middle_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	],
	[
	"In",
	"cream_cheese_2",
	"basket_2_contain_region"
	],
	[
	"On",
	"ketchup_1",
	"main_middle_right_region"
	]
	],
	"interest_objects": [
	"cream_cheese_2"
	],
	"oracle_plan": [
	"PICK(cream_cheese_2, main_middle_center_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_2, main_middle_center_region)",
	"PLACE(cream_cheese_2, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_2",
	"basket_2_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010476.MP4",
	"side": "side/GX010486.MP4",
	"oblique": "oblique/GX010487.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_9.bddl"
	},
	{
	"id": "easy_6_returning_objects_10",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"ketchup_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"On",
	"ketchup_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"basket_2",
	"fixture_back_region"
	],
	[
	"In",
	"ketchup_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"ketchup_1"
	],
	"oracle_plan": [
	"PICK(ketchup_1, main_middle_center_region)",
	"PLACE(ketchup_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(ketchup_1, main_middle_center_region)",
	"PLACE(ketchup_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"ketchup_1",
	"basket_2_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010477.MP4",
	"side": "side/GX010487.MP4",
	"oblique": "oblique/GX010488.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_10.bddl"
	},
	{
	"id": "easy_6_returning_objects_11",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"wooden_tray_1",
	"cream_cheese_1",
	"ketchup_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_back_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	],
	[
	"On",
	"ketchup_1",
	"main_back_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"wooden_tray_1",
	"fixture_back_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"ketchup_1",
	"wooden_tray_1_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1",
	"ketchup_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(ketchup_1, main_back_center_region)",
	"PLACE(ketchup_1, wooden_tray_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(ketchup_1, main_front_center_region)",
	"PLACE(ketchup_1, wooden_tray_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"ketchup_1",
	"wooden_tray_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010478.MP4",
	"side": "side/GX010488.MP4",
	"oblique": "oblique/GX010489.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_11.bddl"
	},
	{
	"id": "easy_6_returning_objects_12",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"alphabet_soup_1",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"alphabet_soup_1",
	"main_middle_left_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"alphabet_soup_1",
	"main_middle_left_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	],
	"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/GX010510.MP4",
	"side": "side/GX010520.MP4",
	"oblique": "oblique/GX010521.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_12.bddl"
	},
	{
	"id": "easy_6_returning_objects_14",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"butter_1",
	"cream_cheese_1",
	"milk_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_left_region"
	],
	[
	"On",
	"milk_1",
	"main_front_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"On",
	"milk_1",
	"main_front_right_region"
	]
	],
	"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/GX010512.MP4",
	"side": "side/GX010522.MP4",
	"oblique": "oblique/GX010523.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_14.bddl"
	},
	{
	"id": "easy_6_returning_objects_15",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"butter_1",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_left_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_left_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_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/GX010513.MP4",
	"side": "side/GX010523.MP4",
	"oblique": "oblique/GX010524.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_15.bddl"
	},
	{
	"id": "easy_6_returning_objects_16",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"butter_1",
	"cream_cheese_1",
	"new_salad_dressing_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"On",
	"butter_1",
	"main_back_left_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_left_region"
	],
	[
	"On",
	"new_salad_dressing_1",
	"main_middle_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_front_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_left_region"
	],
	[
	"On",
	"new_salad_dressing_1",
	"main_middle_right_region"
	]
	],
	"interest_objects": [
	"butter_1"
	],
	"oracle_plan": [
	"PICK(butter_1, main_back_left_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(butter_1, main_front_right_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010514.MP4",
	"side": "side/GX010524.MP4",
	"oblique": "oblique/GX010525.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_16.bddl"
	},
	{
	"id": "easy_6_returning_objects_17",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"butter_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_left_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"butter_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)",
	"PICK(butter_1, main_middle_left_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)",
	"PICK(butter_1, main_middle_right_region)",
	"PLACE(butter_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"In",
	"butter_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010515.MP4",
	"side": "side/GX010525.MP4",
	"oblique": "oblique/GX010526.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_17.bddl"
	},
	{
	"id": "easy_6_returning_objects_18",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"butter_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_back_center_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	],
	[
	"On",
	"butter_1",
	"main_middle_center_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_back_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_front_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010516.MP4",
	"side": "side/GX010526.MP4",
	"oblique": "oblique/GX010527.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_18.bddl"
	},
	{
	"id": "easy_6_returning_objects_19",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1",
	"alphabet_soup_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	],
	[
	"On",
	"alphabet_soup_1",
	"main_back_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"alphabet_soup_1",
	"basket_1_contain_region"
	]
	],
	"interest_objects": [
	"alphabet_soup_1",
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(alphabet_soup_1, main_back_center_region)",
	"PLACE(alphabet_soup_1, basket_1_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_1_contain_region)",
	"PICK(alphabet_soup_1, main_front_center_region)",
	"PLACE(alphabet_soup_1, basket_1_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_1_contain_region"
	],
	[
	"In",
	"alphabet_soup_1",
	"basket_1_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010517.MP4",
	"side": "side/GX010527.MP4",
	"oblique": "oblique/GX010528.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_19.bddl"
	},
	{
	"id": "easy_6_returning_objects_20",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_front_left_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_front_left_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_back_right_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010518.MP4",
	"side": "side/GX010528.MP4",
	"oblique": "oblique/GX010529.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_20.bddl"
	},
	{
	"id": "easy_6_returning_objects_21",
	"simulation_task": {
	"language_instruction": "Start executing the instruction from the final scene of the video: put the moved objects back to their original positions in the video.",
	"objects": [
	"basket_1",
	"basket_2",
	"cream_cheese_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"cream_cheese_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	],
	"interest_objects": [
	"cream_cheese_1"
	],
	"oracle_plan": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(cream_cheese_1, main_middle_center_region)",
	"PLACE(cream_cheese_1, basket_2_contain_region)"
	],
	"interest_objects_final_states": [
	[
	"In",
	"cream_cheese_1",
	"basket_2_contain_region"
	]
	]
	},
	"video": {
	"front": "front/GX010519.MP4",
	"side": "side/GX010529.MP4",
	"oblique": "oblique/GX010530.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_EASY_6_RETURNING_OBJECTS_EASY_6_RETURNING_OBJECTS_21.bddl"
	},
	{
	"id": "returning_objects_32",
	"simulation_task": {
	"language_instruction": "Please put the moved objects back where they originally were.",
	"objects": [
	"basket_1",
	"basket_2",
	"mango_1",
	"pear_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"mango_1",
	"main_back_center_region"
	],
	[
	"On",
	"pear_1",
	"main_middle_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"pear_1",
	"basket_2.contain_region"
	]
	],
	"interest_objects": [
	"mango_1",
	"pear_1"
	],
	"interest_objects_final_states": [
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"pear_1",
	"basket_2.contain_region"
	]
	],
	"oracle_plan": [
	"PICK(mango_1, main_back_center_region)",
	"PLACE(mango_1, basket_1.contain_region)",
	"PICK(pear_1, main_middle_center_region)",
	"PLACE(pear_1, basket_2.contain_region)"
	],
	"oracle_plan_human": [
	"PICK(mango_1, main_front_center_region)",
	"PLACE(mango_1, basket_1.contain_region)",
	"PICK(pear_1, main_middle_center_region)",
	"PLACE(pear_1, basket_2.contain_region)"
	]
	},
	"video": {
	"front": "front/GX010685.MP4",
	"side": "side/GX010695.MP4",
	"oblique": "oblique/GX010696.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_NEW_6_RETURNING_OBJECTS_RETURNING_OBJECTS_32.bddl"
	},
	{
	"id": "returning_objects_33",
	"simulation_task": {
	"language_instruction": "Please put the moved objects back where they originally were.",
	"objects": [
	"basket_1",
	"basket_2",
	"mango_1",
	"tennis_ball_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"mango_1",
	"main_middle_center_region"
	],
	[
	"On",
	"tennis_ball_1",
	"main_back_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	]
	],
	"interest_objects": [
	"mango_1",
	"tennis_ball_1"
	],
	"interest_objects_final_states": [
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	]
	],
	"oracle_plan": [
	"PICK(mango_1, main_middle_center_region)",
	"PLACE(mango_1, basket_1.contain_region)",
	"PICK(tennis_ball_1, main_back_right_region)",
	"PLACE(tennis_ball_1, basket_1.contain_region)"
	],
	"oracle_plan_human": [
	"PICK(mango_1, main_middle_center_region)",
	"PLACE(mango_1, basket_1.contain_region)",
	"PICK(tennis_ball_1, main_front_left_region)",
	"PLACE(tennis_ball_1, basket_1.contain_region)"
	]
	},
	"video": {
	"front": "front/GX010686.MP4",
	"side": "side/GX010696.MP4",
	"oblique": "oblique/GX010697.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_NEW_6_RETURNING_OBJECTS_RETURNING_OBJECTS_33.bddl"
	},
	{
	"id": "returning_objects_34",
	"simulation_task": {
	"language_instruction": "Please put the moved objects back where they originally were.",
	"objects": [
	"basket_1",
	"basket_2",
	"mango_1",
	"tennis_ball_1"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"mango_1",
	"main_middle_center_region"
	],
	[
	"On",
	"tennis_ball_1",
	"main_back_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	]
	],
	"interest_objects": [
	"mango_1",
	"tennis_ball_1"
	],
	"interest_objects_final_states": [
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	]
	],
	"oracle_plan": [
	"PICK(mango_1, main_middle_center_region)",
	"PLACE(mango_1, basket_1.contain_region)",
	"PICK(tennis_ball_1, main_back_right_region)",
	"PLACE(tennis_ball_1, basket_1.contain_region)"
	],
	"oracle_plan_human": [
	"PICK(mango_1, main_middle_center_region)",
	"PLACE(mango_1, basket_1.contain_region)",
	"PICK(tennis_ball_1, main_front_left_region)",
	"PLACE(tennis_ball_1, basket_1.contain_region)"
	]
	},
	"video": {
	"front": "front/GX010687.MP4",
	"side": "side/GX010697.MP4",
	"oblique": "oblique/GX010698.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_NEW_6_RETURNING_OBJECTS_RETURNING_OBJECTS_34.bddl"
	},
	{
	"id": "returning_objects_35",
	"simulation_task": {
	"language_instruction": "Please put the moved objects back where they originally were.",
	"objects": [
	"basket_1",
	"basket_2",
	"tennis_ball_1",
	"tennis_ball_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"tennis_ball_1",
	"main_middle_right_region"
	],
	[
	"On",
	"tennis_ball_2",
	"main_back_center_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_2",
	"basket_2.contain_region"
	]
	],
	"interest_objects": [
	"tennis_ball_1",
	"tennis_ball_2"
	],
	"interest_objects_final_states": [
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_2",
	"basket_2.contain_region"
	]
	],
	"oracle_plan": [
	"PICK(tennis_ball_1, main_middle_right_region)",
	"PLACE(tennis_ball_1, basket_1_contain_region)",
	"PICK(tennis_ball_2, main_back_center_region)",
	"PLACE(tennis_ball_2, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(tennis_ball_1, main_middle_left_region)",
	"PLACE(tennis_ball_1, basket_1_contain_region)",
	"PICK(tennis_ball_2, main_front_center_region)",
	"PLACE(tennis_ball_2, basket_2_contain_region)"
	]
	},
	"video": {
	"front": "front/GX010688.MP4",
	"side": "side/GX010698.MP4",
	"oblique": "oblique/GX010699.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_NEW_6_RETURNING_OBJECTS_RETURNING_OBJECTS_35.bddl"
	},
	{
	"id": "returning_objects_36",
	"simulation_task": {
	"language_instruction": "Please put the moved objects back where they originally were.",
	"objects": [
	"basket_1",
	"basket_2",
	"tennis_ball_1",
	"mango_1",
	"tennis_ball_2"
	],
	"initial_states": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"On",
	"tennis_ball_1",
	"main_middle_right_region"
	],
	[
	"On",
	"mango_1",
	"main_back_right_region"
	],
	[
	"On",
	"tennis_ball_2",
	"main_front_right_region"
	]
	],
	"final_goal": [
	[
	"On",
	"basket_1",
	"fixture_back_region"
	],
	[
	"On",
	"basket_2",
	"fixture_front_region"
	],
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_2",
	"basket_2.contain_region"
	]
	],
	"interest_objects": [
	"mango_1",
	"tennis_ball_1",
	"tennis_ball_2"
	],
	"interest_objects_final_states": [
	[
	"In",
	"tennis_ball_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"mango_1",
	"basket_1.contain_region"
	],
	[
	"In",
	"tennis_ball_2",
	"basket_2.contain_region"
	]
	],
	"oracle_plan": [
	"PICK(tennis_ball_1, main_middle_right_region)",
	"PLACE(tennis_ball_1, basket_1_contain_region)",
	"PICK(mango_1, main_back_right_region)",
	"PLACE(mango_1, basket_1_contain_region)",
	"PICK(tennis_ball_2, main_front_right_region)",
	"PLACE(tennis_ball_2, basket_2_contain_region)"
	],
	"oracle_plan_human": [
	"PICK(tennis_ball_1, main_middle_left_region)",
	"PLACE(tennis_ball_1, basket_1_contain_region)",
	"PICK(mango_1, main_front_left_region)",
	"PLACE(mango_1, basket_1_contain_region)",
	"PICK(tennis_ball_2, main_back_left_region)",
	"PLACE(tennis_ball_2, basket_2_contain_region)"
	]
	},
	"video": {
	"front": "front/GX010689.MP4",
	"side": "side/GX010699.MP4",
	"oblique": "oblique/GX010700.MP4"
	},
	"bddl_file": "Restore_Previous_State/KITCHEN_NEW_6_RETURNING_OBJECTS_RETURNING_OBJECTS_36.bddl"
	}
	]
	}